A municipal tap water pipeline leakage point positioning detection device and detection method

Abstract

The application discloses a kind of municipal tap water pipeline leak point positioning detection device and detection method, it is related to tap water pipeline water leakage detection device and method technical field, comprising: multiple detection points are arranged in water leakage area, the sound wave information of water leakage point is detected simultaneously at multiple detection points;The sound wave information detected includes the sound wave frequency of water leakage point;The time information of peak value in the set frequency range detected by each detection point is obtained;According to the position information of each detection point and the time information obtained at each detection point, the position of tap water pipe water leakage point is determined.In the embodiment of the application, the time information in the water leakage sound wave obtained by the sound wave sensor and the position information of the detection point are integrated and processed by the data of the processor as the processing module, so as to determine the position of water leakage point.

Description

Technical Field

[0001] This invention relates to the technical field of water pipe leakage detection devices and methods, specifically a municipal water pipe leakage location detection device and detection method. Background Technology

[0002] Municipal underground water supply networks are important public facilities. Leak detection in underground water supply pipelines has always been a major problem that plagues urban management. For example, after a period of operation, some of the underground water supply networks in a city will leak. Because the water supply networks are located underground and have a complex distribution, leak detection is very difficult.

[0003] Existing technologies propose using manual leak detectors to listen for sounds from underground pipe networks on the ground to determine if leaks exist. These manual leak detectors consist of three parts: a microphone, a signal processor, and headphones. The problems with manual leak detection are: low efficiency, poor image quality, reliance on experience, and inability to identify noise at other frequencies. Even with leak detectors equipped with sound analysis and processing systems, the limitations of the sound signals obtained from manual detectors make it difficult for these systems to accurately determine the presence of leaks, let alone pinpoint their exact location. Summary of the Invention

[0004] 1) Technical problems to be solved This invention provides a device and method for locating and detecting leaks in municipal water supply pipelines, in order to solve the problems of low efficiency, poor performance and high susceptibility to noise interference in existing leak detectors. Technical solution

[0005] To achieve the above objectives, the present invention provides the following technical solution: a method for locating and detecting leaks in municipal water supply pipelines, comprising: Multiple detection points are set up in the leakage area, and the sound wave information of the leakage point is detected at the multiple detection points simultaneously; the detected sound wave information includes the sound wave frequency of the leakage point. Obtain the time information of the peak value detected at each detection point within a set frequency range; Based on the location information of each detection point and the time information obtained at each detection point, the location of the water pipe leak is determined.

[0006] Furthermore, multiple detection points are set up within the leakage area, and the location information for each detection point is as follows: Among the multiple detection points, any one detection point is selected as the base point, and the remaining detection points are determined according to the base point to determine their corresponding position information in space.

[0007] Furthermore, the time information of the peak value detected at each detection point within a set frequency range is obtained; wherein: The peak value of the acoustic signal within the set frequency range is the peak amplitude of the acoustic signal within the set frequency range in the time domain. Specifically, the time point at which the amplitude peak value in the time domain is detected at the base point is taken as the zero point, and the time information obtained by the other detection points is the time difference between the time at which the amplitude peak value in the time domain is detected at each detection point and the zero point.

[0008] Furthermore, based on the time information obtained at each of the detection points, a reference distance of each detection point relative to the leak point is obtained. An error function is constructed based on each of the reference distances, and the Newton-Raphson method is used to minimize the error function, thereby determining the location of the leak point. Specifically, an initial estimated value (x, y, z) is constructed as the location coordinates of the leak point, and the initial estimated value (x, y, z) is the coordinate origin with the base point as the coordinate origin; Calculate the gradient vector ∇f and Hessian matrix H of the error function; the gradient vector ∇f of the error function is the partial derivative of the error function with respect to (x,y,z); the Hessian matrix H of the error function is the second derivative of the gradient of the error function. Based on the gradient and Hessian matrix information, using the formula: ; The coordinates of the leak point are updated so that the error function is closer to the minimum point in the next iteration step, thereby calculating the location of the leak point.

[0009] Furthermore, any three of the aforementioned detection points are not collinear.

[0010] A municipal water supply pipeline leak location and detection device includes: The detection module is used to simultaneously detect the acoustic wave information of the leak at multiple detection points set in the leak area; the detection module is also used to detect the frequency of the leaking acoustic waves. The processing module is used to obtain the time information of the peak value detected at each detection point within a set frequency range; The processing module is also used to obtain the position information of each detection point; among multiple detection points, the processing module selects any one detection point as the base point, and the remaining detection points use the base point as a reference to determine the position information of the remaining detection points in space relative to the base point.

[0011] Furthermore, the detection module detects the peak value of the acoustic signal within a set frequency range, specifically, the detection module detects the peak amplitude of the acoustic signal in the time domain within the set frequency range. The processing module takes the time point of the peak amplitude in the time domain detected at the base point as the zero point, and the time information obtained by the processing module for the other detection points is the time difference between the time of detecting the peak amplitude in the time domain at each detection point and the zero point.

[0012] Furthermore, the processing module obtains a reference distance between each detection point and the leak point based on the time information obtained at each detection point, i.e., the time difference between the time when the peak amplitude in the time domain is detected at each detection point and the zero point. It constructs an error function based on each reference distance and uses the Newton-Raphson method to minimize the error function, thereby determining the location of the leak point. The processing module constructs an initial estimated value (x, y, z) as the location coordinates of the leak point, and the initial estimated value (x, y, z) is based on the base point as the origin; The processing module calculates the gradient vector ∇f and the Hessian matrix H of the error function; the gradient vector ∇f of the error function is the partial derivative of the error function with respect to (x,y,z); the Hessian matrix H of the error function is the second derivative of the gradient of the error function. The processing module uses the gradient and Hessian matrix information, through the formula: ; The coordinates of the leak point are updated so that the error function is closer to the minimum point in the next iteration step, thereby calculating the location of the leak point.

[0013] Furthermore, it includes a movable body, inside which a processor is installed, the processor performing a leak detection method; A first acoustic sensor is provided at the bottom of the body. The first acoustic sensor is communicatively connected to the processor. The first acoustic sensor is used to implement a method for detecting acoustic information of water leakage points. The machine body is uniformly provided with a plurality of first electric actuators. The output end of each first electric actuator is connected to a second electric actuator. The output end of the second electric actuator away from the first electric actuator is provided with a second acoustic sensor. Each second acoustic sensor is communicatively connected to the processor. The second acoustic sensor is used to implement a method for detecting the acoustic information of the leak point. The second electric actuator can pivot relative to the first electric actuator.

[0014] Furthermore, each of the first electric actuators has a first gear rotatably connected to its output end, and a second gear is provided on the second electric actuator connected to any one of the first electric actuators. The first gear and the second gear mesh and rotate with each other. The first acoustic sensor moves relative to the body in a direction perpendicular to the horizontal plane; Each of the second acoustic sensors can move in a direction perpendicular to the horizontal plane.

[0015] (iii) Beneficial effects: Compared with the prior art, this invention has the following beneficial effects: This invention detects underground water leaks by setting up multiple detection points on the ground. The acoustic sensor, which serves as the detection module, can detect leaks without damaging underground pipes, thus avoiding the damage that may be caused by traditional excavation and detection methods. The time information from the sound waves of the leak and the location information of the detection point are obtained by the sound wave sensor. The data is integrated and processed by the processor, which is the processing module. The Newton-Raphson method is used to minimize the error function, thereby determining the location of the leak. Attached Figure Description

[0016] Figure 1 A flowchart illustrating a method for locating and detecting leaks in a water supply pipeline provided in an embodiment of this application; Figure 2 This is a schematic diagram illustrating the location and detection of underground water leakage points using multiple detection points in the detection device provided in the embodiments of this application; Figure 3 The time-domain diagram of the sound waves of water leakage within a set frequency range provided in the embodiments of this application; Figure 4 This is a schematic block diagram of the detection device provided in an embodiment of this application; Figure 5 A perspective view of a municipal water supply pipeline leak location and detection device provided in an embodiment of this application; Figure 6 This is a schematic diagram of the connection structure between the first electric actuator and the second electric actuator in the detection device provided in the embodiment of this application. Figure 7 This is a schematic diagram of the connection structure between the main body and the first acoustic sensor in the detection device provided in the embodiment of this application. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., 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 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.

[0019] Combination Figures 4 to 7 As shown in the embodiment of this application, a municipal water pipe leak location and detection device includes a body 1 that supports the entire device. The bottom of the body 1 is connected to omnidirectional wheels 2, which enable the entire device to move flexibly in the detection area, making it convenient to find suitable detection points.

[0020] The housing 1 contains a processor and multiple acoustic wave sensors. The acoustic wave sensors are used to acquire information and data related to the sound waves of water leakage. The processor can process the acquired information and data related to the sound waves of water leakage to execute one or more functions described in this application. The processor and the acoustic wave sensors are communicatively connected, specifically, but not limited to, the acoustic wave sensors and the processor are connected through analog input interfaces, digital interfaces (such as SPI, I2C, etc.), serial communication interfaces (such as UART), parallel interfaces, and dedicated interfaces.

[0021] For example, at multiple detection points set up within the leakage area, an acoustic sensor acts as a detection module, simultaneously detecting the acoustic information of the leakage point at multiple detection points. The acoustic sensor detects the frequency of the leakage acoustic waves; specifically, it detects the peak amplitude of the acoustic signal in the time domain within a set frequency range. A processor acts as a processing module, acquiring the time information of the peak value detected at each detection point within the set frequency range. The processing module also acquires the position information of each detection point. Specifically, among the multiple detection points, the processing module selects any one detection point as a base point, and the remaining detection points are used as references to determine the spatial position information of the remaining detection points relative to the base point. The processing module uses the time point of the peak amplitude detected at the base point as the zero point, and the time information acquired by the processing module for the remaining detection points is the time difference between the time of detecting the peak amplitude in the time domain at each detection point and the zero point.

[0022] The processor, acting as a processing module, obtains the reference distance between each detection point and the leak point based on the time information obtained at each detection point—that is, the time difference between the peak time and the zero point of the amplitude detected by the acoustic sensor at each detection point. It then constructs an error function based on each reference distance and uses the Newton-Raphson method to minimize the error function, thereby determining the location of the leak point.

[0023] Among them, the aforementioned acoustic sensors may include, but are not limited to: hydrophone, acoustic leak detection system, correlators, and leak noise logger, etc.

[0024] The processors mentioned above can be, but are not limited to, integrated processing devices with control and efficient digital signal processing capabilities, such as digital signal processors (DSPs), embedded processors, field-programmable gate arrays (FPGAs), dedicated ASIC chips, and microcontrollers.

[0025] In conjunction with the above, the detection device provided in the embodiments of this application, such as Figures 5 to 7 As shown, the body 1 is cylindrical, and a limit frame is fixed at the bottom of the cylindrical body 1. A first acoustic sensor 9 is slidably connected inside the limit frame. The first acoustic sensor 9 is communicatively connected to the processor inside the body 1. The first acoustic sensor 9 can slide relative to the body 1 in a direction perpendicular to the horizontal plane within the limit frame, so that the first acoustic sensor 9 can be close to the ground at different heights relative to the body 1.

[0026] Multiple working compartments are evenly provided on the outer wall of the fuselage 1. In some embodiments provided in this application, three working compartments are evenly provided on the outer wall of the fuselage 1. A second acoustic sensor 10 extends from each working compartment, and the relative position of each second acoustic sensor 10 relative to the fuselage 1 is adjustable, so that three detection points can be set at different positions on the ground, thereby executing the detection method described in this application by means of the three-point positioning method.

[0027] Specifically, three working compartment openings on the outer wall of the machine body 1 are slidably connected to compartment doors 3, and each working compartment opening is provided with a slide groove 4. The compartment door 3 is slidably connected to the slide groove 4. When the device is not in operation, the compartment door 3 slides to cover the entire working compartment opening.

[0028] like Figure 5 and Figure 6 As shown, a first electric actuator 5 is provided at each working chamber opening, and a second electric actuator 6 is connected to the output end of each first electric actuator 5. A second acoustic sensor 10 is provided at the output end of each second electric actuator 6, and each second acoustic sensor 10 is communicatively connected to the processor. Specifically, a first gear 7 is rotatably connected to the output end of each first electric actuator 5, and a second gear 8 is provided on the second electric actuator 6 connected to any one of the first electric actuators 5. The first gear 7 and the second gear 8 mesh and rotate with each other. The first gear 7 / second gear 8 serves as the active driving end. By controlling the number of rotations of the first gear 7 / second gear 8 as the active driving end, the meshing between the first gear 7 and the second gear 8 is achieved, and their relative angle is changed, thereby changing the included angle formed between the first electric actuator 5 and the second electric actuator 6.

[0029] When the device is in the detection working state, the output ends of the first electric actuator 5 and the second electric actuator 6 extend to a suitable length, and the first gear 7 and the second gear 8 rotate and mesh to a suitable angle. When the device is not in the working state, the first electric actuator 5 and the second electric actuator 6 retract to a suitable length and are retracted into the machine body 1 from the working chamber opening.

[0030] Each of the second electric actuators 6 has a fixed mounting bracket at its output point. The second acoustic sensor 10 slides on the mounting bracket in a direction perpendicular to the horizontal plane, so that each second acoustic sensor 10 can contact the ground at different heights relative to the fuselage 1.

[0031] Taking the water pipe leak location and detection device proposed in the above-mentioned embodiments of this application as an example, combined with Figures 1 to 3 As shown, a method for locating and detecting leaks in a water supply pipeline proposed in the embodiments of this application is described.

[0032] like Figure 1 As shown, Figure 1A flowchart of a water pipe leak location and detection method provided in this application embodiment is given. This detection method, combined with the above-mentioned detection device, specifically includes the following steps: S100: Multiple detection points are set up in the leakage area to simultaneously detect the acoustic information of the leakage point; the detected acoustic information includes the acoustic frequency of the leakage point.

[0033] Combination Figure 2 As shown, detection points are set at different locations on the ground. Detection devices, such as acoustic sensors, located at different detection points start detecting simultaneously to ensure that the start time of the sound waves detecting water leakage is the same, which facilitates the subsequent operation of time information. For this purpose, a synchronization clock can be set between the acoustic sensors.

[0034] S110, acquire the time information of the peak value within the set frequency range detected at each detection point.

[0035] In some feasible embodiments, the value of the set frequency range can be an empirical value familiar to those skilled in the art, or it can be a data value obtained through experiments with different variables.

[0036] The peak value of the acoustic signal within a set frequency range is defined as the peak amplitude of the acoustic signal in the time domain within that range. A detection point is selected as a base point, and the remaining detection points are referenced to this base point. In the detection device provided in this embodiment, the first acoustic sensor 9 located at the bottom of the fuselage 1 is used as the base point, combined with... Figure 3 As shown, Figure 3 The time-domain diagram of the leakage sound wave within a set frequency range provided in this embodiment of the application uses the time point of the peak amplitude detected in the time domain at the base point (i.e., the first sound wave sensor 9) as the zero point, such as... Figure 3 The time when the peak amplitude is detected is zero. The time information obtained by the other detection points (i.e., the second acoustic sensor 10) is the time difference between the time when the peak amplitude in the time domain is detected at each detection point and the zero point.

[0037] S120 determines the location of the water pipe leak based on the location information of each detection point and the time information obtained at each detection point.

[0038] like Figure 2 As shown, one detection point (the first acoustic sensor 9) is used as the base point, and the remaining detection points are used as the reference to determine their corresponding position information in space.

[0039] The above detection method will be further elaborated below with reference to some feasible embodiments.

[0040] Municipal water pipes are typically buried 0.3-0.7 meters underground. The diameter of the water pipes is over 20 cm. The speed at which sound waves travel through water leaks varies depending on factors such as soil density, moisture content, and structure. Generally, the speed of sound wave propagation in different soil types is approximately as follows: 1. Sand: Sound waves travel faster in sand, usually around 150 m / s; 2. Clay: Clay has a high density, and sound waves travel relatively slowly in clay, generally between 100-140 m / s; 3. Soil: Soil has a high water content, and sound waves travel slowly in soil, generally between 150-400 m / s; 4. Gravel: Gravel is composed of larger particles with relatively large gaps between them. Sound waves travel faster in gravel, usually around 2000-4000 m / s.

[0041] In some embodiments, the propagation speed and frequency of the sound waves from a leaking water pipe are affected by various factors, including soil type, pipe material, pipe diameter, orifice size, and water flow rate. Based on the principles of fluid mechanics, using water pipes of the same depth and material underground as invariants, the soil type of the environment, the diameter of the water pipe, the orifice size of the leak, and the water flow rate as independent variables, and the sound waves detected at the leak as the dependent variable, the following data model was constructed for the experiment:

[0042] Assuming three different second acoustic sensors 10 are A, B, and C respectively, and taking the time point of the peak amplitude detected in the time domain at the base point (i.e., the first acoustic sensor 9) as the zero point, as follows: Figure 3 The time when the peak amplitude is detected is zero. The time difference between the other detection points (i.e., the second acoustic sensor 10) and zero is assumed to be tA, tB, and tC, respectively. The propagation speed of the sound wave in the buried medium of the water pipe is v. Then, the distances dA, dB, and dC from the leak point to these three detection points can be defined.

[0043] The three detection points A, B, and C on the ground, together with the underground leak point, form a tetrahedron. The exact location of the underground leak point can be calculated using the sound velocity localization method and the trilateration method. The exact location of the leak can be calculated using the trilateration method. The basic principle of the trilateration method is: if the distances from a point to three known points are known, then the location of the point can be determined by solving the intersection of three spheres in a three-dimensional coordinate system. In this scenario, the centers of the spheres are the three detection points A, B, and C on the ground, and the radii of the spheres are the calculated distances dA, dB, and dC. The leak point is the intersection of these three spheres.

[0044] Taking the origin (0,0,0) as the base point, and assuming the coordinates of the three second acoustic sensors 10 at the detection points are (xA, yA, zA), (xB, yB, zB), and (xC, yC, zC), respectively, the coordinates of the leak point to be solved are (x, y, z), where (x, y, z) are the initial estimated values. Then, the following three equations can be used to solve for the leak:

[0045] get:

[0046] Then, an objective function, i.e., an error function, can be established to measure the fit of the equation system at each depth z. The objective function can be defined as:

[0047] in, These are the actual distances from each detection point to the leak point.

[0048] This involves solving a system of nonlinear equations, which requires the application of iterative methods or other numerical methods. Here, the Newton-Raphson method is used to minimize the objective function, thereby finding the optimal coordinates and depth of the leak point.

[0049] First, select an initial point as the initial estimate of the coordinates and depth of the leak point (x, y, z).

[0050] Then, calculate the gradient of the objective function and the Hessian matrix H: Calculate the gradient vector of the objective function, which is the partial derivative of the objective function with respect to (x, y, z): The gradient vector contains the partial derivatives of the objective function with respect to each variable (x, y, z).

[0051]

[0052] Here, error is the objective function, i.e., the error function, which is the degree of fit of the system of equations at each depth z.

[0053] Calculate the Hessian matrix of the objective function, which is the second derivative of the gradient of the objective function:

[0054] Based on the gradient and Hessian matrix information, the coordinates and depth estimates of the leak point are updated using the following formula:

[0055] in: (x,y,z)new represents the updated coordinates and depth estimate of the leak point; (x,y,z)old represents the current coordinates of the leak point and the estimated depth. H -1 It is the inverse of the Hessian matrix; ∇f is the gradient vector of the objective function.

[0056] This update formula utilizes the gradient and second derivative information (the inverse of the Hessian matrix) of the objective function to update the coordinates and depth estimates of the leak point, so that the objective function gets closer to the minimum point in the next iteration. This iterative process can gradually optimize the location and depth estimates of the leak point to more accurately locate it.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. A method for locating and detecting leaks in municipal water supply pipelines, characterized in that, include: Multiple detection points are set up in the leakage area, and the acoustic information of the leakage point is detected simultaneously at multiple detection points; The detected acoustic information includes the acoustic frequencies of the leak points; Obtain the time information of the peak value detected at each detection point within a set frequency range; Based on the location information of each detection point and the time information obtained at each detection point, the location of the water pipe leak is determined; Based on the time information obtained at each of the detection points, a reference distance of each detection point relative to the leak point is obtained. An error function is constructed based on each of the reference distances, and the Newton-Raphson method is used to minimize the error function to determine the location of the leak point. Multiple detection points are set up in the leakage area. Regarding the location information of each detection point: among the multiple detection points, any one detection point is selected as the base point, and the remaining detection points are determined with reference to the base point to determine their corresponding spatial location information. Specifically, an initial estimated value (x, y, z) is constructed as the location coordinates of the leak point, and the initial estimated value (x, y, z) is the coordinate origin with the base point as the coordinate origin; Calculate the gradient vector ∇f and Hessian matrix H of the error function; the gradient vector ∇f of the error function is the partial derivative of the error function with respect to (x,y,z); the Hessian matrix H of the error function is the second derivative of the gradient of the error function. Based on the gradient and Hessian matrix information, using the formula: ； The coordinates of the leak point are updated so that the error function is closer to the minimum point in the next iteration step, thereby calculating the location of the leak point.

2. The method according to claim 1, characterized in that, Obtain the time information of the peak value detected at each detection point within a set frequency range; wherein: The peak value of the acoustic signal within the set frequency range is the peak amplitude of the acoustic signal within the set frequency range in the time domain. Specifically, the time point at which the amplitude peak value in the time domain is detected at the base point is taken as the zero point, and the time information obtained by the other detection points is the time difference between the time at which the amplitude peak value in the time domain is detected at each detection point and the zero point.

3. The method according to claim 1, characterized in that, Any three of the aforementioned detection points are not collinear.

4. A municipal water supply pipeline leak location and detection device, employing the detection method described in any one of claims 1-3, characterized in that, include: The detection module is used to simultaneously detect the acoustic information of the leak at multiple detection points set in the leak area. The detection module is used to detect the frequency of the sound waves from the leak. The processing module is used to obtain the time information of the peak value detected at each detection point within a set frequency range; The processing module is also used to obtain the position information of each detection point; among multiple detection points, the processing module selects any one detection point as the base point, and the remaining detection points use the base point as a reference to determine the position information of the remaining detection points in space relative to the base point.

5. The apparatus according to claim 4, characterized in that, include: The detection module detects the peak value of the acoustic signal within a set frequency range, specifically, the detection module detects the peak amplitude of the acoustic signal within the set frequency range in the time domain. The processing module takes the time point of the peak amplitude in the time domain detected at the base point as the zero point, and the time information obtained by the processing module for the other detection points is the time difference between the time of detecting the peak amplitude in the time domain at each detection point and the zero point.

6. The apparatus according to claim 5, characterized in that, include: The processing module obtains a reference distance between each detection point and the leak point based on the time information obtained at each detection point, i.e., the time difference between the time when the peak amplitude in the time domain is detected at each detection point and the zero point. It constructs an error function based on each reference distance and uses the Newton-Raphson method to minimize the error function, thereby determining the location of the leak point. The processing module constructs an initial estimated value (x, y, z) as the location coordinates of the leak point, and the initial estimated value (x, y, z) is the coordinate origin with the base point as the coordinate origin; The processing module calculates the gradient vector ∇f and the Hessian matrix H of the error function; the gradient vector ∇f of the error function is the partial derivative of the error function with respect to (x,y,z); the Hessian matrix H of the error function is the second derivative of the gradient of the error function. The processing module uses the gradient and Hessian matrix information, through the formula: ； The coordinates of the leak point are updated so that the error function is closer to the minimum point in the next iteration step, thereby calculating the location of the leak point.

7. The apparatus according to any one of claims 4-6, characterized in that, It includes a movable body (1), and a processor is provided inside the body (1), which executes the method as described in any one of claims 1-3; The bottom of the body (1) is provided with a first acoustic sensor (9), which is connected to the processor. The first acoustic sensor (9) is used to detect the acoustic information of the leak point. Multiple first electric actuators (5) are evenly arranged on the body (1). Each first electric actuator (5) has a second electric actuator (6) connected to its output end. A second acoustic sensor (10) is provided at the output end of the second electric actuator (6) away from the first electric actuator (5). Each second acoustic sensor (10) is communicatively connected to the processor. The second acoustic sensor (10) is used to detect the acoustic information of the leak point. The second electric actuator (6) can pivot relative to the first electric actuator (5).

8. The apparatus according to claim 7, characterized in that, Each of the first electric actuators (5) is rotatably connected to a first gear (7) at its output end. A second electric actuator (6) is connected to any one of the first electric actuators (5) and is provided with a second gear (8). The first gear (7) and the second gear (8) mesh and rotate with each other. The first acoustic sensor (9) moves relative to the body (1) in a direction perpendicular to the horizontal plane; Each of the second acoustic sensors (10) can move in a direction perpendicular to the horizontal plane.

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