Empowering the pipedriver technology for water pipeline inspection through multi-sensor data analytics

输水管道的无损检测是水利基础设施维护和管理的重要内容。PipeDiver是Pure Technologies开发的一种状态评估技术，用于在不中断水管运行的情况下进行运行中检查。PipeDiver是一个自由游动的机器人系统，** 它可以在平台上集成多种NDI技术，以实现高质量的检测。闭路电视（CCTV）检查和超声波检查是基于PipeDiver的检查的两种可用技术。本研究项目旨在开发用于处理和分析CCTV和超声波检测数据的算法。**视频数据分析将解决水下图像增强、关键帧（具有 ** 异常）检测和障碍物识别的挑战。多传感器数据融合将使用来自CCTV、** 超声波和惯性测量单元的数据，通过实现 ** 同时定位和绘图来促进PipeDiver的导航。研究成果将整合到PipeDiver** 平台中，为加拿大水务行业提供更好的生活质量服务。

The non-destructive inspection (NDI) of water pipeline is essential to the maintenance and management of**water infrastructure. The PipeDiver is a condition assessment technology developed by Pure Technologies for**in-service inspection without disrupting the water pipe operation. The PipeDiver is a free-swim robotic system,**which can integrate multiple NDI techniques on the platform, for a high-quality inspection. Closed-circuit**television (CCTV) inspection and ultrasonic inspection are two available techniques for the PipeDiver-based**inspection.**This research project is to develop algorithms to process and analyze the CCTV and ultrasonic inspection data.**The video data analytics will address the challenges of underwater image enhancement, key frame (with**anomaly) detection, and obstacle identification. The multi-sensor data fusion will use the data from CCTV,**ultrasound, and inertial measurement unit to facilitate the navigation of the PipeDiver through implementing**the simultaneous localization and mapping. The outcomes of the research will be integrated into the PipeDiver**platform to serve the Canadian water industry for a better quality of life.