Intelligent Defect Detection Method for Trenchless Pipeline Repair Based on CCTV Technology

Abstract

This invention relates to the field of trenchless pipeline repair engineering technology, specifically to an intelligent defect detection method for trenchless pipeline repair based on CCTV technology. The invention acquires structural data of pipeline defects using CCTV detection equipment. Based on the environmental compatibility priority of various standard raw material ratios of the curing agent, and integrating historical bonding and strength performance, the final ratio is selected. The analyzed curing agent thickness is applied to the fiber cloth, and the posture of the airbags binding the fiber cloth is dynamically adjusted. The current curing agent thickness is collected in real time to determine the airbag expansion state, achieving dynamic control of the airbag expansion state. This ensures precise alignment and adhesion between the fiber cloth and the pipeline defect area, improving the accuracy of trenchless pipeline repair construction. Simultaneously, based on the sealing and adhesion of the repair interface corresponding to the repaired defect area, the success of the pipeline repair is confirmed, preventing the use of substandard pipelines and reducing subsequent maintenance costs and failure rates.

Description

Technical Field

[0001] This invention relates to the field of trenchless pipeline repair engineering technology, and specifically to an intelligent detection method for trenchless pipeline repair defects based on CCTV technology. Background Technology

[0002] With the accelerating pace of urbanization, underground pipeline networks, as a crucial component of urban infrastructure, are facing increasing demands for maintenance and repair. Over long-term use, pipelines inevitably develop structural defects such as cracks, deformation, and leaks due to factors like geological subsidence, corrosion, and external damage. Failure to repair these defects promptly will severely impact their normal operation and may even lead to ground subsidence and environmental pollution. Therefore, achieving accurate detection and efficient repair of pipeline defects is of significant practical importance for ensuring the safe operation of underground pipe networks.

[0003] In the prior art, Chinese Patent Publication No. CN119600028B discloses a quantitative evaluation method for pipeline defect detection based on CCTV and deep learning. This method constructs and trains an improved pipeline crack recognition model, obtains images from pipeline videos, inputs them into the model to identify and segment images containing cracks, removes redundant pixels, uses circle detection to obtain the coordinates of the pipeline center and specific pixels of the crack, obtains the length, shape and width of the crack through CDQ quantization, and finally evaluates and makes corresponding repairs based on the crack level judgment principle, thus achieving accurate identification and quantitative evaluation of pipeline cracks.

[0004] The existing technology has the following problems: 1. The existing technology only completes the defect level assessment before repair and gives a general repair treatment suggestion. It does not determine the thickness of the curing agent based on the defect structure data, nor does it provide real-time monitoring and dynamic control methods during the repair process. There is a lack of dynamic control during the repair process, which leads to the risk of leakage after pipeline repair and fails to achieve the expected repair effect.

[0005] 2. Existing technologies lack qualified testing of the repair effect, focusing only on defect detection and assessment before repair, without verifying the sealing and adhesion of the repair interface. This leads to the inability to detect potential risks after repair in a timely manner, making the repaired pipeline prone to failure after being put into use, affecting the long-term safety of pipeline operation, and increasing the cost and workload of subsequent pipeline network operation and maintenance. Summary of the Invention

[0006] This invention aims to overcome the shortcomings of existing technologies and provide an intelligent detection method for pipeline trenchless repair defects based on CCTV technology. By using CCTV technology, it achieves full-process detection of defects before repair, dynamic control of the repair process, and comprehensive verification of the repair effect, thereby improving the quality and construction efficiency of pipeline trenchless repair.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a smart detection method for pipeline trenchless repair defects based on CCTV technology, including: using CCTV detection equipment to detect defects in the pipeline to be repaired, confirming the starting and ending positions of the defects, and statistically analyzing the pipeline defect structure data.

[0008] Based on the current internal environmental data of the pipeline to be repaired, the environmental compatibility priority of each standard raw material ratio of the curing agent is analyzed. Combining the historical bonding performance and historical strength performance of each standard raw material ratio, the final standard raw material ratio is selected.

[0009] Based on the structural data of the pipeline defect, determine the thickness of the curing agent coating corresponding to the pipeline defect area, bind the coated fiber cloth to the airbag, and guide the airbag to the pipeline defect area.

[0010] The airbag posture is dynamically adjusted based on the center position of the pipeline defect area, and the current curing agent thickness of the pipeline defect area is collected in real time during the airbag expansion process to compare and judge the airbag expansion state.

[0011] CCTV inspection equipment was used to inspect the defective areas of the repaired pipeline to obtain the sealing and adhesion of the repaired interfaces and to confirm whether the pipeline repair effect was qualified.

[0012] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention obtains pipeline defect structure data by CCTV detection equipment, analyzes the environmental compatibility priority of each standard raw material ratio of the curing agent by combining the current internal environment data of the pipeline, and integrates the historical bonding performance and historical strength performance to screen the final ratio, so as to ensure that the performance of the curing agent is highly matched with the internal environment and defect structure of the pipeline, effectively avoids the problem of incomplete curing caused by incompatible environmental conditions, and improves the bonding and strength performance of the curing agent.

[0013] (2) The present invention calculates the curing agent coating thickness at each defect location based on the pipeline defect structure data to ensure that the coating thickness is compatible with the pipeline defect structure data, laying the foundation for the tight adhesion of the curing agent to the defect area after the airbag expands. At the same time, the coated fiber cloth is tied to the airbag and guided to the pipeline defect area, standardizing the operation process of binding the fiber cloth to the airbag and guiding it, and ensuring the orderly progress of the repair construction.

[0014] (3) The present invention dynamically adjusts the posture of the airbag based on the center position of the pipeline defect area, and collects the current curing agent thickness of the pipeline defect area in real time during the airbag expansion process. The airbag expansion state is compared and judged, realizing dynamic control of the airbag expansion state, ensuring that the fiber cloth is accurately aligned and attached to the pipeline defect area, eliminating the leakage risk after pipeline defect repair, and improving the accuracy of trenchless pipeline repair construction.

[0015] (4) The present invention uses CCTV inspection equipment to inspect the defect area of ​​the repaired pipeline, obtain the sealing and adhesion of the repair interface corresponding to the defect area after repair, confirm whether the pipeline repair effect is qualified, avoid the pipeline with unqualified repair effect from being put into use, and reduce the maintenance cost and failure rate of the pipeline in the later operation and maintenance. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the method steps of the present invention.

[0018] Figure 2 This is a schematic diagram of the process for determining the final standard raw material ratio in this invention.

[0019] Figure 3 This is a schematic diagram of the dynamic adjustment process of the airbag posture in this invention. Detailed Implementation

[0020] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. Furthermore, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale.

[0021] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use. Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

[0022] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0023] Please see Figure 1 As shown, the present invention provides an intelligent detection method for pipeline trenchless repair defects based on CCTV technology, including: S1, using CCTV detection equipment to detect the structural data of defects in the pipeline to be repaired.

[0024] Considering that the accuracy of pipeline defect location and the integrity of structural data are the core foundation for subsequent trenchless repair construction, existing technologies are prone to problems such as defect location marking deviation and single dimension of structural data detection. It is necessary to achieve accurate defect location by combining the operation of CCTV detection equipment with mileage counting, and at the same time, integrate image recognition and radial depth acquisition to complete the detection of defect structural data, so as to provide data support for subsequent curing agent ratio selection.

[0025] Based on this, the specific implementation of the present invention includes: using CCTV inspection equipment to detect defects in the pipeline to be repaired, confirming the starting and ending positions of the defects, and compiling structural data of the pipeline defects.

[0026] In a specific embodiment of the present invention, the method for statistical analysis of pipeline defect structure data is as follows: S11, control the CCTV detection device to move at a constant speed along the axis of the pipeline to be repaired, and simultaneously record the mileage count of the device and the real-time detection image of the pipeline. The specific implementation steps are as follows: S111, place the CCTV detection device inside the pipeline to be repaired, control the CCTV detection device to maintain a constant speed along the axis of the pipeline, and set the moving speed to a fixed value to avoid speed fluctuations causing deviations in the mileage count and the corresponding image frames.

[0027] S112. During the movement of the CCTV inspection equipment, the mileage counting unit and image acquisition unit of the equipment are activated to realize real-time recording of the equipment's movement mileage and continuous acquisition of images of the inner wall of the pipeline, ensuring that each frame of the inspection image corresponds to a unique mileage count.

[0028] It should be noted that before placing the CCTV inspection equipment inside the pipeline to be repaired, the sewage is temporarily drained from the corresponding upstream and downstream pipelines to be repaired, and the inner wall of the pipeline to be repaired is cleaned of impurities. The specific process will not be described in detail in this invention.

[0029] S12. Identify suspected defect feature areas from real-time pipeline inspection images using image recognition technology. Perform continuous frame analysis on image frames containing suspected defect feature areas. Mark the first frame where the suspected defect feature area appears as the defect start frame and the last frame where the suspected defect feature area disappears as the defect end frame. Mark the mileage counts corresponding to the defect start frame and end frame to determine the defect start position and end position.

[0030] The defect start position and the defect end position are the corresponding positions of the mileage count in the defect start frame and the defect end frame, respectively.

[0031] S13. Extract the length, width, and area of ​​the defect contour from the image frame sequence corresponding to the start and end positions of the defect, and construct pipeline defect structure data by combining the radial depth distribution of the defect collected by CCTV inspection equipment.

[0032] In one specific embodiment, the method of identifying suspected defect feature regions from real-time pipeline inspection images using image recognition technology is as follows: A pre-built pipeline defect feature database is retrieved. This database contains standard features such as texture, contour, and grayscale distribution of structural defects like cracks, deformations, and leaks. The real-time pipeline inspection image is compared pixel-by-pixel with the standard features of all structural defects to identify suspected defect feature regions in the real-time pipeline inspection image that match the defect features. This identification process is existing technology and will not be elaborated upon here.

[0033] This invention utilizes CCTV inspection equipment to detect defects in pipelines to be repaired, achieving precise location of pipeline defects and avoiding the positional deviation problems of existing inspection technologies. At the same time, it integrates image recognition and radial depth acquisition to construct pipeline defect structural data, providing basic data for subsequent pipeline defect repair work.

[0034] S2. Based on the environmental compatibility priority of each curing agent and standard raw material ratio, the final standard raw material ratio is selected.

[0035] Considering that the curing effect, bonding performance, and strength performance of the curing agent are affected by the internal temperature and humidity environment of the pipeline, and that different standard raw material ratios have different historical performances in actual repairs, selecting the ratio solely based on environmental compatibility can easily lead to substandard actual repair results. It is necessary to first classify the environmental compatibility of each ratio according to the current internal environment of the pipeline, and then conduct a second screening based on historical repair performance to ensure that the final ratio is compatible with both the pipeline environment and the defect structure, thus avoiding repair failure due to insufficient compatibility of the curing agent.

[0036] Based on this, the specific implementation of the present invention includes: S21, analyzing the environmental compatibility priority of each standard raw material ratio of the curing agent based on the current internal environmental data of the pipeline to be repaired. The specific analysis process is as follows: S211, using a temperature and humidity sensor integrated into the CCTV detection equipment, multiple points are collected in the pipeline defect area and surrounding locations to collect the real-time temperature and humidity inside the pipeline to be repaired. After removing abnormal collected values, the average value is taken as the current internal environmental data.

[0037] S212. Match the real-time temperature and humidity with the curing temperature and humidity ranges corresponding to each standard raw material ratio in the curing agent ratio database.

[0038] S213. If a standard raw material ratio satisfies both temperature matching and humidity matching, then the environmental adaptation priority of the standard raw material ratio shall be set to the highest priority.

[0039] S214. Conversely, the temperature deviation (difference between real-time temperature and the midpoint of the suitable curing temperature range) and humidity deviation (difference between real-time humidity and the midpoint of the suitable curing humidity range) of each standard raw material ratio are statistically analyzed, and the environmental adaptation priority of each standard raw material ratio is determined based on the temperature deviation and humidity deviation values.

[0040] In one specific embodiment, the temperature deviation value and humidity deviation value of each standard raw material ratio are sorted in ascending order of deviation and assigned a score. The smaller the deviation value, the higher the score. The scores corresponding to the temperature deviation value and humidity deviation value of each standard raw material ratio are obtained. The total score of each standard raw material ratio is calculated. The environmental adaptation priority is assigned in descending order of the total score. The higher the total score, the higher the environmental adaptation priority.

[0041] S22. Based on the historical bonding performance and historical strength performance of each standard raw material ratio, the final standard raw material ratio is selected. The selection method is as follows: S221. Retrieve the historical repair records of each standard raw material ratio of the curing agent from the pipeline repair database, and obtain the corresponding repair pipeline material (reinforced concrete, plastic or ceramic, etc.), pipeline repair effect and repair defect structure data for each historical repair record.

[0042] S222. Based on the material of the pipeline to be repaired, screen the number of historical repair records with qualified pipeline repair results, and use the ratio of the number of repair records to the total number of historical repair records as the historical bonding performance. The higher the ratio, the better the historical bonding performance. Based on the repair defect structure data of each historical repair record with qualified pipeline repair results, obtain the maximum and minimum values ​​of the repair defect structure data, determine the appropriate defect structure data range, and use it as the historical strength performance.

[0043] S223. Based on the environmental compatibility priority, historical bonding performance, and historical strength performance of each standard raw material ratio, determine the final standard raw material ratio, such as... Figure 2 As shown, the specific determination content is as follows: First, the standard raw material ratio with the highest priority for environmental adaptability is selected. When the number of standard raw material ratios with the highest priority is not unique, the standard raw material ratio with the highest historical strength performance (the suitable defect structure data range includes the corresponding defect structure data of the pipeline to be repaired) and the highest historical bonding performance is selected and used as the final standard raw material ratio.

[0044] Secondly, when the highest priority standard raw material ratio is unique, if the historical strength performance of that standard raw material ratio is consistent, then that standard raw material ratio shall be used as the final standard raw material ratio.

[0045] Then, conversely, the standard raw material ratio corresponding to the second priority is selected, and the number of standard raw material ratios corresponding to the second priority is analyzed to determine whether they are unique, until the final standard raw material ratio is determined.

[0046] This invention uses CCTV inspection equipment to detect and obtain pipeline defect structure data, and combines it with the current internal environment data of the pipeline to analyze the environmental compatibility priority of each standard raw material ratio of the curing agent. At the same time, it integrates historical bonding performance and historical strength performance to screen the final ratio, ensuring that the performance of the curing agent is highly matched with the internal environment and defect structure of the pipeline, effectively avoiding the problem of incomplete curing caused by incompatible environmental conditions, and improving the bonding and strength performance of the curing agent.

[0047] S3. Determine the thickness of the curing agent coating corresponding to the defective area of ​​the pipeline.

[0048] Considering that the thickness of the hardener coating directly determines the bonding strength and sealing effect after pipe repair, the radial depth of different defect locations has different requirements for the thickness of the hardener. A uniform coating thickness may lead to insufficient repair of deeper defects and material waste in shallower defects. It is necessary to calculate the coating thickness at each location based on the defect structure data. At the same time, the operation process guided by fiber cloth and airbags should be used to ensure the accuracy of the repair construction.

[0049] Based on this, the specific implementation of the present invention includes: S31, determining the curing agent coating thickness corresponding to the pipeline defect area according to the pipeline defect structure data, the determination method is: S311, retrieving the basic coating thickness corresponding to each standard raw material ratio in the repair strength configuration database, wherein the basic coating thickness is the standard coating thickness of the corresponding ratio for conventional pipeline structural defects, and matching the basic coating thickness corresponding to the final standard raw material ratio.

[0050] S312. Extract the radial depth distribution of defects from the pipeline defect structure data. Based on the ratio of the radial depth of each defect location to the depth of the pipeline design wall thickness, the higher the ratio, the more severe the defect damage at that location. Combine this with the base coating thickness to calculate the compensation thickness increment.

[0051] In one specific embodiment, the product of the base coating thickness and the depth ratio is used as the compensation thickness increment, and the depth ratio is positively correlated with the compensation thickness increment.

[0052] S313. The compensation thickness increment at each defect location is superimposed with the base coating thickness to obtain the curing agent coating thickness at each defect location in the pipeline defect area.

[0053] S32. Tie the coated fiber cloth to the airbag and guide the airbag to the pipeline defect area. The specific operation process is as follows: S321. According to the length, width and area of ​​the defect outline in the pipeline defect structure data, cut a suitable fiber cloth, and apply curing agent to the corresponding position of the fiber cloth to ensure that the thickness of the curing agent at each position of the fiber cloth is consistent with the thickness of the curing agent application.

[0054] S322. After applying the curing agent, the fiber cloth is smoothly tied to the surface of the airbag. After tying, the airbag is temporarily fixed to prevent the fiber cloth from falling off or shifting.

[0055] S323. Insert the airbag with the fiber cloth attached into the pipe. Based on the starting and ending positions of the pipe defect, guide the airbag to the defect area using CCTV detection equipment, so that the center of the airbag is initially aligned with the center of the defect area, thus completing the positioning and guidance of the airbag.

[0056] This invention calculates the curing agent coating thickness at each defect location based on pipeline defect structure data, ensuring that the coating thickness matches the pipeline defect structure data. This lays the foundation for the tight adhesion between the curing agent and the defect area after the airbag expands. At the same time, the coated fiber cloth is tied to the airbag and guided to the pipeline defect area. This standardizes the operation process of tying the fiber cloth to the airbag and guiding it, ensuring the orderly progress of the repair construction.

[0057] S4. Collect the thickness of the curing agent during the airbag inflation process to determine the airbag inflation state.

[0058] Considering that the airbag may cause the fiber cloth to shift in posture during the expansion process, resulting in misalignment between the fiber cloth and the defect area, it is necessary to dynamically adjust the posture of the airbag through coordinate comparison, and at the same time collect the thickness of the curing agent in real time and judge the expansion status to achieve dynamic control of the repair process and ensure precise alignment and bonding between the fiber cloth and the defect area.

[0059] Based on this, the specific implementation of the present invention includes: S41, dynamically adjusting the airbag posture based on the center position of the pipeline defect area, such as... Figure 3 As shown, the specific adjustment method is as follows: S411, real-time acquisition of the center position of the fiber cloth during the expansion of the airbag, and determination of the projection point coordinates of the center position of the fiber cloth in the three-dimensional coordinate system of the pipeline.

[0060] S412. Based on the spatial coordinates of the center position of the pipeline defect area in the pipeline's three-dimensional coordinate system, if the spatial coordinates coincide with the coordinates of the projection point, then maintain the current posture of the airbag.

[0061] S413. Conversely, the current attitude of the airbag is adjusted according to the spatial distance and orientation relationship between the spatial coordinates and the projection point coordinates. The steps are as follows: First, based on the spatial coordinates and the projection point coordinates, the axial orientation (front or back) and axial spatial distance, circumferential orientation (up or down) and circumferential spatial distance of the spatial coordinates and the projection point coordinates in the pipeline are identified. Based on the circumferential spatial distance and the distance between the center position of the fiber cloth and the inner wall, the circumferential rotation angle is calculated using the Pythagorean theorem.

[0062] Then, when the axial orientation of the pipeline is forward (the projection point is in front of the spatial coordinates), the airbag is controlled to make a slight adjustment of the axial spatial distance in the direction of the pipeline's axial direction. When the circumferential orientation of the pipeline is upward (the projection point is above the spatial coordinates), the airbag is controlled to rotate clockwise along the circumferential direction of the pipeline until the spatial coordinates coincide with the coordinates of the projection point.

[0063] S42. And collect the current curing agent thickness of the pipeline defect area in real time during the airbag expansion process, and compare and judge the airbag expansion state. The specific judgment method is as follows: S421. Through the ultrasonic thickness sensor integrated on the surface of the airbag, collect the gap distance between the fiber cloth and the inner wall of the pipeline at each defect location in the pipeline defect area during the airbag expansion process.

[0064] S422. If the gap between the fiber cloth and the inner wall of the pipe at a certain defect location is greater than or equal to the curing agent coating thickness at the corresponding location, then the curing agent coating thickness shall be taken as the curing agent thickness at the corresponding defect location; otherwise, the gap distance shall be taken as the curing agent thickness at the corresponding defect location.

[0065] S423. Obtain the deviation value of the curing agent thickness at each defect location from its average thickness. If the deviation value at all defect locations is within the allowable thickness deviation range, the airbag inflation state is deemed qualified, and the airbag inflation is stopped. Otherwise, adjust the airbag inflation pressure until the airbag inflation state is qualified.

[0066] This invention dynamically adjusts the airbag posture based on the center position of the pipeline defect area and collects the current curing agent thickness of the pipeline defect area in real time during the airbag expansion process. By comparing and judging the airbag expansion state, dynamic control of the airbag expansion state is achieved, ensuring that the fiber cloth is accurately aligned and adhered to the pipeline defect area, eliminating the risk of leakage after pipeline defect repair, and improving the accuracy of trenchless pipeline repair construction.

[0067] S5. Inspect and confirm whether the pipeline repair effect is up to standard.

[0068] Considering that the sealing and adhesion of the repair joints are crucial to ensuring the long-term safe operation of pipelines after trenchless repair, and that putting substandard repaired pipelines into use can lead to later failures and increase maintenance costs, this invention uses CCTV inspection equipment combined with image recognition and acoustic signal analysis to achieve dual detection of the sealing and adhesion of the repair joints. This constructs a comprehensive system for judging the quality of repairs, promptly identifies potential repair problems and triggers secondary repairs, ensuring that the repaired pipelines can meet the safety requirements for long-term operation.

[0069] Based on this, the specific implementation of the present invention includes: S51, using CCTV inspection equipment to inspect the repaired pipeline defect area to obtain the sealing and adhesion of the repair interface corresponding to the repaired defect area.

[0070] It should be noted that the sealing performance of the repair interface is obtained as follows: First, the CCTV inspection equipment is controlled to scan the repaired pipeline defect area, and images of the inner wall of the pipeline in the repair area and acoustic feedback signal sequences are continuously acquired.

[0071] Then, the boundary contour of the repaired area is extracted from the image of the inner wall of the pipe in the repaired area. A tangential scan line is established along the boundary contour of the repaired area to cover the entire range of the boundary contour without dead angles. The jump width of gray value in the direction of the scan line (the pixel distance between the positions where the gray value changes) is detected.

[0072] Finally, retrieve the preset gap width threshold in the pipeline repair sealing test standard. If there is a dark pattern area with a jump width exceeding the gap width threshold, the repair interface is unqualified for sealing; otherwise, the repair interface is qualified for sealing.

[0073] The adhesion is obtained by extracting the arrival time delay of the refracted wave signal of each receiving element from the acoustic feedback signal sequence. If the arrival time delay of the refracted wave signal of all receiving elements is within the theoretical ultrasonic propagation time delay range of the curing agent, which is the normal time delay range of ultrasonic waves propagating between the curing agent and the inner wall of the pipe after curing according to the corresponding ratio, then the adhesion of the defective area after repair is qualified; otherwise, the adhesion of the defective area after repair is unqualified.

[0074] S52. Based on the sealing and adhesion of the repaired interface, confirm whether the pipeline repair effect is qualified. The specific confirmation content is as follows: If the sealing of the repaired interface is qualified and the adhesion of the defect area after repair is qualified, the pipeline repair effect is determined to be qualified. Generate a repair qualification report containing test data and judgment results, and archive and store the report in the pipeline repair database.

[0075] If the sealing of the repaired interface is not up to standard or the adhesion of the defective area after repair is not up to standard, the pipeline repair effect is deemed unsatisfactory, and a secondary repair task instruction is generated to trigger a new repair process.

[0076] This invention uses CCTV inspection equipment to inspect the defective areas of the repaired pipeline, obtaining the sealing and adhesion of the repair interface corresponding to the defective area, confirming whether the pipeline repair effect is qualified, avoiding the use of pipelines with unqualified repair effects, and reducing the maintenance cost and failure rate of pipeline operation and maintenance in the later stage.

[0077] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0078] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0079] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0080] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0081] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for intelligent detection of pipeline defects in trenchless repair based on CCTV technology, characterized in that, include: CCTV inspection equipment is used to detect defects in the pipeline to be repaired, to identify the starting and ending locations of defects, and to collect structural data on pipeline defects. Based on the current internal environmental data of the pipeline to be repaired, the environmental compatibility priority of each standard raw material ratio of the curing agent is analyzed. Combined with the historical bonding performance and historical strength performance of each standard raw material ratio, the final standard raw material ratio is selected. The environmental compatibility priority analysis method for each standard raw material ratio of the curing agent is as follows: Collect real-time temperature and humidity inside the pipeline to be repaired as current internal environmental data; The real-time temperature and humidity are matched with the suitable curing temperature range and suitable humidity range corresponding to each standard raw material ratio in the curing agent ratio database. If a standard raw material ratio satisfies both temperature matching and humidity matching, then the environmental adaptation priority of that standard raw material ratio is set to the highest priority. Conversely, the temperature and humidity deviation values ​​of each standard raw material ratio are statistically analyzed, and the environmental adaptation priority of each standard raw material ratio is determined based on the temperature and humidity deviation values. Based on the structural data of the pipeline defect, determine the thickness of the curing agent coating corresponding to the pipeline defect area, bind the coated fiber cloth to the airbag, and guide the airbag to the pipeline defect area. The method for determining the thickness of the curing agent coating corresponding to the defective area of ​​the pipeline is as follows: Retrieve the base coating thickness corresponding to each standard material ratio in the repair strength configuration database, and match it with the base coating thickness corresponding to the final standard material ratio. Extract the radial depth distribution of defects from the pipeline defect structure data, and calculate the compensation thickness increment based on the ratio of the radial depth of each defect location to the depth of the pipeline design wall thickness, combined with the base coating thickness. The compensation thickness increment at each defect location is superimposed with the base coating thickness to obtain the curing agent coating thickness at each defect location in the pipeline defect area. The airbag posture is dynamically adjusted based on the center position of the pipeline defect area, and the current curing agent thickness of the pipeline defect area is collected in real time during the airbag expansion process to compare and judge the airbag expansion state. CCTV inspection equipment was used to inspect the defective areas of the repaired pipeline to obtain the sealing and adhesion of the repaired interfaces and to confirm whether the pipeline repair effect was qualified.

2. The intelligent detection method for trenchless pipeline repair defects based on CCTV technology according to claim 1, characterized in that: The statistical method for the pipeline defect structure data is as follows: Control the CCTV inspection equipment to move at a constant speed along the axis of the pipeline to be repaired, and simultaneously record the equipment's mileage count and real-time pipeline inspection images; By using image recognition technology, suspected defect feature areas are identified from real-time pipeline inspection images. The mileage counts corresponding to the defect start frame and end frame are marked to determine the defect start and end positions. The length, width, and area of ​​the defect contour are extracted from the image frame sequence corresponding to the start and end positions of the defect. Combined with the radial depth distribution of the defect collected by CCTV inspection equipment, pipeline defect structural data are constructed.

3. The intelligent detection method for trenchless pipeline repair defects based on CCTV technology according to claim 1, characterized in that: The final standard raw material ratio screening method is as follows: Retrieve historical repair records of each standard raw material ratio of the curing agent from the pipeline repair database, and obtain data on the repaired pipeline material, pipeline repair effect, and repair defect structure corresponding to each historical repair record; Based on the material of the pipeline to be repaired, the number of historical repair records with qualified pipeline repair results is selected, and the ratio of this number to the total number of historical repair records is used as the historical bonding performance. Based on the repair defect structure data of each historical repair record with qualified pipeline repair results, the appropriate defect structure data range is determined and used as the historical strength performance. The final standard raw material ratio is determined based on the environmental compatibility priority, historical bonding performance, and historical strength performance of each standard raw material ratio.

4. The intelligent detection method for trenchless pipeline repair defects based on CCTV technology according to claim 3, characterized in that: The final standard raw material ratio is determined as follows: The standard raw material ratio with the highest priority for environmental adaptability is selected. When the number of standard raw material ratios with the highest priority is not unique, the standard raw material ratio with the highest historical strength performance and the highest historical bonding performance is selected and used as the final standard raw material ratio. When the highest priority standard raw material ratio is unique, if the historical strength performance of the standard raw material ratio is consistent, then the standard raw material ratio shall be used as the final standard raw material ratio. Conversely, the standard raw material ratio corresponding to the second priority is selected, and the number of standard raw material ratios corresponding to the second priority is analyzed to determine whether they are unique, until the final standard raw material ratio is determined.

5. The intelligent detection method for trenchless pipeline repair defects based on CCTV technology according to claim 1, characterized in that: The method for dynamically adjusting the airbag posture is as follows: Real-time acquisition of the center position of the fiber cloth during the inflation process of the airbag, and determination of the coordinates of the projection point of the center position of the fiber cloth in the three-dimensional coordinate system of the pipeline; Based on the spatial coordinates of the center location of the pipeline defect area in the pipeline's three-dimensional coordinate system, if the spatial coordinates coincide with the coordinates of the projection point, the current posture of the airbag is maintained. Conversely, the airbag's current attitude is adjusted based on the spatial distance and orientation relationship between the spatial coordinates and the projection point coordinates until the spatial coordinates coincide with the projection point coordinates.

6. The intelligent detection method for trenchless pipeline repair defects based on CCTV technology according to claim 5, characterized in that: The method for comparing and judging the inflation state of the airbag is as follows: During the inflation of the airbag, the gap distance between the fiber cloth and the inner wall of the pipe was collected at each defect location in the pipe defect area. If the gap between the fiber cloth and the inner wall of the pipe at a certain defect location is greater than or equal to the curing agent coating thickness at the corresponding location, then the curing agent coating thickness is taken as the curing agent thickness at the corresponding defect location; otherwise, the gap distance is taken as the curing agent thickness at the corresponding defect location. Obtain the deviation value of the curing agent thickness at each defect location from its average thickness. If the deviation value at all defect locations is within the allowable thickness deviation range, the airbag inflation state is judged to be qualified, and the airbag inflation is stopped. Otherwise, adjust the airbag inflation pressure until the airbag inflation state is qualified.

7. The intelligent detection method for trenchless pipeline repair defects based on CCTV technology according to claim 1, characterized in that: The method for achieving the sealing and adhesion of the repair interface is as follows: The CCTV inspection equipment is controlled to scan the repaired pipeline defect area and continuously acquire images of the inner wall of the pipeline in the repaired area and acoustic feedback signal sequences. Extract the boundary contour of the repaired area from the image of the inner wall of the pipe in the repaired area, establish a tangential scan line along the boundary contour of the repaired area, and detect the jump width of gray value in the direction of the scan line. If there is a dark pattern area where the width of the transition exceeds the threshold of the gap width, the repair interface is not sealed properly; otherwise, the repair interface is sealed properly. The arrival time delay of the refracted wave signal of each receiving element is extracted from the acoustic feedback signal sequence. If the arrival time delay of the refracted wave signal of all receiving elements is within the theoretical ultrasonic propagation time delay range of the curing agent, the adhesion of the defect area after repair is qualified; otherwise, the adhesion of the defect area after repair is unqualified.

8. The intelligent detection method for trenchless pipeline repair defects based on CCTV technology according to claim 7, characterized in that: The method for confirming whether the pipeline repair effect is satisfactory is as follows: If the repaired interface is sealed and the adhesion of the defective area is satisfactory, the pipeline repair is deemed satisfactory, a repair satisfactory report is generated and archived. If the sealing of the repaired interface is not up to standard or the adhesion of the defective area after repair is not up to standard, the pipeline repair effect is deemed unsatisfactory, and a secondary repair task instruction is generated to trigger the repair process again.

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