Heating pipeline leakage detection method based on smart ball and acoustic wave positioning

Abstract

The invention discloses a method for detecting the leakage position of a heating pipeline based on a smart ball and sound wave positioning, relates to the technical field of pipeline leakage detection, and solves the technical problem that the design of a robot in the prior art cannot cope with a complex pipeline structure. The invention puts a smart ball with the same density as that of a liquid in the heating pipeline into the heating pipeline, and arranges a plurality of sensors and a sound wave generating system in the smart ball to collect the smart ball data of the smart ball in a flow process in real time, and collects the sound wave data emitted by the smart ball in real time through a sound wave sensor arranged outside the pipeline. The abnormal time of the change is obtained according to the smart ball data and the pipeline diagram, and the corner time is calculated. The change corresponding to the change time is compared with the change when the smart ball passes the corner to obtain the abnormal change time. The leakage position is obtained according to the abnormal sound wave data corresponding to the abnormal change data, and the specific position of the leakage can be directly determined.

Description

Technical Field

[0001] The invention belongs to the field of pipeline leakage detection and relates to an acoustic wave positioning technology, in particular to a heating pipeline leakage position detection method based on an intelligent ball and acoustic wave positioning. Background Art

[0002] The construction of urban heating pipe networks usually adopts direct burial laying. When the direct buried heating pipe leaks, mature side leakage methods include leakage detection by related instruments, leakage detection by leak detectors, and leakage detection by infrared thermal imagers. The above methods are easily affected by the buried depth of the pipeline, the structure of the direct buried pipe, the noisy environment in the leakage point area, and other electricity, gas, sewage, and tap water pipes near the leakage point, which hinders the rapid and accurate positioning of the leakage point.

[0003] The invention patent with application number CN110894911A discloses an intelligent leak detection robot and detection method for leak detection in liquid-filled pipes. The invention is provided with a pressure sensor or a magnetic field sensor on the intelligent robot, and the density of the robot is greater than the density of the liquid. The robot moves at the bottom of the pipe to detect the leak position. Since there is a local low point structure in the heating pipe, the intelligent robot may be stuck in the low point structure during mobile detection. The invention patent with application number CN113958882A discloses a marking method for the leak position of a water supply pipe based on an intelligent ball and an external magnetic field. The invention also calculates the moving distance by flow at the bottom of the pipe to obtain the leak position, collects the magnetic, sound wave and acceleration data collected by the intelligent ball when it rolls in the pipe, and analyzes them to obtain the specific leak position. When obtaining the leak position, the invention may also be stuck in the low point structure when encountering a local low point structure, and is not suitable for complex pipe structures.

[0004] The present invention provides a heating pipeline leakage position detection method based on smart ball and sound wave positioning to solve the above technical problems. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art; to this end, the present invention proposes a heating pipe leakage position detection method based on a smart ball and acoustic wave positioning, which is used to solve the technical problem that the design of the robot in the prior art cannot cope with complex pipe structures.

[0006] To achieve the above object, the first aspect of the present invention provides a method for detecting the leakage position of a heating pipeline based on a smart ball and acoustic wave positioning, comprising:

[0007] Step 1: Place the smart ball into the heating pipe, and the smart ball follows the flow of liquid in the pipe; collect smart ball data through the sensor in the smart ball, and collect sound wave data through the external sensor; obtain the pipe map;

[0008] Step 2: Obtain abnormal data based on smart ball data and pipeline diagram;

[0009] Step 3: Determine the leak location by combining abnormal data and acoustic wave data.

[0010] Preferably, obtaining abnormal data based on smart ball data and pipeline diagram includes:

[0011] Extracting smart ball data and pipeline diagram; the smart ball data includes ball pressure, pressure direction and ball acceleration collected by sensors in the smart ball;

[0012] The smart ball placement point is marked as the initial point, the corner in the pipeline map is marked as the corner point, and the time of placing the smart ball is marked as the initial time;

[0013] Determine whether the ball pressure at the current time is the same as the ball pressure at the previous moment; if yes, mark the current time as the normal pressure time; if no, mark the current time as the pressure change time;

[0014] Determine whether the ball acceleration at the current time is the same as the ball acceleration at the previous moment; if yes, mark the current time as normal acceleration time; if no, mark the current time as acceleration change time;

[0015] Determine whether the pressure direction at the current time is the same as the pressure direction at the previous moment; if yes, mark the current time as the direction change time; if no, mark the current time as the direction change time;

[0016] The pressure change time, acceleration change time and orientation change time are combined to obtain the change time; the abnormal change time is obtained by combining the ball acceleration, initial point, corner point, pipeline diagram and change time; the abnormal change time and the corresponding smart ball data are marked as abnormal data.

[0017] Preferably, the abnormal change time is obtained by combining the ball acceleration, the initial point, the corner point, the pipeline diagram and the change time, including:

[0018] Extract ball acceleration, pipeline diagram, initial point, corner point and change time;

[0019] Mark the initial point and the corner point in the pipeline diagram; determine whether the initial point is a corner point; if yes, mark the pressure direction after the corner point changes as the initial direction; if no, mark the current pressure direction as the initial direction;

[0020] The turning time to each turning point is calculated by combining the initial orientation, initial time and acceleration; the turning time is matched with the change time to obtain the abnormal change time.

[0021] Preferably, the calculation of the turning time to each turning point by combining the initial orientation, the initial time and the acceleration includes:

[0022] Extract initial orientation, initial time and acceleration;

[0023] The turning time of passing the corresponding corner is set according to the amplitude and initial orientation of each corner in the pipeline diagram; the turning time of passing the corner is marked as GTi, the initial time is marked as CST, the acceleration is marked as CAi, and the distance between the turning point and the previous turning point is marked as JLi; wherein i represents the number of the corner, i=1, 2, 3…n, and n is a positive integer;

[0024] The corner speed VGi of the smart ball reaching the corner point numbered i is calculated by the speed formula VGi=VG(i-1)+CAi×[GTi-GT(i-1)]; where, when i=1, VG0=0 meters per second;

[0025] By the formula JLi = 1 / 2 × CAi × [GTi-GT (i-1)] 2 Calculate the time GTi-GT(i-1) from the corner point numbered i-1 to the corner point numbered i; when i is 1, GT(i-1)=CST; where i=1, 2, 3...n, n is a positive integer;

[0026] By formula GJTi= The corner time GJTi from the initial time to the i-th corner is calculated.

[0027] Preferably, the step of setting the corner time for passing through the corresponding corner according to the amplitude and initial orientation of each corner in the pipeline diagram comprises:

[0028] Extract the corner amplitude, pipe diameter and initial orientation of each corner in the pipe diagram;

[0029] The initial orientation is the initial driving direction of the smart ball. Combined with the corner amplitude, the change angle required for the smart ball to pass through the corner is obtained. The change angle is the new driving direction of the smart ball. The change angle is marked as θ.

[0030] Determine whether the change angle is greater than 90 degrees; if yes, mark the passing state of the smart ball as a large angle state; if no, mark the passing state of the smart ball as a small angle state;

[0031] When the passing state of the smart ball is a large angle state, the formula αi=1+2sin 2 [(180-θ) / 2] calculates the corner empirical coefficient αi of the smart ball passing through the i-th corner;

[0032] When the passing state of the smart ball is a small angle state, the formula αi=1+2sin2 (θ / 2) Calculate the corner empirical coefficient αi when the smart ball passes through the i-th corner;

[0033] The pipe diameter is marked as GD, and the liquid velocity of the liquid in the heating pipe is marked as YV; the corner time GTi passing through the corner numbered i is calculated by the formula GTi=αi×π×GD / 2YV+JLi / YV.

[0034] Preferably, matching the corner time with the change time to obtain the abnormal change time includes:

[0035] S1: Extract corner time and change time;

[0036] S2: Determine whether the corner time and the change time are the same; if yes, jump to S3; if no, mark the corresponding change time as abnormal change time;

[0037] S3: Determine whether the change corresponding to the change time is the same as the change corresponding to the smart ball passing a corner; if yes, mark the corresponding change time as a normal change time; if no, mark the corresponding change time as an abnormal change time.

[0038] Preferably, the step of judging whether the change corresponding to the change time is the same as the change corresponding to the smart ball passing a corner includes:

[0039] Extract the change corresponding to the change time and the change corresponding to the corner time; mark the change corresponding to the change time as a smart ball change, and mark the change corresponding to the corner time as a corner change;

[0040] Extract the pressure direction of the smart ball corresponding to the change of the smart ball, and extract the pressure direction of the corner corresponding to the change of the corner;

[0041] Determine whether the pressure direction is the same as the corner pressure direction; if yes, the change time corresponding to the change is the same as the change when the smart ball passes the corner; if no, the change time corresponding to the change is different from the change when the smart ball passes the corner.

[0042] Preferably, the combining of abnormal data and acoustic wave data to determine the leakage location includes:

[0043] Extracting abnormal data and acoustic wave data; wherein the acoustic wave data includes the acoustic wave direction and sensor position collected by two external sensors after the abnormal change time;

[0044] Marking the sound wave data corresponding to the abnormal change time in the abnormal data as abnormal sound wave data;

[0045] The direction of the sound wave collected by the first external sensor receiving the sound wave in the abnormal sound wave data is marked as the front sound wave direction, and the direction of the sound wave collected by the second external sensor receiving the sound wave is marked as the rear sound wave direction;

[0046] The intersection of the front sound wave direction and the extension line of the rear sound wave direction is marked as the smart ball position, and the leakage position is obtained according to the pressure direction and the smart ball position.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] 1. The present invention puts a smart ball with the same density as the liquid in the heating pipeline into the heating pipeline, and sets a plurality of sensors and sound wave generating systems in the smart ball to collect the smart ball data in the flow process in real time, and collects the sound wave data emitted by the smart ball in real time through the sound wave sensor set outside the pipeline, so that the smart ball can ignore the complex structure of the heating pipeline and follow the flow of the liquid to ensure the normal operation of the smart ball; compares the smart ball data at the current time with the smart ball data at the previous moment, marks the time when the change is made as the change time, and can quickly identify abnormal data, thereby improving the detection efficiency; sets the corner time of each corner according to the amplitude and initial orientation of each corner in the pipeline diagram, and based on The corner speed of the smart ball when it reaches the corner point is obtained by the corner time, acceleration, initial time and the distance between the corner points, which can more accurately predict the movement behavior of the smart ball in the pipeline and make the final result more accurate. The time when the smart ball reaches the corner point is calculated based on the acceleration formula. The corner time is matched with the change time, and the change corresponding to the change time is compared with the change when the smart ball passes the corner to obtain the abnormal change time. The sound wave data corresponding to the abnormal change time is extracted and marked as abnormal sound wave data. The leakage position is obtained according to the abnormal sound wave data, which can directly determine the specific location of the leakage without causing damage to the pipeline, thereby reducing unnecessary pipeline inspections, reducing maintenance costs and timely discovering leakage problems.

[0049] 2. The present invention matches the corner time with the change time, first performs time matching, and if the time matches, compares the corresponding pressure directions, and marks the time when the corresponding change of the corner time matches the corresponding change of the change time as the abnormal change time, which can exclude the changes of the smart ball caused by the need to pass through a corner in the heating pipe, so that the detection result is more accurate and the detection efficiency is improved; when setting the corner time of each corner, the change angle of the smart ball is obtained according to the corner amplitude and the initial direction of the smart ball, and the passing state of the smart ball is obtained according to the change angle, and according to the different passing states, different corner experience coefficients are set to calculate the passing time of the smart ball through the corner, which can make the calculation result more accurate and obtain the movement state of the smart ball more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a schematic diagram of the heating pipeline detection of the present invention.

[0052] Figure 2 The following is a flowchart of an embodiment of the present invention.

[0053] Figure 3 The figure is a complete flow chart of obtaining the change time in one embodiment of the present invention.

[0054] Figure 1 Among them, 1. Smart ball device; 2. Sound wave detection device; 3. Heating pipeline. DETAILED DESCRIPTION

[0055] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] See also Figure 1-Figure 3 The first embodiment of the present invention provides a method for detecting the leakage position of a heating pipeline based on a smart ball and acoustic wave positioning, comprising:

[0057] Step 1: Place the smart ball into the heating pipe, collect smart ball data through the sensor in the smart ball, and collect sound wave data through the external sensor; obtain the pipe map.

[0058] Exemplarily, several smart balls are put into a heating pipe. Pressure sensors and accelerometers are arranged on the outside of the smart balls, and gyroscope sensors and sound wave generating systems are arranged inside the smart balls. The gyroscope sensors can identify the pressure position of each pressure sensor of the sphere in real time. A sound wave receiving system is arranged outside the heating pipe. The pipeline map of the heating pipe is collected from the database.

[0059] It should be noted that the density of the smart ball in the present application is the same as the density of the liquid in the heating pipe. After being put into the heating pipe, it will flow along with the flow of the liquid in the heating pipe.

[0060] Step 2: Obtain abnormal data based on the smart ball data and pipeline diagram.

[0061] Exemplarily, the point where the smart ball is dropped in the pipeline diagram is marked as the initial point, the corner in the pipeline diagram is marked as the corner point, the time when the smart ball is dropped is 0:00, and is recorded as the initial time; it is determined whether the ball pressure at the current time is the same as the ball pressure at the previous moment, and if it is determined that the ball pressure at the time of 0:05 and 0:67 is different from the ball pressure at the previous moment, then 0:05 and 0:67 are marked as the pressure change time; it is determined whether the ball acceleration at the current time is the same as the ball acceleration at the previous moment , it is determined that the ball acceleration at the time of 0:05 and 0:45 is different from the ball acceleration at the previous moment, then 0:05 and 0:45 are marked as acceleration change time; it is determined whether the pressure direction at the current time is the same as the pressure direction at the previous moment, and it is determined that the pressure direction detected at the time of 0:05 and 0:45 is different from the pressure direction at the previous moment, then 0:05 and 0:45 are marked as direction change time, and the obtained change times are 0:05, 0:45 and 0:67.

[0062] The initial point and each corner point are marked in the pipeline diagram to determine whether the initial point is a corner point. If it is determined that the initial point in this embodiment is not a corner point, the current pressure direction is set to the right;

[0063] In some other embodiments, the initial point of the smart ball release is at a corner point, and the smart ball will change direction immediately after release, so the pressure direction after the change should be marked as the initial direction.

[0064] The corner amplitude of corner 1 in the pipeline diagram is 60 degrees, the pipeline diameter is 4 meters, and the liquid speed in the heating pipeline is 0.5 meters per second. Combining the corner amplitude with the initial orientation of smart ball 1, the change angle θ of smart ball 1 is 45 degrees; judge whether the change angle is greater than 90 degrees. If the change angle of the smart ball is less than 90 degrees, the passing state of the smart ball is a small angle state. According to the formula αi=1+2sin 2 (θ / 2) is used to calculate the corner empirical coefficient α1=1.5 for the smart ball to pass through corner 1; the corner time GT1=24.85 seconds is calculated through the formula GTi=αi×π×GD / 2YV+JLi / YV.

[0065] In other embodiments, if the change angle of the smart ball is greater than 90 degrees, the passing state of the smart ball is a large angle state, and the formula αi=1+2sin 2 The corner empirical coefficient αi of the smart ball passing through the corner numbered i is calculated by [(180-θ) / 2].

[0066] It should be noted that the corner experience coefficient is used to indicate the difficulty of the smart ball passing through the corner. When the smart ball passes through the corner, it is required to decelerate first and then accelerate by default. The speed before deceleration and after acceleration is the same. For corners with smaller angles, it is relatively simple for the smart ball to change the angle and speed, but for corners with larger angles, it is more difficult for the smart ball to change the angle and speed, so the time to pass will be longer than that for corners with smaller angles.

[0067] The acceleration of the smart ball from the initial point is 0.2 meters per square second, and the distance from the initial point to the corner point 1 is JL1 = 3 meters; according to the speed formula JLi = 1 / 2 × CAi × [GTi-GT (i-1)] 2 The turning time GTi-GT(i-1) = 5.48 seconds is calculated when the smart ball reaches corner point 1; the turning speed VG1 = 1.1 meters per second is calculated by the speed formula VGi = V(i-1) + CAi × [GTi-GT(i-1)] when the smart ball reaches corner point 1; the smart ball reaches corner point 1 after 5.48 seconds from the initial point and passes through corner point 1 after 24.85 seconds; the smart ball 1 reaches corner point 2 after 15 seconds after passing the corner point and passes through corner point 2 after 20 seconds; the formula GJTi = The calculated turning time GJT2 for the smart ball 1 to reach the turning point 2 is 45.33 seconds.

[0068] In this embodiment, the corner times are 0:05 and 0:45, and the change times are 0:05, 0:45 and 0:67; it is determined whether the corner time and the change time are the same, and it is determined that there are two corner times that are the same as the change time, which are 0:05 and 0:45, respectively, and there is no corresponding corner time for 0:67, so 0:67 is marked as an abnormal change time;

[0069] The smart ball changes and corner changes corresponding to 0:05 and 0:45 are extracted, and the pressure orientation and corner pressure orientation of the corresponding smart ball are extracted to determine whether the pressure orientation is the same as the corner pressure orientation. It is determined that the corresponding changes of the change time of 0:05 and 0:45 are the same as the corresponding changes of the smart ball passing the corner, and 0:05 and 0:45 are marked as normal change time.

[0070] Step 3: Determine the leak location by combining abnormal data and acoustic wave data.

[0071] Exemplarily, 0:67 is the abnormal change time, the direction of the sound wave received by the sound wave receiving system disposed outside the heating pipeline at 0:67 is extracted, and the sensor positions of the two sound wave receiving systems are marked in the pipeline diagram;

[0072] In the pipeline diagram, the front sound wave direction received by the front sensor and the sound wave direction received by the rear sensor are extended, and the intersection of the extension lines is marked as the position of the smart ball. Here, the pressure direction received by the pressure sensor in the smart ball is from directly below, so the leakage position is directly above the smart ball.

[0073] Part of the data in the above formula is calculated by removing the dimension and taking its numerical value. The formula is a formula closest to the actual situation obtained by software simulation of a large amount of collected data; the preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained through simulation of a large amount of data.

[0074] Working principle of the present invention:

[0075] The present invention uses a smart ball with the same density as the liquid in the heating pipeline and puts it into the heating pipeline to follow the flow of the liquid, and multiple sensors and sound wave generating systems are arranged on the smart ball, and a sound wave sensor capable of detecting and receiving sound waves is arranged outside the heating pipeline; the smart ball data of the smart ball is monitored in real time, the smart ball data at the current time is compared with the smart ball data at the previous moment, and the time when the smart ball changes is marked as the change time; the change angle of the smart ball is obtained according to the amplitude and initial orientation of each corner in the pipeline diagram, the passing state of the smart ball is obtained according to the change angle, the corner empirical coefficient of the corresponding corner is obtained based on the passing state, and the corresponding corner time is calculated and set based on the corner empirical coefficient, and the corner speed and corner time reaching the corner point are respectively calculated by the speed formula and the acceleration formula, and the corner time is summed to obtain the corner time reaching a certain corner; the corner time is matched with the change time, and the corresponding changes are respectively compared to obtain the abnormal change time; the abnormal sound wave data corresponding to the abnormal change time is extracted, and the leakage position is obtained according to the abnormal sound wave data.

[0076] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A method for detecting the leakage position of a heating pipeline based on a smart ball and acoustic wave positioning, characterized in that: include: Step 1: Place the smart ball into the heating pipe, and the smart ball follows the flow of liquid in the pipe; collect smart ball data through the sensor in the smart ball, and collect real-time sound wave data generated by the smart ball through the external sensor; obtain the pipe map; Step 2: Obtain abnormal data based on smart ball data and pipeline diagram; Step 3: Determine the leak location by combining abnormal data and acoustic wave data; The abnormal data obtained based on the smart ball data and the pipeline diagram includes: Extracting smart ball data and pipeline diagram; the smart ball data includes ball pressure, pressure direction and ball acceleration collected by sensors in the smart ball; The smart ball placement point is marked as the initial point, the corner in the pipeline map is marked as the corner point, and the time of placing the smart ball is marked as the initial time; Determine whether the ball pressure at the current time is the same as the ball pressure at the previous moment; if yes, mark the current time as the normal pressure time; if no, mark the current time as the pressure change time; Determine whether the ball acceleration at the current time is the same as the ball acceleration at the previous moment; if yes, mark the current time as normal acceleration time; if no, mark the current time as acceleration change time; Determine whether the pressure direction at the current time is the same as the pressure direction at the previous moment; if yes, mark the current time as the normal direction time; if no, mark the current time as the direction change time; The pressure change time, acceleration change time and orientation change time are combined to obtain the change time; the ball acceleration, initial point, corner point, pipeline diagram and change time are combined to obtain the abnormal change time, and the abnormal change time and the corresponding smart ball data are marked as abnormal data; The abnormal change time is obtained by combining the ball acceleration, the initial point, the corner point, the pipeline diagram and the change time, including: Extract ball acceleration, pipeline diagram, initial point, corner point and change time; Mark the initial point and the corner point in the pipeline diagram; determine whether the initial point is a corner point; if yes, mark the pressure direction after the corner point changes as the initial direction; if no, mark the current pressure direction as the initial direction; The turning time to each turning point is calculated by combining the initial orientation, initial time and acceleration; the turning time is matched with the change time to obtain the abnormal change time; The step of matching the corner time with the change time to obtain the abnormal change time includes: S1: Extract corner time and change time; S2: Determine whether the corner time and the change time are the same; if yes, jump to S3; if no, mark the corresponding change time as abnormal change time; S3: Determine whether the change corresponding to the change time is the same as the change corresponding to the smart ball passing a corner; if yes, mark the corresponding change time as a normal change time; if no, mark the corresponding change time as an abnormal change time.

2. The method for detecting the leakage position of a heating pipeline based on a smart ball and acoustic wave positioning according to claim 1 is characterized in that: The calculation of the turning time to each turning point by combining the initial orientation, the initial time and the acceleration includes: Extract initial orientation, initial time and acceleration; The turning time of passing the corresponding corner is set according to the amplitude and initial orientation of each corner in the pipeline diagram; the turning time of passing the corner is marked as GTi, the initial time is marked as CST, the acceleration is marked as CAi, and the distance between the turning point and the previous turning point is marked as JLi; wherein i represents the number of the corner, i=1, 2, 3…n, and n is a positive integer; The corner speed VGi of the smart ball reaching the corner point numbered i is calculated by the speed formula VGi=VG(i-1)+CAi×[GTi-GT(i-1)]; where, when i=1, VG0=0 meters per second; By the formula JLi = 1 / 2 × CAi × [GTi-GT (i-1)] 2 Calculate the time GTi-GT(i-1) from the corner point numbered i-1 to the corner point numbered i; when i is 1, GT(i-1)=CST; where i=1, 2, 3...n, n is a positive integer; By formula GJTi= The corner time GJTi from the initial time to the i-th corner is calculated.

3. The method for detecting the leakage position of a heating pipeline based on a smart ball and acoustic wave positioning according to claim 2 is characterized in that: The step of setting the corner time for passing through the corresponding corner according to the amplitude and initial orientation of each corner in the pipeline diagram includes: Extract the corner amplitude, pipe diameter and initial orientation of each corner in the pipe diagram; The initial orientation is the initial driving direction of the smart ball. Combined with the corner amplitude, the change angle required for the smart ball to pass through the corner is obtained. The change angle is the new driving direction of the smart ball. The change angle is marked as θ. Determine whether the change angle is greater than 90 degrees; if yes, mark the passing state of the smart ball as a large angle state; if no, mark the passing state of the smart ball as a small angle state; When the passing state of the smart ball is a large angle state, the formula αi=1+2sin 2 [(180-θ) / 2] calculates the corner empirical coefficient αi of the smart ball passing through the i-th corner; When the passing state of the smart ball is a small angle state, the formula αi=1+2sin 2 (θ / 2) Calculate the corner empirical coefficient αi when the smart ball passes through the i-th corner; The pipe diameter is marked as GD, and the liquid velocity of the liquid in the heating pipe is marked as YV; the corner time GTi passing through the corner numbered i is calculated by the formula GTi=αi×π×GD / 2YV+JLi / YV.

4. The method for detecting the leakage position of a heating pipeline based on a smart ball and acoustic wave positioning according to claim 1 is characterized in that: The determining whether the change corresponding to the change time is the same as the change corresponding to the smart ball passing through a corner includes: Extract the change corresponding to the change time and the change corresponding to the corner time; mark the change corresponding to the change time as a smart ball change, and mark the change corresponding to the corner time as a corner change; Extract the pressure direction of the smart ball corresponding to the change of the smart ball, and extract the pressure direction of the corner corresponding to the change of the corner; Determine whether the pressure direction is the same as the corner pressure direction; if yes, the change time corresponding to the change is the same as the change when the smart ball passes the corner; if no, the change time corresponding to the change is different from the change when the smart ball passes the corner.

5. The method for detecting the leakage position of a heating pipeline based on a smart ball and acoustic wave positioning according to claim 1 is characterized in that: The method of combining the abnormal data and the acoustic wave data to determine the leakage location includes: Extracting abnormal data and acoustic wave data; wherein the acoustic wave data includes the acoustic wave direction and sensor position collected by two external sensors after the abnormal change time; Marking the sound wave data corresponding to the abnormal change time in the abnormal data as abnormal sound wave data; The direction of the sound waves collected by the first external sensor receiving the sound waves in the abnormal sound wave data is marked as the front sound wave direction, and the direction of the sound waves collected by the second external sensor receiving the sound waves is marked as the rear sound wave direction; The intersection of the front sound wave direction and the extension line of the rear sound wave direction is marked as the smart ball position, and the leakage position is obtained according to the pressure direction and the smart ball position.

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