Pipe evaluation robot and pipe evaluation method

A pipe evaluation robot for evaluating the integrity of a pipe, the pipe evaluation robot comprising:

• a body that is introduced into the pipe;
• a transfer module that transfers the body inside the pipe;
• an impact unit that is provided in the body to impact the pipe;
• a plurality of acoustic measurement modules that are provided in the body to measure an impact sound generated when the impact unit impacts the pipe;
• and
• a resonance sound analysis module that converts impact sound information provided from the acoustic measurement modules into analysis data and applies the converted analysis data to a convolutional neural network (CNN) to determine the integrity of the pipe,
• wherein the resonance sound analysis module is configured to obtain first analysis data as the impact unit impacts a predetermined area and obtain second analysis data as the impact unit impacts a plurality of predetermined areas,
• wherein the resonance sound analysis module is configured to obtain a first analysis result by generating spectrogram data based on the first analysis data, apply the spectrogram data to a first convolutional neural network, obtain a second analysis result by generating 3D power spectrum data based on the second analysis data, and apply the 3D power spectrum data to a second convolutional neural network, and
• wherein the resonance sound analysis module is configured to determine the integrity of the pipe based on the first and second analysis results.