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

输水管道无损检测对于水利基础设施的维护和管理至关重要。PipeDiver是Pure Technologies开发的一项状态评估技术，用于在不中断水管运行的情况下进行在线检查。PipeDiver是一个自由游泳的机器人系统，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)检测和超声波检测是基于管道潜水器的检测的两种有效技术，本研究项目旨在开发算法来处理和分析CCTV和超声波检测数据。视频数据分析将解决水下图像增强、关键帧(有异常)检测和障碍物识别的挑战。多传感器数据融合将利用闭路电视、超声波和惯性测量单元的数据，通过实现同步定位和测绘，方便PipeDiver的导航。研究成果将被整合到PipeDiverPlatform中，为加拿大水务行业提供更好的生活质量。

The non-destructive inspection (NDI) of water pipeline is essential to the maintenance and management ofwater infrastructure. The PipeDiver is a condition assessment technology developed by Pure Technologies forin-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-circuittelevision (CCTV) inspection and ultrasonic inspection are two available techniques for the PipeDiver-basedinspection.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 (withanomaly) 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 implementingthe simultaneous localization and mapping. The outcomes of the research will be integrated into the PipeDiverplatform to serve the Canadian water industry for a better quality of life.