Inspection well underwater pipeline and flow direction detection method, device, equipment and medium

Abstract

The invention relates to the technical field of sonar detection, and discloses an inspection well underwater pipeline and flow direction detection method, device, equipment and medium, and the inspection well underwater pipeline and flow direction detection method comprises the steps: obtaining sonar detection data of a plurality of target inspection wells by using target sonar scanning equipment equipped with a jacking rod rail device; the target sonar scanning equipment is used for transmitting an ultrasonic original frequency in a target inspection well and receiving a reflected target ultrasonic frequency; performing three-dimensional modeling on the target inspection wells according to the sonar detection data to obtain a target inspection well three-dimensional model of each target inspection well; according to the three-dimensional model of each target inspection well, determining a pipe orifice circle center coordinate of each target inspection well; the water flow direction of each target inspection well is determined according to the ultrasonic offset frequency data corresponding to the coordinates of the circle center of the pipe opening of each target inspection well, the water flow direction of each target inspection well is determined through sonar detection, and the accuracy of determining the water flow direction of the inspection well is improved.

Description

Technical Field

[0001] This invention relates to the field of sonar detection technology, specifically to methods, devices, equipment, and media for detecting underwater pipelines and flow direction in inspection wells. Background Technology

[0002] Inspection wells, as crucial nodes connecting urban drainage pipelines and constructing underground drainage networks, are essential structures for monitoring pipeline transfer status, troubleshooting, and maintenance. Therefore, it is necessary to determine the water flow direction within the inspection wells.

[0003] In related technologies, the method for determining the water flow direction in inspection wells involves visualizing the water flow in the inspection well using images to determine the water flow direction. However, this method is affected by the low visibility of sewage, which prevents the underwater environment of the inspection well from being effectively imaged. As a result, the determination of the water flow direction in the inspection well is inaccurate and does not conform to the actual situation. Summary of the Invention

[0004] This invention provides a method, device, equipment, and medium for detecting underwater pipes and flow direction in inspection wells, in order to solve the problem that the determination results of water flow direction in inspection wells in related technologies are inaccurate and do not conform to the actual situation.

[0005] In a first aspect, the present invention provides a method for detecting underwater pipes and flow direction in inspection wells, comprising: acquiring sonar detection data of multiple target inspection wells using a target sonar scanning device equipped with a top-tightening rod-rail device; the top-tightening rod-rail device being used to control the movement of the target sonar scanning device within the target inspection wells, the target sonar scanning device being used to emit the original frequency of ultrasonic waves in the target inspection wells and receive the reflected target ultrasonic wave frequencies; performing three-dimensional modeling of the target inspection wells based on the sonar detection data to obtain a three-dimensional model of each target inspection well; determining the coordinates of the pipe opening center of each target inspection well based on the three-dimensional model of each target inspection well; and determining the water flow direction of each target inspection well based on the ultrasonic wave deflection frequency data corresponding to the pipe opening center coordinates of each target inspection well.

[0006] This invention utilizes a target sonar scanning device equipped with a top-mounted rail device to acquire sonar detection data from multiple target manholes. The top-mounted rail device controls the movement of the target sonar scanning device within the target manhole, stably fixing the device inside and preventing it from shaking or shifting, thus ensuring the positional accuracy and data stability of the scanning. Based on the sonar detection data, this invention performs 3D modeling of the target manholes, obtaining a 3D model of each manhole. This 3D model visually recreates the internal structural information of the manhole, enabling the detection and modeling of underwater pipelines within the manhole. Based on the 3D model of each target manhole, this invention determines the coordinates of the pipe inlet center of each manhole. Using the ultrasonic frequency deviation data corresponding to the pipe inlet center coordinates, the water flow direction of each manhole is determined. This allows for the direct determination of the water flow direction at the pipe inlet of each manhole, thereby obtaining the water flow direction for each target manhole. Compared with related technologies, this invention uses sonar technology to determine the water flow direction of the target inspection well, thereby improving the accuracy of the determination result.

[0007] In one optional implementation, a target sonar scanning device equipped with a top-mounted rod rail device is used to acquire sonar detection data of multiple target inspection wells. This includes: controlling the movement of the top-mounted rod rail device to move the target sonar scanning device in each target inspection well; during the process of controlling the movement of the target sonar scanning device in each target inspection well, controlling the target sonar scanning device to emit the original ultrasonic wave frequency, and receiving the target ultrasonic wave frequency reflected in the target inspection well to obtain the sonar detection data of multiple target inspection wells.

[0008] In one optional implementation, a three-dimensional model of the target inspection well is performed based on sonar detection data to obtain a three-dimensional model of each target inspection well. This includes: determining the propagation time of the target ultrasonic frequency corresponding to each point in each target inspection well based on the sonar detection data; determining the target distance corresponding to each point based on the propagation time and a preset propagation speed; determining the spatial point cloud coordinates of each target inspection well based on each target distance; and performing three-dimensional modeling based on the spatial point cloud coordinates of each target inspection well to obtain a three-dimensional model of each target inspection well.

[0009] In one optional implementation, the water flow direction of each target inspection well is determined based on the ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well. This includes: obtaining a preset number of ultrasonic frequency deviation data based on the difference between a preset number of original ultrasonic frequencies and target ultrasonic frequencies at the center coordinates of the pipe opening of each target inspection well; when all preset number of ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well are positive, the water flow direction of the target inspection well is determined to be inflow into the target inspection well; when all preset number of ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well are negative, the water flow direction of the target inspection well is determined to be outflow from the target inspection well.

[0010] In one optional implementation, the underwater pipeline and flow direction detection method for inspection wells further includes: determining the elevation difference between the pipeline flowing out of and into the target inspection well based on the coordinates of the pipe outlet center; if the elevation difference is greater than 0, then verifying that the water flow direction judgment for each target inspection well is correct.

[0011] This invention verifies the accuracy of the water flow direction judgment for each target inspection well based on the elevation difference between the pipeline flowing out of and into the target inspection well, effectively avoiding misjudgment of flow direction and improving the accuracy and reliability of the flow direction judgment results.

[0012] In one optional embodiment, the underwater pipeline and flow direction detection method for the inspection well further includes: dividing the water flow cross-section of the target inspection well into multiple target layers according to a preset width in the direction in which the target sonar scanning device moves within the target inspection well; acquiring the target average value of the frequency offset data of multiple sets of ultrasonic array elements in each target layer, and acquiring preset underwater sound velocity data; determining the water flow velocity of each target layer based on the target average value of each target layer, the preset underwater sound velocity data, and the transmission frequency of the target sonar scanning device; determining the flow rate of each target layer based on the product of the water flow velocity of each target layer and the cross-sectional area of ​​the corresponding target layer; and summing the flow rates of multiple target layers to obtain the target total flow rate of the target inspection well.

[0013] This invention divides the water flow cross-section of the target inspection well into multiple target layers according to a preset width in the direction of movement of the target sonar scanning device within the target inspection well. This accurately captures differences in vertical flow velocity distribution, better reflects the actual water flow pattern, and improves the accuracy of flow velocity calculation. The invention obtains the target average value of the frequency offset data of multiple sets of ultrasonic array elements in each target layer, acquires preset underwater sound velocity data, and determines the water flow velocity of each target layer based on the target average value, the preset underwater sound velocity data, and the transmission frequency of the target sonar scanning device. The flow rate of each target layer is determined by multiplying the water flow velocity of each target layer by the corresponding cross-sectional area, conforming to the essence of pipe flow rate determination and effectively avoiding flow rate estimation errors caused by uneven flow velocity distribution. The flow rates of multiple target layers are then summed to obtain the total target flow rate of the target inspection well.

[0014] Secondly, the present invention provides an underwater pipeline and flow direction detection device for inspection wells, comprising: a sonar detection unit for acquiring sonar detection data of multiple target inspection wells using a target sonar scanning device equipped with a top-tightening rod-rail device; the top-tightening rod-rail device for controlling the movement of the target sonar scanning device within the target inspection well, the target sonar scanning device for emitting the original frequency of ultrasonic waves in the target inspection well and receiving the reflected target ultrasonic wave frequency; a three-dimensional modeling unit for performing three-dimensional modeling of the target inspection wells based on the sonar detection data to obtain a three-dimensional model of each target inspection well; a center coordinate determination unit for determining the center coordinates of the pipe opening of each target inspection well based on the three-dimensional model of each target inspection well; and a water flow direction determination unit for determining the water flow direction of each target inspection well based on the ultrasonic wave deflection frequency data corresponding to the center coordinates of the pipe opening of each target inspection well.

[0015] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the inspection well underwater pipeline and flow direction detection method described in the first aspect or any corresponding embodiment above.

[0016] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the inspection well underwater pipeline and flow direction detection method of the first aspect or any corresponding embodiment described above.

[0017] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the inspection well underwater pipeline and flow direction detection method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the first process of a method for detecting underwater pipes and flow direction in a manhole according to an embodiment of the present invention. Figure 3 This is a schematic diagram of a three-claw wellhead clamping seat structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the connection structure of the top-tightening rod-rail device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the second process of the method for detecting underwater pipes and flow direction in inspection wells according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the third process of the method for detecting underwater pipes and flow direction in inspection wells according to an embodiment of the present invention. Figure 7 This is a flowchart illustrating a method for determining the flow rate of water in a manhole according to an embodiment of the present invention. Figure 8 This is a schematic diagram of the water flow cross-section division structure according to an embodiment of the present invention; Figure 9 This is a first structural block diagram of an inspection well underwater pipeline and flow direction detection device according to an embodiment of the present invention; Figure 10 This is a second structural block diagram of the inspection well underwater pipeline and flow direction detection device according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0022] As an optional application scenario of this invention, such as Figure 1 As shown, the underwater pipeline and flow direction detection system for the inspection well may include at least one terminal device and at least one server. Figure 1 The system is illustrated in the example, which includes a computer 101, a mobile terminal 102, and a server 103, and the terminal devices such as the computer 101 and the mobile terminal 102 are connected to the server 103 through a network 110.

[0023] Specifically, the terminal device can be a smartphone, tablet, laptop, PDA, desktop computer, game console, smart TV, smart wearable device, in-vehicle terminal, VR (Virtual Reality) device, AR (Augmented Reality) device, etc. Server 103 can be a standalone physical server, a server cluster, a distributed system, or a cloud server providing cloud services. Network 110 can be a wired or wireless network, examples of which include, but are not limited to, the Internet, corporate intranet, local area network, wide area network, mobile communication network, and combinations thereof.

[0024] Currently, drainage pipe networks are generally operating at high water levels, and conventional imaging inspection methods (such as periscopes) are affected by the extremely low visibility of sewage, resulting in the underwater environment of inspection wells being unable to be effectively imaged, thus becoming a hidden project.

[0025] Sonar detection technology is an important method for underwater environmental scanning and spatial model construction. However, the currently widely used method of using telescopic boom-mounted sonar to scan and model the underwater environment of inspection wells faces the following problems: First, the underwater flow velocity in inspection wells is relatively high, and the connection structure of the current sonar detection system, which is fixed at the bottom and free at the head, is prone to violent shaking under the impact of water flow, causing sonar attitude deviation and affecting the accuracy of modeling; Second, the function is limited, and the current sonar detection system does not make full use of the Doppler effect of the sonar echo signal to simultaneously determine the flow direction and flow rate of water entering and leaving the underwater pipeline.

[0026] This invention provides a method for detecting underwater pipes and flow direction in inspection wells. The method uses sonar detection to determine the water flow direction of each target inspection well, thereby improving the accuracy of water flow direction determination in inspection wells.

[0027] According to an embodiment of the present invention, an embodiment of a method for detecting underwater pipes and flow direction in inspection wells is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0028] This embodiment provides a method for detecting underwater pipes and flow direction in inspection wells, which can be used with computer equipment. Figure 2 This is a first flowchart of a method for detecting underwater pipes and flow direction in inspection wells according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps: Step S201: Using a target sonar scanning device equipped with a top-tightening rod rail device, acquire sonar detection data of multiple target inspection wells; the top-tightening rod rail device is used to control the movement of the target sonar scanning device in the target inspection well, and the target sonar scanning device is used to emit the original frequency of ultrasonic waves in the target inspection well and receive the frequency of the reflected target ultrasonic waves.

[0029] The clamping-type rod-rail device is a mechanical fixing device that engages with the inner wall of the inspection well via a clamping structure. It includes a track to support and stably control the movement of the sonar equipment within the well, preventing equipment swaying. For example, the clamping-type rod-rail device includes a three-claw wellhead holder, a track rod, a clamping rod, and a conical clamping head.

[0030] In some optional embodiments, the three-jaw wellhead clamp can be installed at the wellhead of the target inspection well chamber via a telescopic support arm equipped with a hydraulic system. The locking force of the hydraulic locking device is not less than the sum of the weight of the rod and sonar, the impact force of water flow, and the external operating force, ensuring a rigid connection between the three-jaw wellhead clamp and the target inspection wellhead without displacement. The diameter adjustment range of the three-jaw wellhead clamp is adapted to mainstream inspection well specifications (600mm-2000mm). The middle part of the three-jaw wellhead clamp is the installation sleeve for the tightening rod, and the sleeve has internal threads. For example, Figure 3 This is a schematic diagram of a three-claw wellhead clamping seat structure according to an embodiment of the present invention. Figure 3 The three-claw wellhead holder includes a casing 301, a telescopic support arm 302 with a hydraulic system, and a connection structure 303 for connecting three target inspection wells.

[0031] In some alternative implementations, the tensioning rod has external threads on its surface to fit the internal threads of the casing mounted on the three-jaw wellhead mounting bracket. One end of the tensioning rod is equipped with a motor that can drive the tensioning rod to move up and down inside the mounting casing. The other end of the tensioning rod is equipped with threads and a positioning pin to achieve a rigid connection with the track rod.

[0032] In some alternative implementations, the track rod serves as a carrier for displacing the target sonar scanning equipment along the well depth direction. Each track rod stage is a standard segment, with a rack and pinion track on the outer side of the rod for sonar movement. Furthermore, the track rod surface is engraved with a graduated grating to acquire the sonar elevation coordinates (Z-axis) in real time. The track rods are rigidly connected via a dual locking mechanism of threads and locating pins.

[0033] In some optional embodiments, a conical tightening head is installed at the end of the track rod, and a built-in pressure sensor with a range measurement function is used to acquire the tightening pressure in real time. When the tightening head contacts the bottom of the well and the pressure reaches a level that provides sufficient friction to counteract the impact of the water flow, the drive unit automatically stops, forming a structure where the pipe opening is fixed, the rod body is taut, and the bottom is tightened. For example, Figure 4 This is a schematic diagram of the connection structure of the clamping rod and rail device according to an embodiment of the present invention, including a motor 401, a clamping rod 402, a rail rod 403, and a conical clamping head 404.

[0034] In some alternative implementations, the target sonar scanning device is a device responsible for emitting and receiving ultrasonic waves. Specifically, the target sonar scanning device includes a hollow sonar body, ultrasonic array elements, and auxiliary integrated modules. The hollow sonar body features a hollow design, allowing the track rod to pass through without contact. A ring-shaped traveling mechanism is mounted at the bottom of the hollow sonar body, enabling it to move axially along the track rod with adjustable speed parameters. Ultrasonic array elements are evenly distributed around the circumference of the hollow sonar shell, effectively covering a 360° circumferential scan range. Each set of ultrasonic array elements simultaneously performs ultrasonic transmission and reception functions, including two operating modes. The first mode has no frequency offset between the original frequency of the transmitted ultrasonic wave and the frequency of the ultrasonic wave received by the sonar after reflection from the target, used to acquire the spatial coordinates of well walls and pipe openings and generate point cloud data. The second mode has a frequency offset between the original frequency of the transmitted ultrasonic wave and the frequency of the ultrasonic wave received by the sonar after reflection from the target, used for flow velocity detection. The auxiliary integrated module includes a temperature sensor for real-time sound velocity calibration and LED (Light Emitting Diode) positioning lights for assisting in observing the sonar's position.

[0035] In some optional implementations, the sonar detection data is the raw data collected by the sonar device; the raw ultrasonic frequency is the initial ultrasonic frequency actively emitted by the target sonar scanning device and not affected by water flow. The target ultrasonic frequency is the frequency received by the sonar device after the ultrasonic wave is reflected by water flow, pipe walls, etc., and will deviate from the raw ultrasonic frequency due to the Doppler effect of water flow; the target inspection well is the inspection well object for which the direction of water flow needs to be determined.

[0036] Step S202: Based on the sonar detection data, perform three-dimensional modeling of the target inspection well to obtain the three-dimensional model of each target inspection well.

[0037] Among them, the target inspection well 3D model is a 3D geometric model of the inside of the target inspection well reconstructed from sonar detection data, which can include information such as the spatial shape and size of the well wall, pipe opening, pipe and other structures.

[0038] Step S203: Determine the center coordinates of the pipe opening of each target inspection well based on the three-dimensional model of each target inspection well.

[0039] Among them, the coordinates of the pipe opening center are the positions of the center of the water inlet and outlet pipe openings in the target inspection well in the three-dimensional coordinate system.

[0040] In some optional implementations, based on the three-dimensional model of each target manhole, the coordinates of the pipe opening center of each target manhole are automatically identified, and a correspondence table of pipe number-pipe opening center coordinates-pipe diameter-elevation can be established, as shown in Table 1, which is the pipe opening parameter table.

[0041] Table 1: Pipe Nozzle Parameter Table.

[0042]

[0043] Step S204: Determine the water flow direction of each target inspection well based on the ultrasonic frequency data corresponding to the center coordinates of the pipe opening of each target inspection well.

[0044] Among them, the ultrasonic frequency offset data is the difference between the received target ultrasonic frequency and the original transmitted frequency, generated by the Doppler effect of water flow, reflecting the direction and velocity of water flow. The water flow direction is the direction of water flow in and out of the target inspection well.

[0045] The underwater pipeline and flow direction detection method for inspection wells provided in this embodiment utilizes a target sonar scanning device equipped with a top-mounted rod-rail device to acquire sonar detection data of multiple target inspection wells. The top-mounted rod-rail device controls the movement of the target sonar scanning device within the target inspection well, stably fixing the target sonar scanning device inside the inspection well to prevent shaking or displacement, thus ensuring the positional accuracy and data stability of the target sonar scanning device. This embodiment of the invention performs three-dimensional modeling of the target inspection wells based on the sonar detection data, obtaining a three-dimensional model of each target inspection well. The three-dimensional model of the target inspection well intuitively restores the internal structural information of the target inspection well, realizing the detection and modeling of underwater pipelines within the inspection well. This invention, in its embodiments, determines the coordinates of the center of the pipe opening of each target inspection well based on a three-dimensional model of that well. Based on the ultrasonic frequency deviation data corresponding to the center of the pipe opening at each target inspection well's coordinates, the water flow direction of each target inspection well is determined. Furthermore, based on the ultrasonic frequency deviation data corresponding to the center of the pipe opening at each target inspection well's coordinates, the water flow direction at the pipe opening of each target inspection well is directly determined, thus obtaining the water flow direction of each target inspection well. Compared with related technologies, this invention, by using sonar technology to determine the water flow direction of the target inspection well, improves the accuracy of the determination result.

[0046] This embodiment provides a method for detecting underwater pipes and flow direction in inspection wells, which can be used with computer equipment. Figure 5 This is a second flowchart of the method for detecting underwater pipes and flow direction in inspection wells according to an embodiment of the present invention, as follows: Figure 5 As shown, the process includes the following steps: Step S501: Using a target sonar scanning device equipped with a top-tightening rod rail device, acquire sonar detection data of multiple target inspection wells; the top-tightening rod rail device is used to control the movement of the target sonar scanning device in the target inspection well, and the target sonar scanning device is used to emit the original ultrasonic wave frequency in the target inspection well and receive the reflected target ultrasonic wave frequency.

[0047] Specifically, step S501 includes: Step S5011: By controlling the movement of the top-tightening rod rail device, the target sonar scanning equipment is controlled to move in each target inspection well.

[0048] Step S5012: During the process of controlling the target sonar scanning device to move in each target inspection well, the target sonar scanning device is controlled to emit the original frequency of ultrasonic waves, and the target ultrasonic wave frequency is received by the reflection of the original frequency of ultrasonic waves in the target inspection well, sonar detection data of multiple target inspection wells are obtained.

[0049] Each target sonar scanning device includes multiple sets of ultrasonic array elements. The device controls the multiple sets of ultrasonic array elements to emit the original ultrasonic frequency, and receives the echo signals of the original ultrasonic frequency reflected in the target inspection well to obtain the underwater well wall and the wall of the connected pipe, thus obtaining sonar detection data of multiple target inspection wells.

[0050] Step S502: Based on the sonar detection data, perform three-dimensional modeling of the target inspection well to obtain the three-dimensional model of each target inspection well.

[0051] Specifically, step S502 above includes: Step S5021: Based on the sonar detection data, determine the propagation time of the target ultrasonic frequency corresponding to each point in each target inspection well.

[0052] The propagation time of the target ultrasonic frequency at each point in each target inspection well is obtained by starting the timer from the generation of the target ultrasonic frequency until the timer ends when the target ultrasonic frequency is received.

[0053] Step S5022: Determine the target distance corresponding to each point based on the propagation time and the preset propagation speed.

[0054] The target distance for each point is obtained by multiplying the propagation time and the preset propagation speed. The preset propagation speed can be the calibrated speed of sound.

[0055] Step S5023: Determine the spatial point cloud coordinates of each target manhole based on the distance to each target, and perform 3D modeling based on the spatial point cloud coordinates of each target manhole to obtain the 3D model of each target manhole.

[0056] Specifically, based on the distance to each target, the horizontal coordinates of each point in each target inspection well are determined, the Z coordinates of the preset scale grating are obtained, the spatial coordinates of each point are determined based on the horizontal coordinates and the preset scale grating Z coordinates, and the spatial point cloud coordinates of each target inspection well are obtained based on the spatial coordinates of multiple points in each target inspection well.

[0057] In some alternative implementations, noise removal algorithms (such as the local anomaly factor algorithm) are used to remove coordinates such as water flow reverberation and bubble noise from the spatial point cloud coordinates.

[0058] In some optional implementations, a three-dimensional surface reconstruction algorithm (such as an improved Poisson surface reconstruction algorithm) is used to reconstruct the surface of the preprocessed spatial point cloud coordinates, extract features such as well walls and pipe openings, and generate a three-dimensional model of the target inspection well.

[0059] Step S503: Based on the 3D model of each target manhole, determine the coordinates of the center of the manhole opening for each target manhole. For details, please refer to [link to details]. Figure 2 Step S203 of the illustrated embodiment will not be described again here.

[0060] Step S504: Determine the water flow direction of each target inspection well based on the ultrasonic frequency data corresponding to the center coordinates of the pipe opening of each target inspection well.

[0061] Specifically, step S504 includes: Step S5041: Based on the difference between the original ultrasonic frequency and the target ultrasonic frequency at the center coordinates of the pipe opening of each target inspection well, a preset number of ultrasonic frequency deviation data are obtained.

[0062] The preset quantity can be set according to the actual situation. For example, the preset quantity can be 3. For each pipe opening, the original ultrasonic frequency and target ultrasonic frequency of the 3 sets of adjacent ultrasonic array elements corresponding to the center coordinates of the pipe opening are extracted.

[0063] In some alternative implementations, the formula for determining the ultrasonic frequency deviation data is: ; in, This is ultrasonic frequency offset data. This is the original frequency of the ultrasound. The target ultrasonic frequency.

[0064] Step S5042: When the preset number of ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well are all positive, it is determined that the water flow direction of the target inspection well is flowing into the target inspection well.

[0065] Among them, the three corresponding coordinates of the center of the pipe opening of each target inspection well All meet This indicates that the particles are close to the sonar, and the water flow direction in the target inspection well is inflow into the target inspection well.

[0066] Step S5043: When the preset number of ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well are all negative, it is determined that the water flow direction of the target inspection well is outflow from the target inspection well.

[0067] Among them, the three corresponding coordinates of the center of the pipe opening of each target inspection well All meet This indicates that the particles are moving away from the sonar, and the water flow direction of the target inspection well is out of the target inspection well.

[0068] In some optional implementations, after determining the water flow direction of each target inspection well based on the ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well, a visual flow direction map of each pipe is marked in the three-dimensional model of the target inspection well.

[0069] The underwater pipeline and flow direction detection method for inspection wells provided in this embodiment effectively overcomes the severe interference caused by water flow impact on traditional sonar detection and modeling methods through a pipe opening fixation-rod tensioning-bottom tightening structure. Furthermore, by combining a hollow sonar and a ring-shaped traveling mechanism, it achieves precise control of sonar travel, which helps to significantly improve modeling accuracy and intelligence. By making full use of the Doppler effect of sonar echo signals, it constructs a flow direction and flow rate analysis algorithm for pipe opening and exit, achieving effective construction of both 3D modeling and flow vectors. It is feature-rich and highly applicable.

[0070] This embodiment provides a method for detecting underwater pipes and flow direction in inspection wells, which can be used with computer equipment. Figure 6 This is a third flowchart of the method for detecting underwater pipes and flow direction in inspection wells according to an embodiment of the present invention, as follows: Figure 6 As shown, the process includes the following steps: Step S601: Using a target sonar scanning device equipped with a top-mounted rail device, acquire sonar detection data of multiple target inspection wells. The top-mounted rail device controls the movement of the target sonar scanning device within the target inspection well. The target sonar scanning device emits the original ultrasonic wave frequency within the target inspection well and receives the reflected target ultrasonic wave frequency. For details, please refer to [link to details]. Figure 5 Step S501 of the illustrated embodiment will not be described again here.

[0071] Step S602: Based on the sonar detection data, perform 3D modeling of the target inspection wells to obtain a 3D model of each target inspection well. For details, please refer to [link to details]. Figure 5 Step S502 of the illustrated embodiment will not be described again here.

[0072] Step S603: Based on the 3D model of each target inspection well, determine the coordinates of the center of the pipe opening for each target inspection well. For details, please refer to [link to details]. Figure 5 Step S503 of the illustrated embodiment will not be described again here.

[0073] Step S604: Determine the water flow direction of each target inspection well based on the ultrasonic frequency data corresponding to the center coordinates of the pipe opening of each target inspection well. For details, please refer to [link to details]. Figure 5 Step S504 of the illustrated embodiment will not be described again here.

[0074] Step S605: Determine the elevation difference between the pipes flowing out of and into the target inspection well based on the coordinates of the pipe outlet center.

[0075] Among them, based on the spatial coordinates of the pipe outlet center, the elevation difference between the outflow and inflow manholes is calculated. For example, the formula for determining the elevation difference is as follows: ; in, Due to the difference in pipeline elevation, The elevation of the target inspection well from which the water flows out. The elevation of the flow into the target inspection well.

[0076] Step S606: If the pipeline elevation difference is greater than 0, then the water flow direction judgment of each target inspection well is verified to be correct.

[0077] If the elevation difference of the pipeline is greater than 0, it conforms to the physical principle that water flows downhill, verifying that the water flow direction judgment of each target inspection well is correct.

[0078] In some alternative implementations, if the pipeline elevation difference is less than or equal to 0, multiple scans are performed, and the results are taken. The average value was reassessed to eliminate the influence of instantaneous eddies.

[0079] The underwater pipeline and flow direction detection method for inspection wells provided in this embodiment verifies the accuracy of the water flow direction judgment for each target inspection well based on the elevation difference between the pipelines flowing out of and into the target inspection well, effectively avoiding misjudgment of flow direction and improving the accuracy and reliability of the flow direction judgment results.

[0080] This embodiment provides a method for detecting underwater pipes and flow direction in inspection wells, which can be used with computer equipment. Figure 7 This is a flowchart of a method for determining the flow rate of inspection well water according to an embodiment of the present invention, such as... Figure 7 As shown, the process includes the following steps: Step S701: In the direction in which the target sonar scanning device moves in the target inspection well, the water flow cross section of the target inspection well is divided according to a preset width to obtain multiple target layers.

[0081] In some optional implementations, before dividing the water flow cross-section of the target inspection well according to a preset width in the direction in which the target sonar scanning device moves in the target inspection well, the pipe opening characteristics (including pipe diameter, spatial position and flow direction) are determined based on the generated three-dimensional model of the target inspection well, and the positions of the three-claw wellhead holder, track rod and clamping rod are adjusted so that the target sonar scanning device can be close to the pipe opening of the pipe to be measured and face the water flow direction.

[0082] In some optional implementations, the preset width is the distance the target sonar scanning device travels each time, and can be set according to actual conditions. For example, Figure 8 This is a schematic diagram of the water flow cross-section division structure according to an embodiment of the present invention. Figure 8 Includes a top view of the pipe, showing its upper length. L1 lower length L2 Preset width d and the x Each target is hierarchical.

[0083] Step S702: Obtain the target average value of the frequency offset data of multiple sets of ultrasonic array elements in each target layer, and obtain the preset underwater sound velocity data.

[0084] The process involves moving from top to bottom along the vertical diameter from the top of the pipe opening, recording each movement (distance traveled is...). d During the process, the average frequency deviation of each of the at least 5 ultrasonic array elements is directly facing the direction of water flow.

[0085] In some optional implementations, the preset underwater sound velocity data is the calibrated underwater sound velocity. For example, the formula for determining the preset underwater sound velocity data is: ; in, To preset underwater sound speed data, This refers to the temperature parameter.

[0086] Step S703: Determine the water flow velocity for each target layer based on the target average value for each target layer, preset underwater sound velocity data, and the transmission frequency of the target sonar scanning device.

[0087] For example, the formula for determining the water flow velocity for each target layer is: ; in, For water flow velocity, For the first The average value of the target strata. To preset underwater sound speed data, This refers to the sonar transmission frequency.

[0088] Step S704: Determine the flow rate of each target layer based on the product of the water flow velocity of each target layer and the cross-sectional area of ​​the corresponding target layer.

[0089] The formula for determining the cross-sectional area is: ; in, For the first The cross-sectional area of ​​each target layer. For the first The upper length of the target layer, L2 is the length of the target layer. The lower length of each target layer. This is the preset width.

[0090] In some alternative implementations, the formula for determining the traffic for each target layer is: ; in, For the first Traffic stratified by target, For water flow velocity, For the first The cross-sectional area of ​​each target layer.

[0091] Step S705: Sum the flow rates of multiple target layers to obtain the total target flow rate of the target inspection well.

[0092] In some alternative implementations, the formula for determining the target total flow rate of the target inspection well is: ; in, The target total flow rate for the target inspection well. For the first The flow rate of each target inspection well at each target stratum.

[0093] The underwater pipe and flow direction detection method for inspection wells provided in this embodiment divides the water flow cross-section of the target inspection well according to a preset width in the direction in which the target sonar scanning device moves within the target inspection well, obtaining multiple target layers. This accurately captures the differences in vertical flow velocity distribution, better reflects the actual water flow pattern, and improves the accuracy of flow velocity calculation. This embodiment obtains the target average value of the frequency offset data of multiple sets of ultrasonic array elements in each target layer, obtains preset underwater sound velocity data, and determines the water flow velocity of each target layer based on the target average value, the preset underwater sound velocity data, and the transmission frequency of the target sonar scanning device. The flow rate of each target layer is determined by multiplying the water flow velocity of each target layer by the corresponding cross-sectional area, which conforms to the essence of pipe flow rate determination and effectively avoids flow rate estimation errors caused by uneven flow velocity distribution. The flow rates of multiple target layers are then summed to obtain the target total flow rate of the target inspection well.

[0094] This embodiment provides a device for detecting the underwater pipeline and flow direction of an inspection well. Figure 9 This is a first structural block diagram of a device for determining the flow rate of inspection well water according to an embodiment of the present invention, as shown below. Figure 9 As shown, the structure includes: a top-tightening rod-rail mechanism 901, a sonar scanning system 902, a three-dimensional modeling module 903, a flow direction analysis module 904, a flow calculation module 905, and a central control system 906.

[0095] Specifically, based on historical survey data or on-site measurement data, the diameter, depth, ground elevation, and water flow velocity of the inspection well (if unavailable, an extreme value of 3m / s to 5m / s is assumed) are obtained. The above data is then input into the central control system 906 to calculate the telescopic support arm extension length of the three-claw wellhead chuck in the top-tightening rod rail mechanism 901, the locking force of the hydraulic locking device, and the top-tightening pressure of the top-tightening head.

[0096] After fixing the three-jaw wellhead clamp to the manhole opening, a track rod is spliced ​​according to the manhole depth. A conical tightening head is connected to the bottom of the track rod, with a portion of the top reserved for the tightening rod. The sonar scanning system 902 is inserted through the top of the track rod. Then, the tightening rod passes through the mounting sleeve of the three-jaw wellhead clamp and connects to the top of the track rod. The motor at the top of the tightening rod drives the tightening rod screw downwards, which in turn moves the track rod downwards. The pressure sensor in the conical tightening head transmits the tightening pressure to the central control system 906 in real time. When the pressure in the conical tightening head reaches the preset value, the motor at the top of the tightening rod stops operating.

[0097] The central control system 906 adjusts the sonar scanning system 902 to the casing mounting position (starting position) at the three-jaw wellhead mounting bracket. Then, the sonar scanning system 902 is activated, moving along the track at a preset speed down into the inspection well. Multiple sets of ultrasonic array elements evenly distributed around the circumference of the sonar scanning system 902 are simultaneously activated, alternating between the first and second working modes at a switching frequency greater than or equal to 1 kHz. During the scanning process, the point cloud coordinates (x, y, z) are fed back to the central control system 906 in real time, using a graduated grating. The scanning is complete when the sonar scanning system 902 reaches the bottom of the track.

[0098] The central control system 906 automatically preprocesses the point cloud data to remove noise. The 3D modeling module 903 is used to automatically reconstruct the surface of the preprocessed point cloud using a 3D surface reconstruction algorithm (such as an improved Poisson surface reconstruction algorithm), extract features such as well walls and pipe openings, and generate an underwater 3D model of the inspection well.

[0099] The central control system 906 automatically identifies the pipe outlet numbers and corresponding parameters in the 3D model, and extracts the frequency offset data of the three sets of ultrasonic array elements most adjacent to the center of the pipe outlet. The flow direction analysis module 904 is used to analyze the water flow direction. The accuracy of the flow direction judgment is further verified by calculating the elevation difference between the pipes flowing out of and into the inspection well. Finally, a visual flow direction map of each pipe is marked in the 3D model.

[0100] Based on the generated three-dimensional underwater spatial model of the inspection well, the characteristics of the pipe opening (including pipe diameter, spatial location, and flow direction) are determined. Then, the positions of the three-jaw wellhead holder, track rod, and clamping rod are adjusted so that the sonar scanning system 902 can be close to the pipe opening to be measured (no more than 10cm) and face the water flow direction. Then, the second working mode of the sonar scanning system 902 is activated through the central control system 906, and the water layer at the pipe opening is scanned from top to bottom along the vertical diameter direction of the pipe opening. The frequency offset of the ultrasonic array element region facing the water flow direction is calculated.

[0101] For the water flow at the pipe inlet of each layer, the central control system 906 extracts the continuous measurement values ​​of each ultrasonic element in the ultrasonic element area (no less than 5 ultrasonic elements) directly facing the water flow direction, and calculates the average frequency deviation after removing outliers. It calibrates the underwater sound velocity by receiving real-time data from the temperature sensor mounted on the sonar system, and finally calculates the flow velocity of each layer of water. At the same time, the flow calculation module 905 calculates the cross-sectional area of ​​the water flow in each layer, substitutes it into the flow formula to calculate the instantaneous flow rate of the water flow in each layer, and obtains the total flow rate at the pipe inlet by summing.

[0102] This embodiment also provides a manhole underwater pipeline and flow direction detection device, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0103] This embodiment provides a device for detecting underwater pipes and flow direction in an inspection well, such as... Figure 10 As shown, it includes: The sonar detection unit 1001 is used to acquire sonar detection data of multiple target inspection wells using a target sonar scanning device equipped with a top-tightening rod rail device; the top-tightening rod rail device is used to control the movement of the target sonar scanning device in the target inspection well, and the target sonar scanning device is used to emit the original frequency of ultrasonic waves in the target inspection well and receive the frequency of the reflected target ultrasonic waves.

[0104] The 3D modeling unit 1002 is used to perform 3D modeling of the target inspection well based on sonar detection data, and obtain the 3D model of each target inspection well.

[0105] The center coordinate determination unit 1003 is used to determine the center coordinates of the pipe opening of each target inspection well based on the three-dimensional model of each target inspection well.

[0106] The water flow direction determination unit 1004 is used to determine the water flow direction of each target inspection well based on the ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well.

[0107] In some alternative implementations, the sonar detection unit 1001 can be a unit in a sonar scanning system, the three-dimensional modeling unit 1002 can be a unit in a three-dimensional modeling module, the center coordinate determination unit 1003 can be a unit in a central control system, and the water flow direction determination unit 1004 can be a unit in a flow direction analysis module.

[0108] In some alternative implementations, the sonar detection unit 1001 includes: The equipment control subunit is used to control the movement of the target sonar scanning equipment in each target inspection well by controlling the movement of the top-mounted rod rail device.

[0109] The sonar scanning subunit is used to control the target sonar scanning device to emit the original ultrasonic frequency during the movement of the target sonar scanning device in each target inspection well, and to receive the target ultrasonic frequency reflected in the target inspection well to obtain sonar detection data of multiple target inspection wells.

[0110] In some alternative implementations, the 3D modeling unit 1002 includes: The propagation time determination subunit is used to determine the propagation time of the target ultrasonic frequency at each point in each target inspection well based on sonar detection data.

[0111] The distance determination sub-unit is used to determine the target distance corresponding to each point based on the propagation time and the preset propagation speed.

[0112] The 3D modeling subunit is used to determine the spatial point cloud coordinates of each target manhole based on the distance to each target, and to perform 3D modeling based on the spatial point cloud coordinates of each target manhole to obtain the 3D model of each target manhole.

[0113] In some optional embodiments, the water flow direction determination unit 1004 includes: The frequency offset data determination subunit is used to obtain a preset number of ultrasonic frequency offset data based on the difference between the original ultrasonic frequency and the target ultrasonic frequency at the center coordinates of the pipe opening of each target inspection well.

[0114] The first flow direction determination subunit is used to determine the water flow direction of the target inspection well as flowing into the target inspection well when the preset number of ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well are all positive.

[0115] The second flow direction determination subunit is used to determine the water flow direction of the target inspection well as outflowing from the target inspection well when a preset number of ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well are all negative.

[0116] In some alternative implementations, the inspection well underwater pipe and flow direction detection device further includes: The flow direction verification unit is used to determine the elevation difference between the pipeline flowing out of and into the target inspection well based on the coordinates of the pipe outlet center. If the elevation difference is greater than 0, the flow direction judgment of each target inspection well is verified to be correct.

[0117] In some alternative implementations, the inspection well underwater pipe and flow direction detection device further includes: The cross-section division unit is used to divide the water flow cross-section of the target inspection well according to a preset width in the direction in which the target sonar scanning equipment moves in the target inspection well, so as to obtain multiple target layers.

[0118] The data acquisition unit is used to acquire the target average value of the frequency offset data of multiple sets of ultrasonic array elements in each target layer, and to acquire preset underwater sound velocity data.

[0119] The water flow velocity determination unit is used to determine the water flow velocity of each target layer based on the target average value of each target layer, preset underwater sound velocity data, and the transmission frequency of the target sonar scanning device.

[0120] The stratified flow determination unit is used to determine the flow rate of each target stratum based on the product of the water flow velocity of each target stratum and the cross-sectional area of ​​the corresponding target stratum.

[0121] The total flow determination unit is used to sum the flow rates of multiple target layers to obtain the target total flow rate of the target inspection well.

[0122] The underwater pipe and flow direction detection device for inspection wells provided in this embodiment of the invention can execute the underwater pipe and flow direction detection method for inspection wells provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0123] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0124] The following is a detailed reference. Figure 11The diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, a graphics processing unit, etc.) 1101, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1102 or a program loaded from memory 1108 into random access memory (RAM) 1103. The RAM 1103 also stores various programs and data required for the operation of the electronic device. The processor 1101, ROM 1102, and RAM 1103 are interconnected via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0125] Typically, the following devices can be connected to I / O interface 1105: input devices 1106 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 1107 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 1108 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1109. Communication device 1109 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 11 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0126] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 1109, or installed from a memory 1108, or installed from a ROM 1102. When the computer program is executed by the processor 1101, it performs the functions defined in the inspection well underwater pipe and flow direction detection method of the embodiments of the present invention.

[0127] Figure 11 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0128] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the underwater pipe and flow direction detection method for inspection wells shown in the above embodiments is implemented.

[0129] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0130] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for detecting underwater pipes and flow direction in inspection wells, characterized in that, The method includes: A target sonar scanning device equipped with a top-tightening rod rail device is used to acquire sonar detection data of multiple target inspection wells. The top-tightening rod rail device is used to control the movement of the target sonar scanning device in the target inspection well. The target sonar scanning device is used to emit the original frequency of ultrasonic waves in the target inspection well and receive the frequency of the reflected target ultrasonic waves. Based on the sonar detection data, a three-dimensional model of the target inspection well is performed to obtain a three-dimensional model of each target inspection well. Based on the three-dimensional model of each target inspection well, determine the center coordinates of the pipe opening of each target inspection well; The water flow direction of each target inspection well is determined based on the ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well.

2. The method according to claim 1, characterized in that, The sonar scanning equipment for targets, equipped with a top-mounted rod rail device, acquires sonar detection data for multiple target inspection wells, including: By controlling the movement of the top-mounted rod rail device, the target sonar scanning equipment can be moved within each target inspection well; During the process of controlling the target sonar scanning device to move in each of the target inspection wells, the target sonar scanning device is controlled to emit the original frequency of ultrasonic waves, and the target ultrasonic wave frequency is received by the reflection of the original frequency of ultrasonic waves in the target inspection wells, so as to obtain the sonar detection data of multiple target inspection wells.

3. The method according to claim 1 or 2, characterized in that, The step of performing three-dimensional modeling of the target inspection well based on the sonar detection data to obtain a three-dimensional model of each target inspection well includes: Based on the sonar detection data, determine the propagation time of the target ultrasonic frequency corresponding to each point in each target inspection well; Based on the propagation time and the preset propagation speed, determine the target distance corresponding to each of the points; Based on each target distance, the spatial point cloud coordinates of each target inspection well are determined, and a three-dimensional model is performed based on the spatial point cloud coordinates of each target inspection well to obtain the three-dimensional model of each target inspection well.

4. The method according to claim 1 or 2, characterized in that, The step of determining the water flow direction of each target inspection well based on the ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well includes: Based on the difference between the original ultrasonic frequency and the target ultrasonic frequency at the center coordinates of the pipe opening of each target inspection well, a preset number of ultrasonic frequency deviation data are obtained. When the preset number of ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well are all positive, it is determined that the water flow direction of the target inspection well is flowing into the target inspection well. When the preset number of ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well are all negative, it is determined that the water flow direction of the target inspection well is outflow from the target inspection well.

5. The method according to claim 1 or 2, characterized in that, The method further includes: Based on the coordinates of the center of the pipe opening, determine the elevation difference between the pipe flowing out of the target inspection well and the pipe flowing into the target inspection well; If the elevation difference of the pipeline is greater than 0, then the determination of the water flow direction of each target inspection well is verified to be correct.

6. The method according to claim 1 or 2, characterized in that, The method further includes: In the direction in which the target sonar scanning device moves within the target inspection well, the water flow cross-section of the target inspection well is divided according to a preset width to obtain multiple target layers; Obtain the target average value of the frequency offset data of multiple sets of ultrasonic array elements in each target layer, and obtain the preset underwater sound velocity data; The water flow velocity of each target layer is determined based on the target average value of each target layer, the preset underwater sound velocity data, and the transmission frequency of the target sonar scanning device. The flow rate of each target layer is determined by multiplying the water flow velocity of each target layer with the cross-sectional area of ​​the corresponding target layer. The total target flow of the target inspection well is obtained by summing the flow rates of the multiple target layers.

7. A device for detecting underwater pipes and flow direction in an inspection well, characterized in that, The device includes: The sonar detection unit is used to acquire sonar detection data of multiple target inspection wells using a target sonar scanning device equipped with a top-tightening rod rail device; the top-tightening rod rail device is used to control the movement of the target sonar scanning device in the target inspection well, and the target sonar scanning device is used to emit the original frequency of ultrasonic waves in the target inspection well and receive the frequency of the reflected target ultrasonic waves. A 3D modeling unit is used to perform 3D modeling of the target inspection well based on the sonar detection data, and obtain a 3D model of each target inspection well. The center coordinate determination unit is used to determine the center coordinates of the pipe opening of each target inspection well based on the three-dimensional model of each target inspection well; The water flow direction determination unit is used to determine the water flow direction of each target inspection well based on the ultrasonic frequency deviation data corresponding to the center coordinates of the pipe opening of each target inspection well.

8. An electronic device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the underwater pipeline and flow direction detection method for inspection wells as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the inspection well underwater pipeline and flow direction detection method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes computer instructions, which are used to cause a computer to execute the inspection well underwater pipeline and flow direction detection method according to any one of claims 1 to 6.

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