A pipeline leak internal detection device and a detection method thereof

Abstract

The application relates to the technical field of pipeline internal detection, and discloses a pipeline leakage internal detection device and a detection method thereof, which comprise a noise detection module and further comprise two spheres, a power assembly and a posture detection module; the outer diameters of the two spheres are the same as the inner diameter size of a pipeline; a spacing is left between the two spheres; through holes are horizontally and centrally formed in each sphere; the axes of the through holes pass through the centers of the two spheres; the opposite through hole openings of the two spheres are connected in communication through soft tail hoses; the opposite sides of the two spheres and the tail hoses and the pipeline surround a blocking cavity; the power assembly is connected with one of the spheres; the power assembly is used for driving the two spheres to advance along the pipeline; the noise detection module is arranged on one of the spheres and is used for detecting the noise in the blocking cavity; and the posture detection module is connected with the tail sphere. The application can increase the noise at a leakage point, so that the accuracy of leakage point detection is improved.

Description

A pipe leak detection device and its detection method Technical Field

[0001] This invention relates to the field of pipeline internal detection technology, and in particular to a pipeline leak internal detection device and detection method. Background Technology

[0002] Leaks in water supply or sewage pipes in urban utility tunnels can cause pipeline leaks, which can have serious impacts on the environment and human health. Therefore, regular pipeline inspections are necessary. Currently, the commonly used inspection methods are divided into internal inspection and external inspection. Considering the complex environment outside the pipeline and its deep underground location, internal inspection is often used to check for leaks. Internal inspection methods mostly involve using a controllable mobile device to extend into the pipeline for inspection.

[0003] Currently, detection devices typically include a movable device body and a sound sensor for detecting leaks. The sound sensor primarily detects the fluid noise generated at the leak point and uses computer simulation to analyze whether there are abnormal peaks in the fluid noise, thereby determining whether there is a leak on the inner wall of the pipe.

[0004] When the orifice diameter of the leak point in the pipeline is small, the pressure difference generated by the fluid near the leak point may not be significant, making it difficult for the fluid kinetic energy at the leak point to form a jet. The noise generated by the fluid passing through the leak point is also relatively weak. The above detection methods make it difficult for staff to accurately analyze whether there is a pipeline leak. Summary of the Invention

[0005] This invention provides a pipeline leak detection device and method, which can increase the noise at the leak point to improve the accuracy of leak detection.

[0006] This invention provides a pipe leak detection device, including a noise detection module, and further comprising: two spheres, a power component, and an attitude detection module. The outer diameter of the two spheres is the same as the inner diameter of the pipe, and a gap is left between the two spheres. Each sphere has a through hole horizontally through its middle, and the axis of the through hole passes through the center of each of the two spheres. The openings of the through holes of the two spheres facing each other are connected by a flexible tail hose. The opposite side of the two spheres, the tail hose, and the pipe form a barrier cavity. The power component is connected to one of the spheres and is used to drive the two spheres forward along the pipe. The noise detection module is installed on one of the spheres and is used to detect the noise in the barrier cavity. The attitude detection module is connected to the tail sphere to detect the attitude change of the tail sphere. The inner diameter of the tail hose is always greater than the shortest distance between the outer wall of the tail hose and the inner wall of the pipe to ensure sufficient fluid flow outside the barrier cavity and better pressure deformation effect.

[0007] Preferably, both spheres are hollow, and connecting pipes are fixedly inserted into the through grooves of both spheres. The ends of the two connecting pipes, which are close to each other, extend to the corresponding spheres. The tail hose is sealed to the two connecting pipes. The attitude detection module and the noise detection module are respectively placed in their respective spheres. Multiple flow channels are opened on the side of the sphere near the power component. The flow channels guide the liquid located outside the barrier cavity and at the angle formed with the pipe to the connecting pipe. An arc-shaped guide plate is also fixedly connected to the flow outlet of the flow channel in the first sphere to guide the flow. The fluid in the channel is guided towards the rear hose and merges with the fluid in the head sphere. According to fluid dynamics, this greatly reduces the noise and fluid vortex resistance at the confluence point. Specifically, both ends of the two connecting pipes are provided with stepped grooves, and sealing rings are inlaid in the stepped grooves. Both the head hose and the tail hose can be fitted into the stepped grooves, and their inner diameters are flush with the inner diameters of the connecting pipes. Specifically, the head hose and the tail hose are connected to the connecting pipes by hexagonal countersunk nuts and bolts. The hexagonal countersunk nuts have corner blocks on both the fluid-facing side and the opposite side for guiding the fluid.

[0008] Preferably, the sphere closer to the power component is designated as the head, and the sphere further away from the power component is designated as the tail. The power component is connected to the outer opening of the through hole of the head sphere via a flexible head hose. The power component includes: an annular cylinder, a support, a rotating shaft, and multiple support wheels. The inner diameter of the annular cylinder matches the inner diameter of the head hose, and the head hose is sealed to the inner wall of the annular cylinder. The support is connected to the inner wall of the annular cylinder, and the rotating shaft is located at the axis of the annular cylinder and rotatably connected to the support. The rotating shaft is driven by a drive motor, and multiple... The impeller consists of multiple impellers arranged sequentially along the head-to-tail direction with progressively larger outer diameters. Multiple support wheels are evenly distributed radially on the ring cylinder via connecting rods, which are fixedly connected to the ring cylinder. The impeller also includes multiple auxiliary support wheels, symmetrically distributed on one side of each support wheel. The auxiliary support wheels are hinged to the outer wall of the ring cylinder via rods, and springs connect the rods to the connecting rods. The surfaces of the support wheels and auxiliary support wheels are made of soft rubber material that can be compressed and deformed during turning, allowing them to deform under compressive force and recover their elasticity.

[0009] Preferably, a horizontal rotating rod is fixedly connected to the first end of the rotating shaft, and a forward-extending guide ball is also connected to the end of the rotating rod. Multiple soft balls are embedded in the outer surface of the ball via a ball hinge. Considering that the part of the rotating rod away from the rotating shaft lacks rotational support and may bend or deflect when running in a fluid with resistance, a rotating frame is fixedly connected to the first end of the connecting pipe, and the rotating rod passes through the middle of the rotating frame and the two are rotatably connected.

[0010] Preferably, a wiping frame is fixedly connected to the rotating rod radially, and a sponge is fixedly connected to the end of the wiping frame. The sponge can adhere tightly to the pipe wall and deform under pressure. When the rotating shaft rotates, the sponge can rotate and wipe the inner wall of the pipe to prevent dirt from adhering to the leak hole and affecting the accuracy of the detection.

[0011] Preferably, a conical flow guide is fixedly connected to the front end of the annulus to guide the fluid into the annulus.

[0012] Preferably, the attitude detection module includes an attitude angle sensor and an attitude electrical signal transmitter. The attitude angle sensor is connected to the inner wall of the sphere at the tail end. The attitude angle sensor monitors the rotational offset angle of the sphere at the tail end around the X-axis, Y-axis and Z-axis, so as to intuitively display the motion state of the sphere at the tail end at any moment throughout the entire process in the pipe.

[0013] Preferably, the noise detection module includes multiple noise sensors, a storage device, and an audio signal transmitter. The sensing probes of the multiple noise sensors are evenly connected to the side of the head sphere near the barrier cavity, and each sensing probe is closer to the contact point between the sphere and the pipe. The audio signal transmitter is electrically connected to the noise sensors to transmit the received audio to the outside of the pipe via an electrical signal so that it can be received by the staff.

[0014] Preferably, it also includes a permanent magnet connected to the sphere at the tail end. The permanent magnet enables the magnetic sensor outside the pipe to be quickly positioned. The cavity inside the sphere at the tail end of the permanent magnet is isolated by a magnetic shield to prevent interference with the transmission of various signals.

[0015] Preferably, the tail hose has multiple placement holes along its axial direction on its wall, which are evenly distributed along the ends of the tail hose. An infrared sensing module is installed within each placement hole. The infrared sensing module senses the bending of the tail hose by transmitting and receiving infrared light. The infrared sensing module includes an infrared transmitting probe and an infrared receiving plate, which are respectively connected to the two ends of the placement hole. An infrared signal transmitter is electrically connected to the infrared receiving plate. The infrared receiving plate receives infrared light emitted from the infrared transmitting probe and emits an electrical signal through the infrared signal transmitter. When the tail hose bends, the infrared path is deflected, and the infrared signal transmitter stops emitting signals. A reset spring is embedded in the placement hole to restore the tail hose to its original shape, preventing slow elastic recovery of the tail hose. The reset spring has a large pitch to avoid significant deformation interference.

[0016] The present invention also provides a detection method for a pipeline leak detection device, comprising the following steps:

[0017] S1. When moving forward, the motor drives the rotating shaft to rotate and moves forward along the pipeline with the support of the support wheel and the auxiliary support wheel. Both spheres are pulled horizontally forward along the pipeline by the first hose and the last hose.

[0018] S2. After the pipeline leak point moves into the isolation chamber, the fluid in the isolation chamber and the fluid at the tail hose form a pressure difference. At the same time, due to the pressure difference, the fluid in the pipeline forms a jet at the leak point. At this time, the tail hose will bend and shift towards the leak point. At this time, the ball at the tail will deflect at an angle along the pipeline with the tail hose.

[0019] S3. During internal detection, the attitude angle sensor transmits the deflection state of the sphere at the tail through the attitude electrical signal transmitter. The operator receives the electrical signal transmitted by the attitude electrical signal transmitter to determine if there is a leak in the pipeline. The leak point in the pipeline will preferentially be close to the sensing probe of the noise sensor, and the noise of the fluid flow will be stored in the storage device and transmitted through the audio signal transmitter. The operator receives the audio signal and analyzes the fluid flow or jet audio through the computer to comprehensively determine whether there is a leak in the pipeline, and uses the magnetic sensor to quickly locate the precise location of the device.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: the power component can drive the two spheres to move forward. The two spheres are matched and fitted with the inner diameter of the pipe, and because the two spheres are always in line contact with the inner wall of the pipe, and are connected by a tail hose, the device can move to a 90° bend or oblique section of the pipe. The two spheres can achieve the bend and tilt within the pipe by rotating, and together with the tail hose, they create a barrier cavity. When a leak is encountered, a pressure difference is generated inside and outside the barrier cavity, causing the tail hose to bend. This, combined with noise detection, helps to determine if a leak has occurred. To determine if a leak exists, a posture detection module is used in conjunction with a noise detection module. When a leak occurs, the pressure difference at the leak point causes the fluid in the pipe to jet, generating relatively significant noise for the detection module to collect. Simultaneously, the tail hose bends and shifts towards the leak point. The sphere at the tail end deflects along the pipe with the tail hose. The posture detection module dynamically detects these changes in the sphere's posture, allowing staff to analyze from multiple perspectives whether a leak has occurred or if the device simply passes through a bend in the pipe, thus improving detection accuracy and reducing leak detection errors. Attached Figure Description

[0021] Figure 1 is a cross-sectional schematic diagram of the right-side view of a pipeline leak detection device provided in an embodiment of the present invention.

[0022] Figure 2 is a partial cross-sectional view of the right side of a pipeline leak detection device provided in an embodiment of the present invention.

[0023] Figure 3 is a magnified view of part A in Figure 2;

[0024] Figure 4 is a partial cross-sectional view of the power component in a pipeline leak detection device provided in an embodiment of the present invention from the right side.

[0025] Figure 5 is a schematic diagram of the detection process of a detection method for a pipeline leakage detection device provided in an embodiment of the present invention;

[0026] Figure 6 is a schematic diagram of the structure of the sphere in a pipeline leak detection device provided in an embodiment of the present invention;

[0027] Figure 7 is a schematic cross-sectional view of the right side of a pipeline leak detection device provided in an embodiment of the present invention after a through hole has been opened.

[0028] Figure 8 is a front view of the internal structure of the tail hose in a pipeline leak detection device provided in an embodiment of the present invention.

[0029] Figure 9 is a schematic diagram of the landing point structure of an infrared light spot in a pipeline leak detection device provided in an embodiment of the present invention.

[0030] Figure 10 is a schematic diagram of the internal structure of the tail hose from the right side view in an internal pipe leak detection device provided in an embodiment of the present invention;

[0031] Figure 11 is a schematic diagram of the rotating frame structure in a pipeline leak detection device provided in an embodiment of the present invention;

[0032] Figure 12 is a schematic diagram of the soft ball structure in a pipeline leak detection device provided in an embodiment of the present invention.

[0033] Figure 13 is a schematic diagram of the corner block in a pipeline leak detection device provided in an embodiment of the present invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Sphere; 11. Through hole; 12. Flow guide channel; 2. Tail hose; 21. Placement hole; 22. Reset spring; 23. Infrared sensing module; 231. Infrared emitting probe; 2311. Infrared spot; 232. Infrared receiving plate; A1. Barrier cavity; 3. Power assembly; 31. Ring cylinder; 32. Support; 33. Rotating shaft; 34. Power impeller; 35. Support wheel; 36. Auxiliary support wheel; 37. Spring; 4. Head hose; 5. Attitude detection module; 51. Attitude angle sensor; 52. Attitude electrical signal transmitter; 6. Noise detection module; 61. Noise sensor; 62. Storage device; 63. Audio signal transmitter; 7. Connecting pipe; 71. Flow guide; 72. Rotating frame; 8. Rotating rod; 81. Guide ball; 811. Soft ball; 82. Wiping rack; 821. Sponge wiper; 9. Permanent magnet; 91. Magnetic shield; 10. Corner block; 01. Pipe. Detailed Implementation

[0036] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0037] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] Referring to Figure 1, the present invention provides a pipe leakage detection device, including a noise detection module 6, and further including: two spheres 1, a power component 3, and an attitude detection module 5. The outer diameter of the two spheres 1 is the same as the inner diameter of the pipe 01. Specifically, the two spheres 1 are in contact with the inner wall of the pipe 01 and can move. There is a gap between the two spheres 1. Each sphere 1 has a through hole 11 horizontally through its middle. The axis of the through hole 11 passes through the center of the two spheres 1. The openings of the through holes 11 of the two spheres 1 are connected by a soft tail hose 2. Specifically, the tail hose 2 can be a soft, flexible leather hose or a corrugated plastic pipe, preferably a leather hose that does not undergo large deformation of its own inner cavity. The opposite side of the two spheres 1, the tail hose 2, and the pipe 01 form a barrier cavity A. 1. The barrier cavity A1 is arranged in a ring shape. The power component 3 is connected to one of the spheres 1. The power component 3 is used to drive the two spheres 1 forward along the pipe 01. The noise detection module 6 is set on one of the spheres 1. Specifically, since the leakage point will first pass through the sphere 1 near the side of the power component 3 as the device moves, the noise detection module 6 is preferably set on the sphere 1 near the side of the power component 3 to detect the noise in the barrier cavity A1. The attitude detection module 5 is connected to the sphere 1 at the tail end to detect the attitude change of the sphere 1 at the tail end. The inner diameter of the tail hose is always greater than the shortest distance between the outer wall of the tail hose and the inner wall of the pipe. The inner diameter of the tail hose 2 is always greater than the shortest distance between the outer wall of the tail hose 2 and the inner wall of the pipe 01 to ensure that the fluid flow outside the barrier cavity A1 is sufficient and the pressure deformation effect is better.

[0039] In the above embodiments, the power component 3 can drive the two spheres 1 to move forward. The two spheres 1 are matched and fitted with the inner diameter of the pipe 01. Since the two spheres 1 are always in line contact with the inner wall of the pipe 01, and the two spheres 1 are connected by a tail hose 2, the device can move to a 90° bend or angle within the pipe 01. The two spheres 1 can rotate to achieve the bend and tilt within the pipe 01. Furthermore, the tail hose 2 connects to create a barrier cavity A1. When a leak is encountered, a pressure difference is generated inside and outside the barrier cavity A1, causing the tail hose 2 to bend. This, combined with noise detection, helps determine the presence of a leak. Specifically, considering that the noise signal detected by the sound sensor is easily interfered with by other noises within the pipe 01, which could affect the operator's misjudgment of a leak in the pipe 01, for example, the traveling module passing through the connecting flange of the pipe 01... There may be some bumps and noise, such as noise generated when the device body passes through the 90-degree bend of the pipe 01 and collides with the pipe wall. Therefore, an attitude detection module 5 is set up in conjunction with a noise detection module 6. After a leak occurs, the pressure difference at the leak point causes the fluid in the pipe 01 to form a jet at the leak point, which generates relatively large noise for the detection module to detect and collect. At the same time, as shown in Figure 5, the tail hose 2 will bend and deflect towards the leak point. At this time, the tail ball 1 deflects along the pipe 01 with the tail hose 2. The attitude detection module 5 can dynamically detect the attitude change of the tail ball 1, so that the staff can analyze from multiple dimensions whether a leak has occurred or whether the device just passed through the bend of the pipe 01, thereby improving the detection accuracy and reducing the error of leak detection. It should be noted that, as shown in Figure 7, when the connecting pipe 7 is not installed, the through groove of the hollow ball 1 still has a barrier wall.

[0040] Further, referring to Figures 2 and 7, both spheres 1 are hollow, and connecting pipes 7 are fixedly inserted into the through grooves of both spheres 1. The ends of the two connecting pipes 7 that are close to each other extend to the outside of the corresponding sphere 1. The tail hose 2 is sealed to the two connecting pipes 7. The attitude detection module 5 and the noise detection module 6 are respectively placed in their respective spheres 1. The side of the sphere 1 near the power component 3 has multiple flow channels 12. The flow channels 12 allow the liquid located outside the barrier cavity A1 and at the angle formed with the pipe 01 to flow through the flow channels 12 into the connecting pipes 7. The sphere 1 at the head has multiple flow channels 12 on the side near the power component 3. The flow channels 12 allow the liquid located outside the barrier cavity A1 and at the angle formed with the pipe 01 to flow through the flow channels 12 into the connecting pipes 7. The flow channel 12 guides the fluid into the connecting pipe 7. An arc-shaped guide plate is also fixedly connected to the flow outlet of the flow channel 12 in the head sphere 1 to guide the fluid in the flow channel 12 toward the rear hose and merge with the fluid in the head sphere 1. According to fluid dynamics, this greatly reduces the noise and fluid vortex resistance at the confluence. Specifically, both ends of the two connecting pipes 7 are provided with stepped grooves, and sealing rings are inlaid in the stepped grooves. The head hose 4 and the tail hose 2 can be fitted into the stepped grooves, and their inner diameters are flush with the inner diameters of the connecting pipes 7. Specifically, the head hose 4 and the tail hose 2 are connected to the connecting pipes 7 by hexagonal countersunk nuts and bolts. The hexagonal countersunk nuts are provided with corner blocks 10 for guiding the fluid on the fluid-facing side and the opposite side.

[0041] Further, referring to Figures 2 and 4, taking the sphere 1 closer to the power assembly 3 as the head and the sphere 1 further away from the power assembly 3 as the tail, considering the complex internal conditions of the pipeline, which is not just a straight pipe, the power assembly 3 is connected to the outer opening of the through hole 11 of the head sphere 1 through a flexible head hose 4. The power assembly 3 includes: an annular cylinder 31, a support 32, a rotating shaft 33, and multiple support wheels 35. The inner diameter of the annular cylinder 31 matches the inner diameter of the head hose 4, and the head hose 4 is sealed and connected to the inner wall of the annular cylinder 31. The support 32 is connected to the inner wall of the annular cylinder 31, and the rotating shaft 33 is located at the axis of the annular cylinder 31 and is rotatably connected to the support 32. The shaft 33 is driven by a drive motor. Multiple power impellers 34 are arranged sequentially along the head-to-tail direction with progressively larger outer diameters. Multiple support wheels 35 are evenly distributed radially on the ring cylinder 31 via connecting rods. The connecting rods are fixedly connected to the ring cylinder 31. Multiple auxiliary support wheels 36 are also included, symmetrically distributed on one side of each support wheel 35. The auxiliary support wheels 36 are hinged to the outer wall of the ring cylinder 31 via rods. A spring 37 connects the rods to the connecting rods. The wheel surfaces of the support wheels 35 and auxiliary support wheels 36 are made of soft rubber material that can be squeezed and deformed. When subjected to extrusion force during turning, they can undergo extrusion deformation and recover their elasticity.

[0042] In the above embodiments, since the power component is connected to the sphere near the head through a flexible hose, the power component can also be freely steered, thus avoiding the predicament of the device getting stuck at the tilt point and unable to move forward. The drive motor can drive the rotation of the rotating shaft 33, thereby driving the rotation of multiple power impellers 34 and achieving forward movement. At the same time, the support wheel 35 and the auxiliary support wheel 36 can ensure that the ring cylinder 31 will not deviate significantly. The outer diameter of the ring cylinder 31 and the inner diameter of the pipe 01 are spaced apart, which can facilitate passing through the inflection point of the pipe 01.

[0043] Furthermore, referring to Figures 4, 11, and 12, considering that when the device moves forward to the inflection point of pipe 01, the annular cylinder 31 may collide with the inner wall of pipe 01, a horizontal rotating rod 8 is fixedly connected to the first end of the rotating shaft 33. The end of the rotating rod 8 is also connected to a forward-extending guide ball 81. Multiple soft balls 811 are embedded in the outer surface of the ball. Considering that the part of the rotating rod 8 away from the rotating shaft lacks rotational support and may bend or deflect when running in a fluid with resistance, a rotating frame 72 is fixedly connected to the first end of the connecting pipe 7. The rotating rod 8 passes through the middle of the rotating frame 72 and the two are rotatably connected.

[0044] In the above embodiments, the guide ball 81 can protect and guide the power assembly 3, and can replace the ring cylinder 31 in contact with the pipe wall. Specifically, the soft ball 811 is in contact with the pipe wall. The soft ball 811 can rotate along the guide ball 81, thereby reducing the friction between the guide ball 81 and the inner wall of the pipe 01, improving the service life, and also avoiding scratching the inner wall of the pipe 01. The rotating frame 72 improves the support strength of the rotating rod 8.

[0045] Furthermore, referring to Figure 4, considering that there may be slippery sludge inside the pipe 01, which may cause the support wheel and auxiliary support wheel 36 to slip, making it difficult to move forward and affecting the stability of the ball 1. At the same time, the sludge may also cover the leak hole, causing the detection to be obstructed. Therefore, the rotating rod 8 is fixedly connected to the wiping frame 82 in the radial direction, and the end of the wiping frame 82 is fixedly connected to the sponge 821. The sponge 821 can be in close contact with the pipe wall. The sponge 821 can deform after being squeezed. When the rotating shaft 33 rotates, the sponge 821 can rotate and wipe the inner wall of the pipe 01 to prevent the leak hole from being affected by dirt and affecting the accuracy of the detection.

[0046] In the above embodiments, the wiping frame 82 can wipe the sludge on the inner wall of the pipe 01 with the sponge 821. The wiping frame 82 is fixedly connected to the rotating rod 8, so that the wiping frame 82 can drive the sponge 821 to rotate and wipe the inner wall of the pipe 01 during the forward movement of the power component 3.

[0047] Furthermore, referring to Figure 2, considering the forward movement of this device, the fluid in the pipe 01 will flow relatively towards the sphere 1 at the tail. Therefore, a conical guide shroud 71 is fixedly connected to the head end of the annular cylinder 31 to guide the fluid into the annular cylinder 31, which conforms to fluid dynamics.

[0048] Further, referring to Figures 1 and 2, the attitude detection module 5 includes an attitude angle sensor 51 and an attitude electrical signal transmitter 52. The attitude angle sensor 51 is connected to the inner wall of the tail sphere 1. The attitude angle sensor 51 monitors the rotational offset angle of the tail sphere 1 around the X-axis, Y-axis, and Z-axis to intuitively display the motion state of the tail sphere 1 at any moment throughout its journey within the pipe 01. Due to the limited internal space of the sphere 1, based on considerations of small size, low power consumption, cost, and accuracy, a series of components using microelectromechanical systems (MEMS) technology are selected. These components possess the characteristics of miniaturization, intelligence, multifunctionality, high integration, and suitability for mass production. The internal structure of the sensor is generally at the micrometer or even nanometer level. Specifically, for motion attitude detection, a nine-axis accelerometer is preferred. The attitude angle sensor 51 of the gyroscope magnetic field in the gyroscope module is model WT901SDCL. It can transmit the collected data through the attitude electrical signal transmitter 52. The operator can analyze the data by receiving the signal. The sensor has a built-in lithium battery and can output three-axis acceleration, three-axis gyroscope, three-axis Euler angle, three-axis magnetic field and quaternion. It can detect the angle offset of ±180° on the X-axis, ±180° on the Z-axis and ±90° on the Y-axis. At the same time, the attitude measurement stability is 0.01°. It can also analyze the data to extract parameters such as time, acceleration and angular velocity. Furthermore, the module integrates an attitude solver, which, together with the dynamic Kalman filter algorithm, can accurately output the current attitude of the module in dynamic environments. The attitude measurement accuracy is 0.05 degrees and the stability is extremely high.

[0049] Further, referring to Figures 1 and 2, the noise detection module 6 includes multiple noise sensors 61, a storage device 62, and an audio signal transmitter 63. The sensing probes of the multiple noise sensors 61 are evenly connected to the side of the head sphere 1 near the barrier cavity A1, and each sensing probe is closer to the contact point between the sphere 1 and the pipe 01. The audio signal transmitter 63 is electrically connected to the noise sensors 61 to transmit the received audio to the outside of the pipe 01 via an electrical signal for reception by personnel. Specifically, when the leak point enters the barrier cavity A1, the sensing probe of the noise sensor 61 can detect a peak value of a noise signal. This noise signal is stored in the storage device 62 and emitted through the audio signal transmitter 63. The frequency and intensity of the leak signal can be analyzed directly using sound processing methods such as FFT transformation and RMS mean square value analysis in computer analysis. Specifically, due to the limitation of the volume of the internal detection sphere, the experiment uses the ATKVS1053 model to collect and store the leak signal. The ATKVS1053 MP3 module is feature-rich and has a wide range of interfaces. Measuring only 34mm x 52.6mm, it is compact and easy to install, making it suitable for various designs. This high-performance audio codec module supports decoding and recording of multiple audio formats. It converts analog signals captured by a microphone into digital information via A / D conversion, and then stores the data as a specific audio file using a specific encoding format. Its microphone signal-to-noise ratio is 70dB.

[0050] The signal processing method of the noise signal leakage identification and detection system includes the following steps:

[0051] Step 1: First, observe the waveform of the acquired audio signal in the time domain after universal noise reduction processing to see if the peak value of the leakage noise signal can be directly identified in the waveform.

[0052] Step 2: Extract the noise collected in the environment when there is no leakage as an environmental noise sample, and perform targeted noise reduction on the entire sound file, removing only the frequency components of the environmental noise while retaining the characteristics of the leakage noise.

[0053] Step 3: Determine the time period of the leak based on the RMS threshold setting, find the signal within the suspected leak point during that time period, and extract and decompose it to complete the extraction of the original waveform signal at the leak point.

[0054] Step four involves performing FFT transformation and analysis on the sound signal from the leaking section. Based on multiple sets of experiments, it is observed whether the leaking section extracted using this method contains the frequency of leakage noise, and further confirmation and judgment are made.

[0055] Furthermore, referring to Figures 2 and 3, a permanent magnet 9 is also included. The permanent magnet 9 is connected inside the sphere 1 at the tail end. The permanent magnet 9 enables the magnetic sensor outside the pipe 01 to be quickly positioned. The inner cavity of the sphere 1 at the tail end of the permanent magnet 9 is isolated by a magnetic shield 91 to prevent interference with the transmission of various signals. For the detection of the magnetic field, we selected a high-sensitivity linear Hall sensor. The entire module is only 48mm×12mm×20mm in size and weighs 3g. It can work in an environment of -10~80℃. With a power supply voltage of 5V, it can detect magnetic field changes between ±200Gs (Gauss), and the sensitivity can reach 8.3mV / Gs. It can also be adjusted by the sensitivity adjustment knob to suit the requirements of detection accuracy.

[0056] Further, referring to Figures 8, 9, and 10, the wall of the tail hose 2 has multiple placement holes 21 along its axial direction. The multiple placement holes 21 are evenly distributed along the ends of the tail hose 2. An infrared sensing module 23 is installed in the placement hole 21. The infrared sensing module 23 senses the bending of the tail hose 2 by transmitting and receiving infrared rays. The infrared sensing module 23 includes an infrared transmitting probe 231 and an infrared receiving disk 232, which are respectively connected to the two ends of the placement hole 21. An infrared signal transmitter is electrically connected to the infrared receiving disk 232. The infrared receiving disk 232 receives the infrared rays emitted by the infrared transmitting probe 231 and emits an electrical signal through the infrared signal transmitter. When the tail hose 2 bends, the infrared ray path is offset, and the infrared signal transmitter stops emitting signals. A reset elastic member 22 is embedded in the placement hole 21 to reset the deformation of the tail hose 2, so as to prevent the tail hose 2 from recovering its elasticity slowly. The pitch of the reset elastic member 22 is large, so it will not cause large deformation interference.

[0057] Referring to Figures 2 and 5, in order to accurately and precisely detect whether there is a leak in pipe 01, the present invention also provides a detection method for a pipe leak detection device, including the following detailed steps:

[0058] S1. When moving forward, the motor drives the rotating shaft 33 to rotate and moves forward along the pipe 01 with the support of the support wheel 35 and the auxiliary support wheel 36. Both spheres 1 are pulled horizontally forward along the pipe 01 by the first hose 4 and the tail hose 2.

[0059] S2. When the leak detection device is in motion, when the leak point is located in the isolation chamber (A1), the fluid in the isolation chamber A1 and the fluid at the tail hose 2 form a pressure difference. At the same time, due to the pressure difference, the fluid in the pipe 01 forms a jet at the leak point. At this time, the tail hose 2 will bend and deflect towards the leak point. At this time, the ball 1 at the tail will deflect at an angle along the pipe 01 with the tail hose 2.

[0060] S3. During internal detection, the attitude angle sensor 51 transmits the deflection state of the tail ball 1 through the attitude electrical signal transmitter 52. The operator receives the electrical signal transmitted by the attitude electrical signal transmitter 52 to know whether there is a leak in the pipe 01. The leak point in the pipe 01 will be closer to the sensing probe of the noise sensor 61, and the noise of the fluid flow will be stored in the storage device 62 and transmitted through the audio signal transmitter 63. The operator receives the audio signal and analyzes the fluid flow or jet audio through a computer to comprehensively judge whether there is a leak in the pipe 01, and quickly locates the precise position of the device through the magnetic sensor.

[0061] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A pipeline leakage detection device, comprising a noise detection module (6), characterized in that, Also includes: Two spheres (1) have the same outer diameter as the inner diameter of the pipe (01). There is a gap between the two spheres (1). Each sphere (1) has a through hole (11) horizontally through its middle. The axis of the through hole (11) passes through the center of the two spheres (1). The openings of the through holes (11) of the two spheres (1) are connected by a soft tail hose (2). The opposite side of the two spheres (1), the tail hose (2) and the pipe (01) form a barrier cavity (A1). A power component (3) is connected to one of the spheres (1). The power component (3) is used to drive the two spheres (1) forward along the pipe (01). The noise detection module (6) is set on one of the spheres (1) and is used to detect the noise in the barrier cavity (A1). An attitude detection module (5) is connected to the tail sphere (1) to detect the attitude change of the tail sphere (1).

2. The pipeline leak detection device as described in claim 1, characterized in that, Both spheres (1) are hollow. A connecting pipe (7) is fixedly inserted into the through groove of each of the two spheres (1). The ends of the two connecting pipes (7) that are close to each other extend to the outside of the corresponding sphere (1). The tail hose (2) is sealed to the two connecting pipes (7). The attitude detection module (5) and the noise detection module (6) are respectively placed in their respective spheres (1). The side of the sphere (1) near the power component (3) is connected to a plurality of flow channels (12). The flow channels (12) allow the liquid located outside the barrier cavity (A1) and at the angle formed with the pipe (01) to flow into the connecting pipe (7) through the flow channels (12).

3. A pipeline leak detection device as described in claim 1 or 2, characterized in that, With the sphere (1) closer to the power assembly (3) as the head and the sphere (1) further away from the power assembly (3) as the tail, the power assembly (3) is connected to the outer opening of the through hole (11) of the sphere (1) at the head via a flexible head hose (4). The power assembly (3) includes: an annular cylinder (31) with an inner diameter matching the inner diameter of the head hose (4), the head hose (4) being sealed and connected to the inner wall of the annular cylinder (31); a bracket (32) connected to the inner wall of the annular cylinder (31); and a rotating shaft (33) located at the axis of the annular cylinder (31) and rotating with the bracket (32). The rotating shaft (33) is driven by a drive motor. Multiple power impellers (34) are arranged on the rotating shaft (33). The multiple power impellers (34) are arranged sequentially along the head-to-tail direction and their outer diameters increase sequentially. Multiple support wheels (35) are evenly distributed radially on the ring cylinder (31) through connecting rods. The connecting rods are fixedly connected to the ring cylinder (31). Multiple auxiliary support wheels (36) are also included, which are symmetrically distributed on one side of each support wheel (35). The auxiliary support wheels (36) are hinged to the outer wall of the ring cylinder (31) through rods. A spring (37) is connected between the rods and the connecting rods.

4. The pipeline leak detection device as described in claim 3, characterized in that, A horizontal rotating rod (8) is fixedly connected to the first end of the rotating shaft (33), and a forward-extending guide ball (81) is also connected to the end of the rotating rod (8). Multiple soft balls (811) are inlaid on the outer surface of the ball.

5. The pipeline leak detection device as described in claim 3, characterized in that, The attitude detection module (5) includes an attitude angle sensor (51) and an attitude electrical signal transmitter (52). The attitude angle sensor (51) is connected to the inner wall of the sphere (1) at the tail. The attitude angle sensor (51) monitors the rotational offset angle of the sphere (1) at the tail around the X-axis, Y-axis and Z-axis, so as to intuitively display the motion state of the sphere (1) at the tail at any moment in the pipe (01).

6. The pipeline leak detection device as described in claim 5, characterized in that, The noise detection module (6) includes multiple noise sensors (61), a storage device (62), and an audio signal transmitter (63). The sensing probes of the multiple noise sensors (61) are evenly connected to the side of the head sphere (1) near the barrier cavity (A1), and each sensing probe is closer to the contact point between the sphere (1) and the pipe (01). The audio signal transmitter (63) is electrically connected to the noise sensors (61) to transmit the received audio to the outside of the pipe (01) through an electrical signal so that the staff can receive it.

7. The pipeline leak detection device as described in claim 1, characterized in that, It also includes a permanent magnet (9), which is connected to the sphere (1) at the tail end. The permanent magnet (9) enables the magnetic sensor outside the pipe (01) to be quickly positioned. The inner cavity of the sphere (1) at the tail end of the permanent magnet (9) is isolated by a magnetic shield (91) to prevent interference with the transmission of various signals.

8. The pipeline leak detection device as described in claim 1, characterized in that, The tube wall of the tail hose (2) is provided with a plurality of placement holes (21) along its axial direction. The plurality of placement holes (21) are evenly distributed along the end of the tail hose (2). An infrared sensing module (23) is provided in the placement hole (21). The infrared sensing module (23) is used to sense the bending of the tail hose (2) by transmitting and receiving infrared rays.

9. The pipeline leak detection device as described in claim 4, characterized in that, The rotating rod (8) is fixedly connected to a wiping frame (82) in the radial direction, and a sponge (821) is fixedly connected to the end of the wiping frame (82). The sponge (821) can fit tightly against the tube wall, and the sponge (821) can deform after being squeezed.

10. A detection method for a pipeline leak detection device, using the pipeline leak detection device according to claim 6, characterized in that, Includes the following steps: S1. When the leak detection device is in motion, when the leak point is located in the isolation chamber (A1), the fluid in the isolation chamber (A1) and the fluid at the tail hose (2) form a pressure difference, and the tail hose (2) will bend and deflect in the direction of the leak point. At this time, the ball (1) at the tail end deflects along the pipe (01) with the tail hose (2); S2. During internal detection, the attitude angle sensor (51) transmits the deflection state of the ball (1) at the tail end through the attitude electrical signal transmitter (52); S3. The leak point of the pipe (01) will preferentially approach the sensing probe of the noise sensor (61) and transmit the noise of the fluid flow through the audio signal transmitter (63). By receiving the electrical signal transmitted by the attitude electrical signal transmitter (52) and the audio signal, it is determined that there is a leak point in the pipe (01).

Images