274 results about "Cathodic protection" patented technology

The invention relates to an energy storage type photo-generated cathode protection coating material and a preparation method thereof, and belongs to the technical field of chemical materials. The coating material is a binary composite material which is composed of nanometer MoO3 and BiVO4. The preparation method comprises the following steps: firstly, preparing nano MoO3 by a precipitation method, and then preparing a nano MoO3 and BiVO4 binary composite material in situ by a low-temperature hydrothermal method, namely the coating material disclosed by the invention. In the coating material, nano MoO3 and BiVO4 are adopted to form a heterojunction material, so that the photoresponse range of BiVO4 is widened, and the photoelectron-hole separation efficiency is effectively improved; meanwhile, nano MoO3 is used as an energy storage material with high theoretical specific capacity, part of photo-induced electrons generated by BiVO4 can be stored in the form of a compound, and in a dark state environment, the electrons stored in MoO3 are released and quickly transferred to the surface of metal or a film-forming substrate, so that cathode protection of the metal in the dark environment is realized; the technical problems that in the prior art, nano BiVO4 is low in electron-hole separation efficiency and poor in metal surface adhesive force, and the cathode protection effect cannot be continued in the dark state are solved.

The utility model provides a cathode protection device for a pipeline, and belongs to the technical field of cathode protection. The cathodic protection device for the pipeline comprises a bottom plate and a mounting box, the mounting box is mounted at the top of the bottom plate, a lead screw is rotatably mounted on the inner wall of the mounting box, a connecting sleeve is mounted on the surface of the lead screw, a connecting frame is mounted at the bottom of the connecting sleeve, a clamping frame is mounted at the bottom of the connecting frame, and the clamping frame is mounted at the bottom of the connecting frame. A through groove is formed in the bottom of the inner wall of the mounting box, the clamping plate is mounted on the inner side of the clamping frame, the clamping plate is arranged in an arc shape, and a cathode mounting piece is mounted on the inner side of the clamping plate. And the protection mechanism clamps the pipeline, and the situation that when welding and other modes are adopted for connection, the pipeline needs to be manually treated, and much time is wasted is avoided.

A coated steel sheet providing cathodic protection and suitable for manufacturing a press hardened part with good powdering resistance during press-hardening and good corrosion performance. A method for the manufacture of hardened parts starting from a steel sheet coated with a metallic coating. The part has good characteristics with respect to corrosion and powdering resistance. The present disclosure is particularly well suited for the manufacture of automotive vehicles.

The invention relates to the technical field of equipment corrosion prevention, and discloses a life self-sensing sacrificial anode and cathode protection device which comprises a protection execution unit, a data acquisition unit and a remote sensing unit. Wherein the protection execution unit comprises an anode block, a conductive connecting piece and an adsorption device, one end of the conductive connecting piece is embedded into the anode block, the other end of the conductive connecting piece is fixed with the adsorption device, and the adsorption device is detachably connected with the protected steel structure. A working electrode of an electric quantity metering device of the data acquisition unit is electrically connected with the conductive connecting piece, and a counter electrode is electrically connected with the steel structure in the adsorption device combination area. And the remote sensing unit is in signal connection with the data acquisition unit and is used for receiving the acquired current data. According to the invention, remote real-time monitoring of cathode protection current is realized, the defect that the state of a traditional anode is unknown is overcome, and predictive maintenance is facilitated; meanwhile, the adsorption type detachable structure does not need underwater welding, the installation and replacement process is greatly simplified, and the engineering applicability and the maintenance efficiency are improved.

The invention provides a method and a device for testing hydrogen doping of a buried steel pipe under a cathode protection condition. The method and the device solve the technical problem that an internal hydrogen permeation-external hydrogen adsorption synergistic effect mechanism faced by a buried pipeline cannot be reflected in an existing test. The method comprises the following steps: establishing a dual test environment under a cathode protection condition, forming a control group and an experimental group of a corrosion test piece to be tested, deploying the control group in a single soil environment, and deploying the experimental group in internal and external hydrogen environments; the power-on potential and the power-off potential are continuously monitored in the dual test process; quantitative comparison of key parameters of the control group and the experimental group is formed according to the double test periods; and constructing a multiple regression model according to the key parameters in combination with potential correction data to quantify the correlation between the corrosion rate and the hydrogen embrittlement sensitivity. The double-environment coupling effect in the actual operation of the pipeline is synchronously simulated, and the diffusion path difference of hydrogen atoms in metal lattices and the influence of double-environment superposition on the corrosion rate are more truly reflected.

The application discloses a method for monitoring and controlling corrosion environment of an underwater concrete structure in a brackish water area, and the method comprises the following steps: laying a monitoring system, monitoring the concentration of chloride ions, analyzing data of the distribution of the concentration of chloride ions, dividing the area according to the concentration of chloride ions, adjusting an impressed current, and giving a warning of the corrosion environment; the brackish water area is divided into a constant saltwater area, a constant freshwater area and a brackish water interface change area by continuously collecting data of the concentration of chloride ions and constructing a concentration field and a gradient field model, so that the risk degree of the corrosion environment can be directly reflected, and the cathodic protection parameters can be dynamically adjusted according to the real-time corrected chloride ion concentration field model, thereby realizing the intelligent monitoring, early warning and control of the corrosion environment of the underwater concrete structure in the brackish water area.

Provided herein are non-invasive and non-destructive methods for classifying the type of external corrosion defect and the severity thereof in the cathodic protection system on a buried pipeline. Mathematical tools and algorithms are utilized to classify the type and the severity of the corrosion defect.

The application relates to a quick repairing device and method for underwater plug-in electric connector cathode protection, and belongs to the technical field of marine metal corrosion prevention, in particular to a quick repairing device and method for impressed current cathode protection of an underwater plug-in electric connector applied to a marine floating platform. A plurality of underwater plug-in electric connector sockets are arranged on a composite cable; underwater plug-in electric connector plugs can be inserted into the underwater plug-in electric connector sockets; one of a rod-shaped auxiliary anode and a reference electrode is separately arranged on the underwater plug-in electric connector plugs; a plurality of preset underwater plug-in electric connector sockets are arranged on the composite cable; and sealing devices with waterproof functions are arranged on the composite cable to seal the underwater plug-in electric connector sockets, the underwater plug-in electric connector plugs and the preset underwater plug-in electric connector sockets.

This invention relates to a spindle assembly for a drum-shaped filter screen, comprising: a spindle, a first bearing, a first bearing housing, a second bearing, a second bearing housing, a first brush shaft, a first brush holder, a second brush shaft, and a second brush holder. The first brush holder is sealed to the side of the first bearing housing opposite to the second bearing housing. One end of the first brush shaft is connected to the fixed end of the spindle, and the first brush shaft is located inside the first brush holder. A first current collector flange is provided on the outer wall of the first brush holder. The second brush holder is sealed to the side of the second bearing housing opposite to the first bearing housing. One end of the second brush shaft is connected to the floating end of the spindle, and the second brush shaft is located inside the second brush holder. A second current collector flange electrically connected to the second brush shaft is provided on the outer wall of the second brush holder. The cathodic protection system and the potential measuring device can be independently electrically connected to the spindle via the first brush shaft and the second brush shaft, respectively, thus the potential measuring circuit is not affected by the cathode busbar circuit.

Cathodic protection of steel in a concrete column in sea water is simplified by providing a pre-assembled unit including a jacket to surround the column carrying a bulk sacrificial anode outside the jacket and optionally an inner sacrificial anode with a cast grout inside the jacket. The jacket can also include a pre-assembled junction box and couplings to connect to the steel. The jacket is attached to the surface of the column at the water line so that the bulk anode is located below the surface of the water. The bulk anode can be formed of aluminum so as to be less toxic in sea water. An activator is applied inside the jacket either as a wicking layer or as a chemical activating material. The jacket can act only as a form work which is then removed after casting of the grout.

An anode apparatus for mounting on an external surface of a concrete structure to provide cathodic protection of metal members in the concrete uses a pre-assembled body which is typically elongate carrying a longitudinal anode, which can be sacrificial or impressed current, together with a supporting material having a front face for attachment to the surface and an impermeable plastic covering material at the rear face covering the anode and the supporting material when the front face is attached to the surface of the concrete. A channel defined on the front face is arranged to receive a layer of a conformable ionically conductive adhesive material for attachment to the external surface. A distance of the edge of the covering material is arranged to be similar to a distance of the metal from the external surface such that wetting and drying effects of environmental moisture are the same for the anode as for the metal components. 20 25 20 17 30 11 M ar 2 02 5 A B S T R A C T 2 0 2 5 2 0 1 7 3 0 1 1 M a r 2 0 2 5 m a t e r i a l w h e n t h e f r o n t f a c e i s a t t a c h e d t o t h e s u r f a c e o f t h e c o n c r e t e . A c h a n n e l

The application discloses a kind of critical conductivity simulation calculation method and system of chain structure impressed current protection, by building COMSOL simulation model, according to wire diameter, chain structure size, metal material conductivity, set current physical field related parameters in COMSOL software, for simulating calculation under different conductivity caused potential attenuation;According to the seawater conductivity obtained in test, the conductivity of metal material, polarization curve, set the secondary current distribution physical field related parameters in COMSOL software, and combine the potential attenuation obtained in current physical field as boundary condition simulation potential distribution under steady state in seawater, if potential distribution reaches the requirement of protection potential, the conductivity corresponding to potential attenuation at this time is critical conductivity.The method can accurately and conveniently evaluate the critical conductivity of chain structure impressed current cathodic protection, and provide a reference for the design of chain structure impressed current cathodic protection system.

The application discloses a kind of light-assisted anticorrosion coating materials and preparation method based on metal coordination structure, the light-assisted anticorrosion coating material is on the basis of traditional anticorrosion metal zinc layer continue to be coordinated with the metal coordination polymer Co (bpy) (dhbq) (bq) with photoelectric conversion capability, and form coordination complex Co (bpy) (dhbq) (bq) @Zn.Because metal coordination polymer Co (bpy) (dhbq) (bq) itself can additionally generate photo-generated electron and photo-generated current after being illuminated, provide redundant charge for Zn layer, make it be in lower potential, strengthen the function of cathodic protection.Corrosion can be inhibited through this mechanism, prolong the service life of Zn layer, provide efficient, green anticorrosion protection for the steel material that needs to be protected.In addition, metal coordination light-assisted anticorrosion technology can also inhibit marine bioattachment by slowly releasing metal ions Co, prevent biofilm formation, reduce microbial growth, prolong the service life of protected material in marine environment, also applicable to underwater bioinduced corrosion and the protection of fouling metal structure.

The invention discloses a photo-assisted anti-corrosion coating material based on a metal coordination structure and a preparation method, the photo-assisted anti-corrosion coating material is continuously coordinated with a metal coordination polymer Co (bpy) (dhbq) (bq) with photoelectric conversion capability on the basis of a traditional anti-corrosion metal zinc layer to form a coordination compound Co (bpy) (dhbq) (bq) (at) Zn. Due to the fact that the metal coordination polymer Co (bpy) (dhbq) (bq) can additionally generate photo-generated electrons and photo-generated currents after being illuminated, redundant charges are provided for the Zn layer, the Zn layer is made to be in a low potential, and the cathode protection function is enhanced. Through the mechanism, corrosion can be inhibited, the service life of the Zn layer can be prolonged, and efficient and green anti-corrosion protection is provided for steel and iron materials needing to be protected. In addition, by slowly releasing metal ions Co, the metal coordination light-assisted anticorrosion technology can inhibit marine organism adhesion, prevent biofilm formation, reduce microbial growth and prolong the service life of a protected material in a marine environment, and is also suitable for underwater organism induced corrosion and protection of stained metal structures.

The utility model relates to anode stick replacement technical field, especially a kind of auxiliary mechanism and in-service pipe fitting cathodic protection anode stick anti-infiltration replacement device, it includes, main component, the main component includes welded short pipe, set up on the pressure ball valve of welded short pipe;Auxiliary component, the auxiliary component includes the support piece set up on pressure ball valve, set up on the auxiliary piece of support piece, set up in the pusher of auxiliary piece, set up in the mounting piece of auxiliary piece;Wherein, the mounting piece is detachably connected with the support piece by the pusher;It can reliably, infiltration-free complete the installation and replacement operation of anode stick main body under pipeline operating state, improve the maintenance efficiency of cathodic protection system and the continuity and safety of pipeline operation, and can effectively block the infiltration path of water body in pipeline after anode stick installation after anode stick installation, ensure long-term sealing performance under pipeline operating state.

The utility model relates to cathode protection potential data acquisition equipment, which comprises a protection box, a recorder body is arranged in the protection box, an adjusting mechanism is arranged between the protection box and the recorder body, a box cover is hinged to the top of the protection box, and a heat dissipation and dehumidification mechanism is arranged on the box cover. According to the cathodic protection potential data acquisition equipment, by arranging the adjusting mechanism, when the angle of the recorder body needs to be adjusted, only a motor needs to be controlled to drive a threaded rod to rotate, when a threaded sleeve moves on the threaded rod, the angle of a supporting rod can be driven to be adjusted, and the supporting rod jacks a supporting plate to rotate; the angle adjustment of the recorder body is realized; by arranging a limiting plate and a baffle, the recorder body can be clamped and limited to be prevented from falling off, meanwhile, the recorder body can be freely taken and placed on the supporting plate, and practicability is high; and by arranging the heat dissipation and dehumidification mechanism, air flow can be dried before air inflow.

The present application discloses a method and system for synchronously monitoring the corrosion of buried pipelines at multiple points, which relates to the technical field of pipeline corrosion monitoring and is used to improve the overall safety factor of buried pipelines in complex environments. The method of the present application includes: collecting soil parameters and electrochemical parameters of each numbered pipe section in the buried pipeline to be tested; performing a corrosive analysis on the soil parameters to obtain a first corrosion risk index for each numbered pipe section; calculating the stray current density of each numbered pipe section based on the electrochemical parameters; comparing the stray current density of each numbered pipe section with a preset threshold gradient, and determining a second corrosion risk index for each numbered pipe section based on the comparison result; performing a weighted calculation on the first corrosion risk index and the second corrosion risk index to generate a corrosion risk level distribution for each numbered pipe section; determining the numbered pipe section whose corresponding corrosion risk level meets the preset level as a risky pipe section, and adjusting the cathodic protection parameters of the risky pipe section according to the parameter adjustment mechanism.

The application belongs to the technical field of corrosion protection, and relates to a preparation method of an anti-corrosion filling material, in particular to a preparation method of hydroxylated titanium dioxide and application thereof. The preparation method of the hydroxylated titanium dioxide comprises the following steps: placing raw material nano-titanium dioxide in a KOH solution with a pH value of 11-13, and carrying out hydrothermal reaction at 180-200 DEG C for 24-36 h to obtain the hydroxylated titanium dioxide. The hydroxylated titanium dioxide prepared by the method has better bonding force with the adhesive paste, the prepared photoelectrochemical cathodic protection adhesive paste is not easy to be pulverized, and has long-time photoelectrochemical cathodic protection capacity.

The invention discloses an anti-corrosion device for a directly-buried steam pipeline, and relates to the technical field of pipeline corrosion prevention. According to the scheme, the device comprises a connecting mechanism used for being fixed to the outer wall of the steam directly-buried pipeline in a hooping mode; the closed box body is arranged on the connecting mechanism, the closed box body comprises an underground closed pipe located under the ground and an overground maintenance box body located on the ground, and the underground closed pipe is in sealing fit with the outer wall of the steam directly-buried pipeline through a sealing ring to form a closed cavity; the sacrificial anode is arranged in the overground maintenance box body; and the electrode assembly is arranged in the closed cavity and used for being electrically connected with the outer wall of the steam directly-buried pipeline and the sacrificial anode to form a cathode protection loop. By arranging the connecting mechanism composed of the pipe clamping piece with the bottom of the arc-shaped structure and the frame-shaped connecting plate, during installation, only limited excavation needs to be conducted on the two sides of the pipeline, and the earthwork excavation volume and the influence of construction on pipeline operation are greatly reduced.

Provided is a CFRP active-passive-confined compression-cast RC column incorporating cathodic protection, which includes a CFRP pipe; multiple longitudinal reinforcements inside the CFRP pipe; a stirrup inside the CFRP pipe connected to the longitudinal reinforcements; compression-cast concrete arranged in the CFRP pipe, the multiple longitudinal reinforcements and the stirrup are embedded in the compression-cast concrete; a power supply having a positive electrode connected to the CFRP pipe and a negative electrode connected to the multiple longitudinal reinforcements. The CFRP pipe with a present thickness forms an active confinement on the compression-cast concrete, and the power supply applies a current to the CFRP pipe as an anode to enable the multiple longitudinal reinforcements to obtain electrons, thus stably protecting the multiple longitudinal reinforcements as a cathode.

The application discloses a tension type impressed current cathodic protection system, which comprises a composite cable made of a steel core aluminum stranded wire with an outer sheath, a first insulation connecting structure arranged at the upper end of the composite cable and used for insulatingly connecting the composite cable with a member to be protected, a cable branch structure arranged at the upper end of the composite cable and used for electrically connecting the composite cable with a power control cabinet, an auxiliary anode arranged on the composite cable and used for releasing current, and a second insulation connecting structure arranged at the lower end of the composite cable and used for insulatingly connecting the composite cable with a gravity foundation. The tension type impressed current cathodic protection system disclosed by the application has the advantages of light weight and low price compared with the existing composite cable copper as a power line under the same current carrying requirement, and the production processing technology of the steel core aluminum stranded wire is simplified as the steel core aluminum stranded wire only needs to be coated with a wear-resistant sheath.

This utility model discloses a cathodic protection device for buried natural gas pipelines, comprising a pipeline body, a sacrificial anode layer, and a cathodic protection structure. The sacrificial anode layer is wrapped around the pipeline body, and the cathodic protection structure is disposed on the sacrificial anode layer. The cathodic protection structure further includes an external intelligent power supply unit and a discharge unit, the external intelligent power supply unit being disposed on the sacrificial anode layer, and the discharge unit being disposed on the sacrificial anode layer. This utility model belongs to the field of pipeline cathodic protection technology, specifically referring to a cathodic protection device for buried natural gas pipelines. It effectively solves the problems of rapid anode material consumption, increased maintenance costs and workload, and insufficient protection in some areas of the pipeline due to uneven anode distribution or soil environmental differences, affecting the uniformity of the protection effect.

This invention relates to a ground marking and cathodic protection integrated intelligent monitoring system for oil and gas pipelines, comprising a polarized test piece soil reference tube, a self-corroding test piece soil reference tube, a Mark signal sensor, a power supply, and a data acquisition recorder. The data acquisition recorder is equipped with a GPS positioning module and a communication module; the power supply has a low voltage warning function; the data acquisition recorder collects and processes cathodic protection parameters, stray current interference data, and pipeline corrosion rate monitored by the polarized test piece soil reference tube, self-corrosion potential monitored by the self-corrosion test piece soil reference tube, and low-voltage alarm signals output by the power supply, and also processes the electrical signals output by the Mark signal sensor to generate positioning commands that trigger the GPS positioning module to output position signals; this invention achieves high efficiency, high precision, high integration, and high intelligence in oil and gas pipeline operation and maintenance management, improving the accuracy of pipeline corrosion detection and cathodic protection detection and the level of intelligent management.

An example protective structure for use in an impressed current cathodic protection (ICCP) system to protect a substrate from corrosion includes: a covering anode layer configured to act as an anode in the ICCP system and configured to be interconnected with an electron source configured to provide electrons to the substrate; and a protective layer configured to space the covering anode layer from the substrate; wherein the structure is permeable to an electrolyte to complete the electrochemical cell of the ICCP system.

The utility model relates to pipeline anticorrosion technical field, especially a kind of cathodic protection test pile structure, including support pipe;Support pipe inside upper end is equipped with terminal block;The four terminal ends of terminal block back surface are respectively used to be connected with the four detection lines that go up into from the lower end of support pipe, and the two terminal posts of terminal block surface are respectively used to be connected with the terminal pen of multimeter;Support pipe upper end is equipped with the protection cover of barrel shape;The position of support pipe opposite terminal block surface is equipped with let position opening, and the position of protection cover opposite let position opening is equipped with operation opening and is hingedly installed with cover plate;It is equipped with mounting pipe in support pipe, and the inner peripheral wall of mounting pipe has two protruding blocks, and the mounting protruding block formed by protruding on the upper end both sides of terminal block is respectively hung and installed on protruding block;The utility model has the characteristics that terminal block can be more conveniently installed and disassembled, and better sealing effect can be achieved.

The utility model discloses a cathode protection intelligent test pile, which comprises a pile body, the lower end of the pile body is fixedly connected with a base, a plurality of groups of slideways are processed at the lower end of the base, the lower ends of every two groups of slideways are respectively connected with corresponding extension plates in a sliding manner, threaded holes are processed on the surfaces of the plurality of extension plates, and the threaded holes are communicated with the slideways. A threaded hole is machined in the surface of the base, and the diameter of the threaded hole in the surface of the base is consistent with that of the threaded hole in the surface of the extension plate. Through the arrangement of the pile body, the base, the extension plates, the slideways and the threaded holes, when the test pile needs to be fixed on the outdoor ground, an operator pulls out the four extension plates below along the slideways, and then screws eight fixing bolts into the threaded holes in the surfaces of the base and the extension plates; the base and the extension plate are divided into an inner layer and an outer layer through the fixing bolts to be fixed to the ground, so that the situation that the test pile topples over in severe weather such as strong wind is avoided, and the working effect of the intelligent test pile is improved.

To provide an electrolytic protection method of a concrete structure which can omit labor and time for work.SOLUTION: An electrolytic protection method of a concrete structure includes: an electrode installation step of mounting a belt-like electrode 2 on a surface 5 of an existing concrete structure 1; a mold material installation step of installing mold materials 9 along the length of the electrode 2 on the surface 5 of the existing concrete structure 1 at an interval of a predetermined width including the electrode 2; an application part installation step of installing an application part 6 of stripe-shaped mortar in a length direction of the electrode 2 on the surface 5 of the existing concrete structure 1, between the mold materials 9, along the mold materials 9 installed in the mold material installation step; and a caulking installation step of caulking both sides in the width direction of the application part 6 installed in the application part installation step with a caulking material 8. The caulking installation step removes the mold material 9 installed in the mold material installation step, and then applies the caulking material 8 at a corner part formed by the surface 5 and the application part 6 so as to prevent infiltration of moisture from between the surface 5 and the application part 6.SELECTED DRAWING: Figure 5

The utility model relates to the technical field of pipeline protection, and particularly discloses a concealed self-detection test box for cathode protection, which comprises a body, the body is provided with an accommodating chamber with a top opening, the inner wall of the accommodating chamber is provided with a test terminal, the test terminal is connected with a pipeline through a test cable, and a test pipeline extending out of the body is arranged in the accommodating chamber; the cover plate covers the top of the body through a connecting piece, and the upper surface of the cover plate is flush with the road surface; and the self-detection module located in the accommodating chamber is installed at the bottom of the accommodating chamber, the self-detection module is electrically connected with the cathode protection unit through a cable, and the self-detection module is electrically connected with the test terminal.

The invention discloses a cathode protection ultra-low voltage frequency conversion control device and method, and the device comprises a server and at least one potentiometer which is used for collecting the potential related parameters of protected cathode metal, transmitting the potential related parameters to the server, receiving the control parameters transmitted by the server, and transmitting the control parameters to the server. Adjusting the potential of the protected cathode metal to be in a preset cathode protection potential interval according to the control parameter; and the server obtains control parameters according to the potential related parameters and a preset relationship between the potential related parameters and the control parameters, and sends the control parameters to the corresponding potentiometers. According to the invention, integration of data acquisition and impressed current protection of the protected cathode metal can be realized, the potentiometers can monitor potential related parameters of the protected cathode metal in real time, real-time dynamic frequency conversion adjustment can be realized, one server can control a plurality of potentiometers, lightweight integrated design is realized, the construction is convenient, and the cost is low. Real-time data acquisition is realized, and meanwhile, a corresponding protection effect on an insured unit is achieved.

The invention provides a pipeline anti-corrosion layer detection method adopting a dense interval potential method, and relates to the field of pipeline anti-corrosion layer detection, which is characterized by comprising the following steps of: 1, setting a cathode protection system: for a pipeline adopting forced current potential cathode protection, before data acquisition, erecting satellite synchronous on-off devices at all constant potential positions for protecting the pipeline, and the satellite synchronization function is utilized to ensure accurate time control of the on-off device. The device and the method have the advantages that the millivolt-level signal acquisition effect of the potential of the anticorrosive coating is achieved by integrating the high-precision reference electrode array on the underwater detection platform, the millimeter-level positioning effect of the damaged point of the anticorrosive coating is achieved by adopting a 0.2-0.5 m dense interval potential gradient measurement method, and the detection accuracy is improved. Analyzing the potential abrupt change characteristic (delta Vgt; the effect of quantitatively evaluating the damage area and severity is achieved, and the effect of continuously and rapidly scanning a long-distance pipeline is achieved through autonomous cruise detection of the underwater robot.