Intelligent leakage detection robot and detection method for detecting leakage point of liquid filling pipeline

Abstract

The invention discloses an intelligent leakage detection robot and a detection method for detecting a leakage point of a liquid filling pipeline. The intelligent leakage detection robot comprises a shell, a control module and a sensing device, the sensing device adopts a magnetic field sensor and/or a plurality of pressure sensors. According to the robot and method, the hardware is simple, the data processing difficulty is relatively low, and the leakage point in the liquid filling pipeline can be conveniently found and positioned.

Description

technical field [0001] The invention relates to a leak point detection technology of a liquid-filled pipeline, in particular to an intelligent leak detection robot and a detection method for detecting a leak point of a liquid-filled pipeline. Background technique [0002] In recent years, with the introduction of concepts such as smart cities, higher requirements have been put forward for the safe and efficient operation of underground liquid-filled pipe networks. [0003] When the pipeline is in safe operation, the pressure inside the pipeline is uniform and stable. However, when the pipeline leaks, the pressure near the leakage point changes sharply. Due to the strong pressure difference between the inside and outside of the leakage point, the fluid in the pipe is ejected from the leakage port at a high speed. The friction between the high-speed fluid and the leak port, the bursting of air bubbles near the inside of the leak port pipe, and the violent and irregular changes...

AI Technical Summary

Problems solved by technology

[0004] Since the concept of the in-pipe leak detection robot was put forward, some progress has been made in the research of the in-pipe leak detection robot. The traditional in-pipe leak detection intelligent robots generally include: ① the smart ball based on the endoscopic method. An image sensor is integrated on the top, the sensor collects and analyzes the image in the pipe, and the image of the leak can be identified to complete the positioning. The Chinese patent (CN 205615602 U) proposes to use an infrared probe to obtain the internal image of the pipe, and then send the acquired image to image processing The device performs preprocessing, and the image data obtained by the preprocessing is transmitted to the equipment outside the pipe by wireless communication through the microprocessor to determine the leakage information of the pipe. Although this method can collect the image data inside the pipe, the liquid-filled pipe has a negative The strong shielding effect causes the image data in the tube to not be transmitted to the equipment outside the tube in real time, resulting in missed judgments and misjudgments; ② In-tube smart ball based on magnetic flux leakage technology. Leakage magnetic flux data analysis of internal leakage of pipelines, as described in the literature "Liu Yuan, Design and Implementation of Spherical Detectors for Small Leakage in Oil Pipelines (J), Sensors and Microsystems, 2012, 31(6): 130-133" The described pipeline spherical robot integrates accelerometer, magnetometer and sound wave sensor, records the acceleration information during the rolling process of the robot, the sound and the change of magnetic induction intensity along the line, takes out the recorded data after the robot runs, and uses the wavelet transform technology to realize the leakage of the pipeline Positioning, although this method avoids the disadvantages of real-time communication, the magnetic flux leakage technology is only effective for metal pipes, and cannot detect non-metallic pipes such as PE pipes; The smart ball of the noise detection method refers to the use of pressure sensors or acoustic sensors to obtain pressure or noise data in the pipe, and then use data processing technology to further analyze the pressure and noise data to obtain leak point information. Chinese patent (CN 106287239 A) proposes to use pressure, The acoustic vibration sensor realizes multi-sensor fusion to detect whether the pipeline leaks, and then combines the inertial navigation system and the radio frequency tag to locate the leak point. The disadvantage of this method is that the liquid in the pipe and the pipe itself have strong shielding against the radio frequency signal. As a result, the spherical robot can hardly communicate with the equipment outside the pipe in the liquid-filled metal pipe, and the real-time positioning effect is poor

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