Method, system, device and medium for damage detection and life prediction of offshore hoses

Abstract

The present application relates to the field of pipeline detection, and provides a method, system, device and medium for damage detection and life prediction of offshore hoses, comprising obtaining a dynamic equivalent stiffness according to an inner wall detection parameter and an environmental parameter; applying an excitation input to a pipeline to be detected, obtaining a local equivalent parameter through the excitation input and inertial sensor data, and obtaining a dynamic response expression through the local equivalent parameter and the dynamic equivalent stiffness; obtaining a current excitation response parameter based on the inertial sensor data and the dynamic response expression, obtaining a local degradation indicator through an inherent response parameter and the current excitation response parameter; obtaining a coarse detection parameter, obtaining a local risk value according to the coarse detection parameter, and performing a re-inspection judgment on the pipeline to be detected according to the local degradation indicator and the local risk value to obtain a detection parameter; and obtaining a degradation rate through the detection parameter, and calculating a remaining life of the pipeline according to the degradation rate, so that the present application can complete damage detection and life prediction of the pipeline to be detected.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to methods, systems, equipment and media for damage detection and life prediction of marine hoses. Background Technology

[0002] Offshore crude oil export hoses are key equipment connecting offshore platforms and oil tankers. These hoses have a multi-layered heterogeneous composite structure, including a rubber layer, a cord reinforcement layer, and a steel wire reinforcement layer. They are used for a long time in complex marine environments, enduring waves, currents, corrosion, and ultraviolet radiation. They are prone to internal wall corrosion and wear, ellipticity distortion, and internal defects such as delamination, debonding, and wire breakage.

[0003] Currently, the inspection of this type of hose mainly relies on manual visual inspection and manual sampling inspection using non-destructive testing, which has the following significant limitations: 1. Insufficient coverage: Manual inspection is slow and can only perform partial sampling, making it difficult to achieve full coverage inspection of the entire hose, resulting in a high risk of missed inspections.

[0004] 2. Internal defects are not visible: Visual inspection cannot detect hidden defects such as delamination, debonding, and air bubbles between the composite layers inside the hose. Traditional ultrasonic testing relies on experienced operators to manually scan point by point, which is highly subjective and has limited ability to detect deep defects.

[0005] 3. Lack of quantification and prediction capabilities: Existing methods are insufficient to provide predictions of defect evolution trends and remaining lifespan, making predictive maintenance impossible.

[0006] 4. Disconnect between testing and maintenance: There is a lack of intuitive and real-time interaction between testing results and on-site maintenance, and maintenance decisions rely on experience.

[0007] 5. Poor adaptability: Hose often has variations in diameter and elliptic distortion, making it difficult for traditional equipment to stably fit the pipe wall, resulting in data distortion.

[0008] Therefore, there is an urgent need in this field for an integrated system that can adapt to the complex working conditions of hoses, achieve full-coverage automated intelligent detection, and integrate multi-source data for health prediction and damage detection. Summary of the Invention

[0009] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention provides a method, system, equipment, and medium for damage detection and life prediction of marine hoses, enabling the detection of faults and prediction of lifespan for flexible pipelines.

[0010] This invention provides a method for damage detection and life prediction of marine hoses, including: S1: Determine the pipeline to be inspected, obtain the environmental parameters and inner wall inspection parameters of the pipeline, and obtain the dynamic equivalent stiffness based on the inner wall inspection parameters and environmental parameters; S2: Acquire inertial sensor data in the pipeline to be inspected, apply excitation input to the pipeline to be inspected, obtain local equivalent parameters through excitation input and inertial sensor data, and obtain the dynamic response expression through local equivalent parameters and dynamic equivalent stiffness; S3: Obtain the inherent response parameters, obtain the current excitation response parameters based on inertial sensor data and dynamic response expression, and obtain the local degradation marker through the inherent response parameters and the current excitation response parameters; S4: Perform a rough inspection on the pipeline to be inspected to obtain rough inspection parameters. Based on the rough inspection parameters, obtain the local risk value. Based on the local degradation marker and the local risk value, perform a re-inspection and judgment on the pipeline to be inspected to obtain inspection parameters. S5: Obtain the health status quantity through the detection parameters, obtain the degradation rate based on the health status quantity, calculate the remaining life of the pipeline based on the degradation rate, and complete the damage detection and life prediction of the pipeline under test by using the detection parameters and the remaining life of the pipeline.

[0011] According to the method for damage detection and life prediction of marine hoses provided by the present invention, step S1 further includes: S11: Determine the pipeline to be tested, perform inner wall damage detection and tension feedback detection on the inner wall of the pipeline to be tested, and obtain the inner wall detection parameters including the inner wall damage characterization quantity and the cord relaxation characterization quantity; S12: Detect the humidity and salt concentration inside the pipeline to be tested to obtain the environmental parameters, and obtain the dynamic equivalent stiffness based on the inner wall detection parameters and the environmental parameters.

[0012] According to the method for damage detection and life prediction of marine hoses provided by the present invention, in step S2, the pipeline stress parameters are obtained by inertial sensors deployed in the wheel assembly of the pipeline inspection equipment, and the pipeline displacement parameters are obtained by inertial sensors deployed in the frame of the pipeline inspection equipment. The inertial sensor data includes the pipeline stress parameters and the pipeline displacement parameters.

[0013] According to the method for damage detection and life prediction of marine hoses provided by the present invention, step S2 further includes: S21: Obtain inertial sensor data through the inertial sensor in the pipeline to be tested, apply excitation input to the pipeline to be tested, and calculate the local response displacement caused by the excitation input based on the inertial sensor data; S22: Obtain the local equivalent mass based on the local response displacement, obtain the local equivalent damping through the inertial sensor data, and establish the dynamic response expression through the local equivalent parameters and dynamic equivalent stiffness. The local equivalent parameters include the local equivalent mass and the local equivalent damping.

[0014] According to the method for damage detection and life prediction of marine hoses provided by the present invention, step S3 further includes: S31: Obtain the inherent response parameters, including the natural frequency and the inherent damping ratio; S32: Obtain the response damping ratio through the dynamic response expression, filter out environmental vibrations based on inertial sensor data and response damping ratio, and obtain the response vibration frequency. The current excitation response parameters include the response damping ratio and the response vibration frequency. S33: Determine the response parameter weights, and obtain the local degradation flag quantity through the response parameter weights, the inherent response parameters, and the current excitation response parameters.

[0015] According to the method for damage detection and life prediction of marine hoses provided by the present invention, step S4 further includes: S41: Perform a rough inspection on the pipeline to be inspected to obtain visual defect characterization, laser vibration degradation characterization, and ultrasonic anomaly characterization. S42: Construct an environmental characterization quantity through the environmental parameters. The coarse inspection parameters include visual defect characterization quantity, laser vibration degradation characterization quantity, ultrasonic anomaly characterization quantity, and environmental characterization quantity. Obtain the local risk value through the coarse inspection parameters. S43: Determine the risk value threshold and the local degradation marker threshold. When the local risk value is higher than the risk value threshold, or the local degradation marker is higher than the local degradation marker threshold, re-inspect the pipeline to be inspected to obtain the detection parameters; otherwise, use the coarse inspection parameters as the detection parameters.

[0016] According to the method for damage detection and life prediction of marine hoses provided by the present invention, step S5 further includes: S51: Construct a health status assessment function, input the detection parameters into the health status assessment function, and obtain the health status quantity; S52: Obtain the degradation rate based on the health status quantity, determine the pipeline failure threshold, obtain the pipeline remaining life through the pipeline failure threshold and the degradation rate, and complete the damage detection and life prediction of the pipeline to be tested through the detection parameters and the pipeline remaining life.

[0017] This invention also provides a damage detection and life prediction system for marine hoses, comprising: Dynamic equivalent stiffness module: used to determine the pipeline to be inspected, obtain the environmental parameters and inner wall inspection parameters of the pipeline to be inspected, and obtain the dynamic equivalent stiffness based on the inner wall inspection parameters and environmental parameters; Dynamic response expression module: used to acquire inertial sensor data in the pipeline to be inspected, apply excitation input to the pipeline to be inspected, obtain local equivalent parameters through excitation input and inertial sensor data, and obtain dynamic response expression through local equivalent parameters and dynamic equivalent stiffness; Local degradation flag module: used to obtain the inherent response parameters, obtain the current excitation response parameters based on inertial sensor data and dynamic response expression, and obtain the local degradation flag through the inherent response parameters and the current excitation response parameters; The detection parameter module is used to perform a rough inspection of the pipeline to be inspected, obtain the rough inspection parameters, obtain the local risk value based on the rough inspection parameters, and perform a re-inspection and judgment of the pipeline to be inspected based on the local degradation marker and the local risk value, and obtain the detection parameters. Pipeline diagnostic module: It is used to obtain health status quantities through detection parameters, obtain the degradation rate based on the health status quantities, calculate the remaining life of the pipeline based on the degradation rate, and complete the damage detection and life prediction of the pipeline under test by using detection parameters and the remaining life of the pipeline.

[0018] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the damage detection and life prediction method for marine hoses as described above.

[0019] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the damage detection and life prediction method for marine hoses as described above.

[0020] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: The present invention provides a method, system, equipment, and medium for damage detection and life prediction of marine hoses. By utilizing inertial sensor data, it can effectively measure and obtain the influence of the marine environment and external forces on the hose's state, while also considering the influence of the environment inside the pipeline. This yields relatively accurate dynamic equivalent stiffness and local equivalent parameters, and constructs a dynamic response expression, thereby obtaining local degradation markers and local risk values. Based on these markers and risk values, pipelines with high damage risk can be prioritized for detection to ensure timely damage assessment. Furthermore, the pipeline's lifespan can be predicted, allowing for the rational scheduling of maintenance plans.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating the damage detection and life prediction method for marine hoses provided by the present invention.

[0024] Figure 2 This is a schematic diagram of the damage detection and life prediction system for marine hoses provided by the present invention.

[0025] Figure 3 This is a schematic diagram of the damage detection and life prediction device for marine hoses provided by the present invention.

[0026] Figure label: 100. Dynamic equivalent stiffness module; 200. Dynamic response expression module; 300. Local degradation marker module; 400. Detection parameter module; 500. Pipeline diagnostic module; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but cannot be used to limit the scope of this invention.

[0028] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0030] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0031] The following is combined Figures 1 to 3 Specific embodiments of the present invention are described below. Figure 1 A schematic flowchart illustrating the damage detection and life prediction method for marine hoses provided by this invention. It includes: S1: Determine the pipeline to be inspected, obtain the environmental parameters and inner wall inspection parameters of the pipeline, and obtain the dynamic equivalent stiffness based on the inner wall inspection parameters and environmental parameters; Furthermore, the objective of this stage is to obtain environmental parameters and internal wall detection parameters, thereby obtaining the dynamic equivalent stiffness. Further, step S1 further includes: S11: Determine the pipeline to be tested, perform inner wall damage detection and tension feedback detection on the inner wall of the pipeline to be tested, and obtain the inner wall detection parameters including the inner wall damage characterization quantity and the cord relaxation characterization quantity; S12: Detect the humidity and salt concentration inside the pipeline to be tested to obtain the environmental parameters, and obtain the dynamic equivalent stiffness based on the inner wall detection parameters and the environmental parameters.

[0032] The specific implementation method for the above steps in this embodiment is as follows: First, the offshore crude oil export hose to be inspected needs to be identified as the pipeline to be inspected. Then, the pipeline inspection equipment, in this embodiment, a pipeline inspection robot, enters the pipeline to be inspected. Here, the pipeline inspection robot moves forward in the pipeline by using wheels that rest against the pipeline wall, and the robot integrates various inspection devices. The inspection devices first scan the inner wall of the pipeline using a camera, and then identify the scanned image to determine the damage condition of the inner wall, thus completing the inner wall damage detection and obtaining the inner wall damage characterization quantity d. The pipeline inspection robot also needs to extend its wheels outward with a fixed force. Since the pipeline is a hose and the wheels are against the pipeline wall, the pipeline will deform to a certain extent, and the wheels will move accordingly. This movement can be measured by the inertial sensors inside the wheels. Because the force is fixed, the amount of movement of the wheels should also be fixed when the hose of the pipeline is fully tightened; if the hose loosens, the amount of movement of the wheels will increase. Based on the difference between the movement of the wheel assembly and the fixed standard movement, the cord slack characterization value r can be determined, thereby obtaining the inner wall detection parameters including the inner wall damage characterization value and the cord slack characterization value.

[0033] When a pipeline under inspection develops cracks or leaks, seawater will infiltrate it due to its marine environment, increasing internal humidity and salinity. Therefore, a pipeline inspection robot can measure the humidity and salinity concentration inside the pipeline and compare these values ​​with those under standard conditions to obtain the environmental parameter w. Additionally, the internal pressure p within the pipeline needs to be measured to calculate the dynamic equivalent stiffness. : in, The stiffness of the pipeline under test when it is completely normal. The coefficient representing the damage to the inner wall. These are environmental parameter coefficients. This is a quantitative coefficient representing the slack of the cord. This is the pipe internal pressure correction function.

[0034] S2: Acquire inertial sensor data in the pipeline to be inspected, apply excitation input to the pipeline to be inspected, obtain local equivalent parameters through excitation input and inertial sensor data, and obtain the dynamic response expression through local equivalent parameters and dynamic equivalent stiffness; Furthermore, the objective of this stage is to apply an excitation input to the pipeline to be inspected and obtain local equivalent parameters through inertial sensor data, thereby constructing a dynamic response expression. Specifically, in step S2, the pipeline force parameters are obtained through inertial sensors deployed in the wheel assembly of the pipeline inspection equipment, and the pipeline displacement parameters are obtained through inertial sensors deployed in the frame of the pipeline inspection equipment. The inertial sensor data includes the pipeline force parameters and the pipeline displacement parameters.

[0035] Step S2 further includes: S21: Obtain inertial sensor data through the inertial sensor in the pipeline to be tested, apply excitation input to the pipeline to be tested, and calculate the local response displacement caused by the excitation input based on the inertial sensor data; S22: Obtain the local equivalent mass based on the local response displacement, obtain the local equivalent damping through the inertial sensor data, and establish the dynamic response expression through the local equivalent parameters and dynamic equivalent stiffness. The local equivalent parameters include the local equivalent mass and the local equivalent damping.

[0036] The specific implementation method for the above steps in this embodiment is as follows: In the pipeline to be inspected, inertial sensors are needed to obtain inertial sensor data. Inertial sensors are installed on both the frame and wheels of the pipeline inspection robot. Since the pipeline is located in a marine environment, external factors such as water flow and buoyancy will cause changes in the pipeline's position and stress conditions. When the pipeline inspection robot is stationary, and the pipeline wall is subjected to force, because the pipeline is flexible and the wheels are movable within a certain range, the inertial sensors on the wheels can infer the external force acting on the pipeline by measuring the movement of the wheels after the force is applied—that is, the pipeline's stress parameters. Furthermore, when the pipeline moves due to impacts from external water flow, the pipeline inspection robot also moves along with the pipeline. At this time, the inertial sensors located in the robot's frame can measure the pipeline's displacement parameters, thus completing the acquisition of inertial sensor data.

[0037] The pipeline inspection robot then applies an excitation input to the pipeline under inspection, meaning it applies a force to the pipeline as an excitation input, causing local vibration and local displacement in the pipeline. Subtracting the pipeline displacement parameter from the overall displacement of the pipeline yields the local displacement caused by the excitation input. Based on the applied excitation input and the resulting local displacement, the local equivalent mass of the pipeline under the applied excitation input can be obtained. Furthermore, after applying the excitation input, the local response displacement and acceleration caused by the excitation input will gradually decrease due to damping. The inertial sensor acquires the displacement and acceleration of the pipeline under test after the excitation input is applied. After removing the pipeline displacement parameters and acceleration caused by external forces before the excitation input is applied, the displacement and acceleration of the pipeline under test caused by the excitation input can be obtained. By obtaining and analyzing the change process of the displacement and acceleration of the pipeline under test caused by the excitation input after the excitation input is applied, the local equivalent damping of the pipeline under test can be obtained. This allows us to establish the dynamic response expression: in, Let be the second derivative of the local response displacement at time t. This is the first derivative of the local response displacement at time t. Let be the local response displacement at time t. This is the excitation input at time t.

[0038] S3: Obtain the inherent response parameters, obtain the current excitation response parameters based on inertial sensor data and dynamic response expression, and obtain the local degradation marker through the inherent response parameters and the current excitation response parameters; Furthermore, the objective of this stage is to obtain the inherent response parameters and the current excitation response parameters, thereby obtaining the local degradation marker. Specifically, step S3 further includes: S31: Obtain the inherent response parameters, including the natural frequency and the inherent damping ratio; S32: Obtain the response damping ratio through the dynamic response expression, filter out environmental vibrations based on inertial sensor data and response damping ratio, and obtain the response vibration frequency. The current excitation response parameters include the response damping ratio and the response vibration frequency. S33: Determine the response parameter weights, and obtain the local degradation flag quantity through the response parameter weights, the inherent response parameters, and the current excitation response parameters.

[0039] The specific implementation method for the above steps in this embodiment is as follows: By conducting tests on the pipeline under test without any damage, the natural frequency of the pipeline under test under the excitation input can be obtained. and inherent damping ratio This yields the inherent response parameters of the pipeline under test. Subsequently, based on the equations in the dynamic response expression, the values ​​of the dynamic equivalent stiffness, local equivalent mass, and local equivalent damping can be dynamically fine-tuned to ensure that both sides of the equation are completely equal, thus reducing interference from measurement errors and other factors. Based on the adjusted dynamic equivalent stiffness, local equivalent mass, and local equivalent damping, the damping ratio of the pipeline under test, i.e., the response damping ratio, can be calculated. After applying the excitation input, the vibration of the pipeline under test needs to be measured to obtain the initial vibration. Then, using the external force on the pipeline under test derived from inertial sensor data before applying the excitation input and the response damping ratio, the vibration caused by the external force can be calculated. This external force-induced vibration is then filtered out from the initial vibration, thus completing the environmental vibration filtering and obtaining the response vibration frequency. .

[0040] Subsequently, the weighting of the response vibration frequency was determined. and response damping ratio weight The response parameter weights are then used to calculate the relative change in the natural frequency. and relative change in damping : This allows us to obtain the local degradation marker. : .

[0041] S4: Perform a rough inspection on the pipeline to be inspected to obtain rough inspection parameters. Based on the rough inspection parameters, obtain the local risk value. Based on the local degradation marker and the local risk value, perform a re-inspection and judgment on the pipeline to be inspected to obtain inspection parameters. Furthermore, the objective of this stage is to obtain local risk values, and then, based on the local degradation markers and local risk values, to re-inspect and assess the pipeline to be inspected, thereby obtaining inspection parameters. Specifically, step S4 further includes: S41: Perform a rough inspection on the pipeline to be inspected to obtain visual defect characterization, laser vibration degradation characterization, and ultrasonic anomaly characterization. S42: Construct an environmental characterization quantity through the environmental parameters. The coarse inspection parameters include visual defect characterization quantity, laser vibration degradation characterization quantity, ultrasonic anomaly characterization quantity, and environmental characterization quantity. Obtain the local risk value through the coarse inspection parameters. S43: Determine the risk value threshold and the local degradation marker threshold. When the local risk value is higher than the risk value threshold, or the local degradation marker is higher than the local degradation marker threshold, re-inspect the pipeline to be inspected to obtain the detection parameters; otherwise, use the coarse inspection parameters as the detection parameters.

[0042] The specific implementation method for the above steps in this embodiment is as follows: First, a rough inspection of the pipeline to be inspected is required. This involves using an optical sensor to measure the inner wall of a portion of the pipeline at a relatively low inspection frequency, comparing it with the inner wall of an intact pipeline, and thus obtaining the visual defect characterization of the i-th portion of the pipeline to be inspected. By using laser vibration measurement equipment to measure the decay process of the vibration of the pipeline under test after applying an excitation input, relative to the decay process of an intact pipeline, the laser vibration degradation characterization quantity of the i-th part of the pipeline under test can be obtained. By using ultrasonic testing equipment to perform ultrasonic testing on the pipeline under test, the ultrasonic anomaly characterization quantity of the i-th part of the pipeline under test can be obtained. .

[0043] Subsequently, an environmental characterization quantity is constructed using the environmental parameters of the i-th part of the pipeline to be tested to characterize the impact of the environment on the test results. After obtaining the coarse inspection parameters, including visual defect characterization, laser vibration degradation characterization, ultrasonic anomaly characterization, and environmental characterization, the local risk value of the i-th part of the pipeline to be inspected can be calculated. : in, For visual defect weights, Weighting for ultrasound abnormalities. For laser vibration degradation weights, Weights for environmental characterization quantities.

[0044] Next, risk thresholds and local degradation marker thresholds are determined, and a re-inspection is performed. When the local risk value exceeds the risk threshold, or the local degradation marker value exceeds the local degradation marker threshold, it indicates that the pipeline may be damaged and requires further re-inspection. This involves increasing the sampling frequency and measuring the pipeline again at the increased frequency. Based on the re-measurement data, the visual defect characterization, laser vibration degradation characterization, ultrasonic anomaly characterization, and environmental characterization are obtained, thus determining the detection parameters for that section of the pipeline. Otherwise, no re-inspection is needed, and the coarse inspection parameters are directly used as the detection parameters for that section of the pipeline. Furthermore, risk thresholds can be divided into high-risk and medium-risk thresholds. When the local risk value exceeds the high-risk threshold, the sampling frequency needs to be further increased. When the local risk value is between the high-risk and medium-risk thresholds, a medium sampling frequency is used. When the local risk value is below the medium-risk threshold, the coarse inspection parameters are used as the detection parameters for that section of the pipeline.

[0045] S5: Obtain the health status quantity through the detection parameters, obtain the degradation rate based on the health status quantity, calculate the remaining life of the pipeline based on the degradation rate, and complete the damage detection and life prediction of the pipeline under test by using the detection parameters and the remaining life of the pipeline.

[0046] Furthermore, the objective of this stage is to obtain health status parameters, thereby calculating the remaining life of the pipeline and completing the damage detection and life prediction of the pipeline under inspection. Specifically, step S5 further includes: S51: Construct a health status assessment function, input the detection parameters into the health status assessment function, and obtain the health status quantity; S52: Obtain the degradation rate based on the health status quantity, determine the pipeline failure threshold, obtain the pipeline remaining life through the pipeline failure threshold and the degradation rate, and complete the damage detection and life prediction of the pipeline to be tested through the detection parameters and the pipeline remaining life.

[0047] The specific implementation method for the above steps in this embodiment is as follows: After the pipeline under inspection is completed, a health status assessment function needs to be constructed first. Then, based on the inspection parameters of each part of the pipeline under inspection, the visual defect representation vector of the pipeline at time t can be obtained. The ultrasonic anomaly representation vector of the pipeline under test at time t The laser vibration degradation characterization vector of the pipeline under test at time t Furthermore, based on the working environment of the pipeline under test, its operating condition feature vector at time t can also be obtained. This allows us to construct the multimodal input feature vector at time t. : Next, the multimodal input feature vector is input into the health status evaluation function to obtain the health status quantity of the pipeline under test at time t. The closer the value is to 1, the healthier the pipeline under inspection; the closer it is to 0, the more severe the degradation. The degradation of a pipeline under inspection within its expected lifespan is typically linear. Based on the current health status of the pipeline under inspection and historical data, the rate of decline of the health status over time during future use can be inferred—that is, the degradation rate. The health status at which the pipeline becomes unusable is determined, which is the pipeline degradation threshold. The remaining lifespan of the pipeline is obtained by subtracting the health status at time t from the degradation threshold and dividing by the degradation rate. Thus, based on the remaining lifespan, the remaining lifespan of the pipeline under inspection can be predicted, and the inspection parameters can reflect the extent of damage to the pipeline under inspection.

[0048] The damage detection and life prediction device for marine hoses provided by the present invention will be described below. The damage detection and life prediction device for marine hoses described below can be referred to in correspondence with the damage detection and life prediction method for marine hoses described above.

[0049] Figure 2 A schematic diagram of a damage detection and life prediction system for marine hoses is shown, such as... Figure 2 As shown, the method for performing the damage detection and life prediction of marine hoses as described above includes: Dynamic equivalent stiffness module 100: used to determine the pipeline to be inspected, obtain the environmental parameters and inner wall inspection parameters of the pipeline to be inspected, and obtain the dynamic equivalent stiffness based on the inner wall inspection parameters and environmental parameters. Dynamic response expression module 200: used to acquire inertial sensor data in the pipeline to be tested, apply excitation input to the pipeline to be tested, obtain local equivalent parameters through excitation input and inertial sensor data, and obtain dynamic response expression through local equivalent parameters and dynamic equivalent stiffness; Local degradation flag module 300: used to obtain the inherent response parameters, obtain the current excitation response parameters based on inertial sensor data and dynamic response expression, and obtain the local degradation flag through the inherent response parameters and the current excitation response parameters; Detection parameter module 400: Used to perform a rough inspection of the pipeline to be inspected, obtain the rough inspection parameters, obtain the local risk value based on the rough inspection parameters, and perform a re-inspection judgment on the pipeline to be inspected based on the local degradation marker quantity and the local risk value, and obtain the detection parameters. Pipeline diagnostic module 500: It is used to obtain health status quantities through detection parameters, obtain degradation rate based on health status quantities, calculate the remaining life of pipeline based on degradation rate, and complete damage detection and life prediction of pipeline under test through detection parameters and remaining life of pipeline.

[0050] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call a computer program in the memory 830 to execute a method for damage detection and life prediction of marine hoses, the method including: S1: Determine the pipeline to be inspected, obtain the environmental parameters and inner wall inspection parameters of the pipeline, and obtain the dynamic equivalent stiffness based on the inner wall inspection parameters and environmental parameters; S2: Acquire inertial sensor data in the pipeline to be inspected, apply excitation input to the pipeline to be inspected, obtain local equivalent parameters through excitation input and inertial sensor data, and obtain the dynamic response expression through local equivalent parameters and dynamic equivalent stiffness; S3: Obtain the inherent response parameters, obtain the current excitation response parameters based on inertial sensor data and dynamic response expression, and obtain the local degradation marker through the inherent response parameters and the current excitation response parameters; S4: Perform a rough inspection on the pipeline to be inspected to obtain rough inspection parameters. Based on the rough inspection parameters, obtain the local risk value. Based on the local degradation marker and the local risk value, perform a re-inspection and judgment on the pipeline to be inspected to obtain inspection parameters. S5: Obtain the health status quantity through the detection parameters, obtain the degradation rate based on the health status quantity, calculate the remaining life of the pipeline based on the degradation rate, and complete the damage detection and life prediction of the pipeline under test by using the detection parameters and the remaining life of the pipeline.

[0051] Furthermore, when the computer program in the aforementioned memory 830 can be implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0052] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the damage detection and life prediction methods for marine hoses provided above, the method comprising: S1: Determine the pipeline to be inspected, obtain the environmental parameters and inner wall inspection parameters of the pipeline, and obtain the dynamic equivalent stiffness based on the inner wall inspection parameters and environmental parameters; S2: Acquire inertial sensor data in the pipeline to be inspected, apply excitation input to the pipeline to be inspected, obtain local equivalent parameters through excitation input and inertial sensor data, and obtain the dynamic response expression through local equivalent parameters and dynamic equivalent stiffness; S3: Obtain the inherent response parameters, obtain the current excitation response parameters based on inertial sensor data and dynamic response expression, and obtain the local degradation marker through the inherent response parameters and the current excitation response parameters; S4: Perform a rough inspection on the pipeline to be inspected to obtain rough inspection parameters. Based on the rough inspection parameters, obtain the local risk value. Based on the local degradation marker and the local risk value, perform a re-inspection and judgment on the pipeline to be inspected to obtain inspection parameters. S5: Obtain the health status quantity through the detection parameters, obtain the degradation rate based on the health status quantity, calculate the remaining life of the pipeline based on the degradation rate, and complete the damage detection and life prediction of the pipeline under test by using the detection parameters and the remaining life of the pipeline.

[0053] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0054] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for damage detection and life prediction of marine hoses, characterized in that, include: S1: Determine the pipeline to be inspected, obtain the environmental parameters and inner wall inspection parameters of the pipeline, and obtain the dynamic equivalent stiffness based on the inner wall inspection parameters and environmental parameters; S2: Acquire inertial sensor data in the pipeline to be inspected, apply excitation input to the pipeline to be inspected, obtain local equivalent parameters through excitation input and inertial sensor data, and obtain the dynamic response expression through local equivalent parameters and dynamic equivalent stiffness; S3: Obtain the inherent response parameters, obtain the current excitation response parameters based on inertial sensor data and dynamic response expression, and obtain the local degradation marker through the inherent response parameters and the current excitation response parameters; S4: Perform a rough inspection on the pipeline to be inspected to obtain rough inspection parameters. Based on the rough inspection parameters, obtain the local risk value. Based on the local degradation marker and the local risk value, perform a re-inspection and judgment on the pipeline to be inspected to obtain inspection parameters. S5: Obtain the health status quantity through the detection parameters, obtain the degradation rate based on the health status quantity, calculate the remaining life of the pipeline based on the degradation rate, and complete the damage detection and life prediction of the pipeline under test by using the detection parameters and the remaining life of the pipeline.

2. The method for damage detection and life prediction of marine hoses according to claim 1, characterized in that, Step S1 further includes: S11: Determine the pipeline to be tested, perform inner wall damage detection and tension feedback detection on the inner wall of the pipeline to be tested, and obtain the inner wall detection parameters including the inner wall damage characterization quantity and the cord relaxation characterization quantity; S12: Detect the humidity and salt concentration inside the pipeline to be tested to obtain the environmental parameters, and obtain the dynamic equivalent stiffness based on the inner wall detection parameters and the environmental parameters.

3. The method for damage detection and life prediction of marine hoses according to claim 1, characterized in that, In step S2, the pipeline force parameters are obtained by inertial sensors deployed in the wheel assembly of the pipeline inspection equipment, and the pipeline displacement parameters are obtained by inertial sensors deployed in the frame of the pipeline inspection equipment. The inertial sensor data includes the pipeline force parameters and the pipeline displacement parameters.

4. The method for damage detection and life prediction of marine hoses according to claim 1, characterized in that, Step S2 further includes: S21: Obtain inertial sensor data through the inertial sensor in the pipeline to be tested, apply excitation input to the pipeline to be tested, and calculate the local response displacement caused by the excitation input based on the inertial sensor data; S22: Obtain the local equivalent mass based on the local response displacement, obtain the local equivalent damping through the inertial sensor data, and establish the dynamic response expression through the local equivalent parameters and dynamic equivalent stiffness. The local equivalent parameters include the local equivalent mass and the local equivalent damping.

5. The method for damage detection and life prediction of marine hoses according to claim 1, characterized in that, Step S3 further includes: S31: Obtain the inherent response parameters, including the natural frequency and the inherent damping ratio; S32: Obtain the response damping ratio through the dynamic response expression, filter out environmental vibrations based on inertial sensor data and response damping ratio, and obtain the response vibration frequency. The current excitation response parameters include the response damping ratio and the response vibration frequency. S33: Determine the response parameter weights, and obtain the local degradation flag quantity through the response parameter weights, the inherent response parameters, and the current excitation response parameters.

6. The method for damage detection and life prediction of marine hoses according to claim 1, characterized in that, Step S4 further includes: S41: Perform a rough inspection on the pipeline to be inspected to obtain visual defect characterization, laser vibration degradation characterization, and ultrasonic anomaly characterization. S42: Construct an environmental characterization quantity through the environmental parameters. The coarse inspection parameters include visual defect characterization quantity, laser vibration degradation characterization quantity, ultrasonic anomaly characterization quantity, and environmental characterization quantity. Obtain the local risk value through the coarse inspection parameters. S43: Determine the risk value threshold and the local degradation marker threshold. When the local risk value is higher than the risk value threshold, or the local degradation marker is higher than the local degradation marker threshold, re-inspect the pipeline to be inspected to obtain the detection parameters; otherwise, use the coarse inspection parameters as the detection parameters.

7. The method for damage detection and life prediction of marine hoses according to claim 1, characterized in that, Step S5 further includes: S51: Construct a health status assessment function, input the detection parameters into the health status assessment function, and obtain the health status quantity; S52: Obtain the degradation rate based on the health status quantity, determine the pipeline failure threshold, obtain the pipeline remaining life through the pipeline failure threshold and the degradation rate, and complete the damage detection and life prediction of the pipeline to be tested through the detection parameters and the pipeline remaining life.

8. A damage detection and life prediction system for marine hoses, used to perform the damage detection and life prediction method for marine hoses as described in any one of claims 1 to 7, characterized in that, include: Dynamic equivalent stiffness module: used to determine the pipeline to be inspected, obtain the environmental parameters and inner wall inspection parameters of the pipeline to be inspected, and obtain the dynamic equivalent stiffness based on the inner wall inspection parameters and environmental parameters; Dynamic response expression module: used to acquire inertial sensor data in the pipeline to be inspected, apply excitation input to the pipeline to be inspected, obtain local equivalent parameters through excitation input and inertial sensor data, and obtain dynamic response expression through local equivalent parameters and dynamic equivalent stiffness; Local degradation flag module: used to obtain the inherent response parameters, obtain the current excitation response parameters based on inertial sensor data and dynamic response expression, and obtain the local degradation flag through the inherent response parameters and the current excitation response parameters; The detection parameter module is used to perform a rough inspection of the pipeline to be inspected, obtain the rough inspection parameters, obtain the local risk value based on the rough inspection parameters, and perform a re-inspection and judgment of the pipeline to be inspected based on the local degradation marker and the local risk value, and obtain the detection parameters. Pipeline diagnostic module: It is used to obtain health status quantities through detection parameters, obtain the degradation rate based on the health status quantities, calculate the remaining life of the pipeline based on the degradation rate, and complete the damage detection and life prediction of the pipeline under test by using detection parameters and the remaining life of the pipeline.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the damage detection and life prediction method for marine hoses as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the damage detection and life prediction method for marine hoses as described in any one of claims 1 to 7.

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