Pipe network leakage detection equipment and system

Abstract

The invention relates to a pipe network leakage detection device and system, and the device comprises a walking structure which comprises a walking frame and walking wheel mechanisms which are fixedly disposed at two sides of the walking frame; the detection structure comprises a first steering mechanism arranged at the top of the walking frame, a mounting plate fixed to the first steering mechanism, a radar fixed to the side, away from the first steering mechanism, of the mounting plate, and a second steering mechanism arranged on the first steering mechanism; the detection system not only comprises detection equipment, but also comprises a remote control and display structure matched with the detection equipment; by arranging the walking wheel mechanism, it is ensured that the walking structure can stably move forwards during obstacle crossing; through decoupling and coupling of the first steering mechanism and the second steering mechanism, four-direction rotation of the radar is achieved, the automation degree is higher, the detection efficiency and the accuracy of the detection result are improved, the adaptive environment is more variable, and the universality is higher.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering detection, and in particular relates to a pipe network leakage detection device and system. Background Art

[0002] In urban infrastructure, underground water supply and drainage pipelines buried in the soil are key components that undertake the important task of transporting public water supply and treating rainwater and sewage. However, with the passage of time and the acceleration of urbanization, underground water supply and drainage pipelines have long been subject to changes in the surrounding pressure environment, sewage impact, mineral corrosion, etc. The pipelines may be blocked, damaged, eroded, disconnected, broken, etc. to varying degrees, resulting in ground collapse, which directly affects the normal operation of the water supply and drainage network system. If the pipelines are not inspected, repaired and cleaned in time, accidents may occur and cause losses. These problems not only affect the normal functioning of the water supply and drainage functions, but may also cause environmental pollution and public safety accidents.

[0003] Using geophysical methods to detect pipe damage is an important way to effectively check for hidden dangers, deal with dangerous situations in a timely manner, and ensure the safety of water supply and drainage pipe network systems. Existing geophysical methods usually rely on exploration robots equipped with radars to determine the location of leaks or voids by transmitting and receiving electromagnetic wave signals and analyzing the characteristics of reflected and scattered signals.

[0004] However, the current geophysical prospecting methods still have prominent shortcomings, resulting in incomplete inspection of pipeline network hidden dangers and untimely diagnosis of results, which are mainly manifested in the following aspects: First, when detecting pipelines, if there are obstacles on the road (such as stones or soil blocks, etc.), the exploration robot's forward path will be blocked, and workers are required to clear the obstacles in time, which increases labor costs and reduces detection efficiency; Secondly, the radar's detection angle cannot be adjusted appropriately according to different environments during detection, resulting in inaccurate detection results and frequent misjudgments or missed judgments. Summary of the invention

[0005] The present invention provides a pipeline network leakage detection device and system, which solves the defects of low detection efficiency and inaccurate detection results in the existing geophysical exploration technology.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a pipe network leakage detection equipment, which comprises: A walking structure, the walking structure comprising a walking frame and walking wheel mechanisms fixedly mounted on both sides of the walking frame; A detection structure, the detection structure comprising a first steering mechanism disposed on the top of the traveling frame, a mounting plate fixed on the first steering mechanism, a radar fixed on a side of the mounting plate away from the first steering mechanism, and a second steering mechanism disposed on the first steering mechanism; The first steering mechanism and the second steering mechanism have different rotation directions, thereby realizing four-way rotation of the mounting plate.

[0007] Optimally, the walking wheel mechanism includes a support frame fixedly mounted on one side of the walking frame, a driving wheel rotatably mounted on the top of the support frame, a first floating plate and a second floating plate rotatably mounted on the bottom of the support frame, a first pressure wheel rotatably mounted on the outside of the first floating plate, a second pressure wheel rotatably mounted on the outside of the second floating plate, and a crawler track wound around the driving wheel, the first pressure wheel and the second pressure wheel.

[0008] Optimally, the walking wheel mechanism further comprises a first auxiliary wheel rotatably mounted on the inner side of the first floating plate and a second auxiliary wheel rotatably mounted on the inner side of the second floating plate, and the first auxiliary wheel and the second auxiliary wheel abut against the track.

[0009] Optimally, the detection structure further comprises a support plate fixed on the top of the walking frame, a vertical plate fixed at intervals on the top of the support plate, and a first guide sleeve and a second guide sleeve fixed on opposite sides of the vertical plate.

[0010] Optimally, the first steering mechanism includes a worm rotatably mounted between the vertical plates, a worm wheel meshing with the worm, a worm wheel shaft coaxially penetrated through the worm wheel, a first connecting rod integrally connected to one end of the worm and passing through the vertical plate and the first guide sleeve, a first slot opened at the end of the first connecting rod, a first slide plate movably arranged on one side of the worm, and a first plug plate rotatably mounted on the top of the first slide plate, the first plug plate cooperates with the first slot, and the mounting plate is fixedly connected to the worm wheel shaft.

[0011] Optimally, the second steering mechanism includes a second connecting rod integrally connected to the other end of the worm and passing through the vertical plate and the second guide sleeve, a second slot opened at the end of the second connecting rod, a first rotating sleeve sleeved on the first guide sleeve, a second rotating sleeve sleeved on the second guide sleeve, a boss integrally connected to the outer side of the second rotating sleeve, a third slot passing through the boss, a second slide plate movably arranged on the other side of the worm, a third plug plate rotatably mounted on the top of the second slide plate, a second plug plate integrally connected to the inner side of the third plug plate, and a fixing frame fixed to the tops of the first rotating sleeve and the second rotating sleeve; The second plug plate matches with the second slot, the third plug plate matches with the third slot, and the worm gear shaft passes through the fixing frame.

[0012] Optimally, the length of the first plugboard is equal to the length of the first slot.

[0013] Optimally, the length of the second plugboard is equal to the length of the second slot, and the length of the third plugboard is equal to the length of the third slot.

[0014] The present invention also provides a pipe network leakage detection system, which includes the above-mentioned pipe network leakage detection equipment and a remote control and display structure matched therewith.

[0015] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: The pipeline leakage detection equipment of the present invention is composed of a walking structure and a detection structure. The walking structure travels along the road surface. By setting a walking wheel mechanism, it is ensured that when the walking structure crosses an obstacle, the crawler is always pressed by three wheels, so that there is sufficient contact between the crawler and the ground, the friction between the two is increased, and the stable travel of the walking structure is ensured. By setting up a walking wheel mechanism, when there is an obstacle on the road, it can automatically cross the obstacle and continue to drive, without the need for staff to clear the obstacle, which improves the efficiency of detection, saves labor input and saves costs; Through the decoupling and coupling of the first steering mechanism and the second steering mechanism, the four-way rotation of the radar is realized, the degree of automation is higher, the detection efficiency and the accuracy of the detection results are improved, the environment is more variable, and the versatility is stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the walking structure of the present invention; Figure 3 It is a front view of the walking structure of the present invention; Figure 4 It is a structural schematic diagram of the detection structure of the present invention; Figure 5 is a cross-sectional view of the detection structure of the present invention; Figure 6 For the present invention Figure 5 The enlarged view of point A in the middle; Figure 7 For the present invention Figure 5 The enlarged view of point B in the middle; Description of reference numerals: 1. Walking frame; 2. External fixed plate; 3. Connecting plate; 4. Baffle; 5. Driving wheel; 6. Fixed column; 7. Fixed plate; 8. Driving motor; 9. First floating plate; 10. Second floating plate; 11. First pressure wheel; 12. First auxiliary wheel; 13. Second pressure wheel; 14. Second auxiliary wheel; 15. Track; 16. Support plate; 17. Vertical plate; 18. Worm; 19. First guide sleeve; 20. Second guide sleeve; 21. First connecting rod; 22. Second connecting rod; 23. First A slot; 24, a second slot; 25, a first rotating sleeve; 26, a second rotating sleeve; 27, a boss; 28, a third slot; 29, a connecting rod; 30, a fixing frame; 31, a worm gear; 32, a mounting plate; 33, a radar; 34, a first slide; 35, a second slide; 36, a first motor; 37, a second motor; 38, a first plug-in board; 39, a second plug-in board; 40, a third plug-in board; 41, a worm gear shaft; 42, a CCD camera; 43, a searchlight; 44, a housing. DETAILED DESCRIPTION

[0017] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0018] The pipe network leakage detection equipment of the present invention is usually used to detect damage to underground pipe networks buried in the soil, so as to avoid different degrees of blockage, damage, erosion, disconnection, breakage and other damage to the pipes, thereby causing ground collapse and directly affecting the normal operation of the drainage pipe network system.

[0019] like Figure 1 As shown in the figure, it is a schematic diagram of the structure of the present invention. The detection equipment consists of two parts: a walking structure and a detection structure. The detection structure is fixed on the top of the walking structure, and is used to transmit electromagnetic waves to the ground, and use the propagation and reflection of electromagnetic waves underground to draw a radar image reflecting the situation of the underground pipeline. Since the leaked water will change the electrical properties of the medium around the pipeline, etc., the leakage of the pipe section can be detected by analyzing the image, and the leakage point can be accurately determined (commonly known as the ground penetrating radar method, the ground penetrating radar method is an existing conventional method for detecting underground media using high-frequency electromagnetic waves. By transmitting and receiving electromagnetic wave signals and analyzing the characteristics of reflected and scattered signals, the leakage location can be determined).

[0020] The walking structure and the detection structure are both located inside the housing 44, and the housing 44 plays a protective role. The CCD camera 42 is fixed at the front end of the housing 44 and faces the ground, and is used to detect in real time whether there are obstacles on the ground (such as stones, sand blocks, etc.). The searchlight 43 is installed on the top of the housing 44 and faces the CCD camera 42, providing sufficient light for the detection of the CCD camera 42 during night driving detection. The CCD camera 42 uses the commercially available MV-CH430-61CM-F-TF model.

[0021] like Figure 2, 3 As shown, it is a structural diagram of the walking structure. While supporting the detection structure above, it has a good obstacle crossing function to prevent the entire set of detection equipment from shaking violently during walking detection, thereby affecting the detection results.

[0022] The walking structure includes a walking frame 1 and a walking wheel mechanism, and there is at least one set (i.e., two) of the walking wheel mechanisms, which are respectively fixedly arranged on both sides of the walking frame 1 to support the walking frame 1. The walking wheel mechanisms arranged on both sides enable the walking frame to have a better obstacle crossing function during the detection process.

[0023] like Figure 2 , 3 As shown, each walking wheel mechanism includes an outer fixing plate 2, a connecting plate 3, a baffle 4, a driving wheel 5, a fixing column 6, a fixing plate 7, a driving motor 8, a first floating plate 9, a second floating plate 10, a first pressure wheel 11, a first auxiliary wheel 12, a second pressure wheel 13, a second auxiliary wheel 14 and a crawler 15. The outer fixing plate 2 is fixedly mounted on the outside of the walking frame 1, and there are two connecting plates 3, which are integrally connected to the top of the outer fixing plate 2 and tilted inward. The outer fixing plate 2 and the two connecting plates 3 form a triangular structure, and the stability of the structure of the outer fixing plate 2 and the two connecting plates 3 is improved by using the principle of triangle stability.

[0024] The triangular structure formed at the same time has three corners, the top main corner formed by the two connecting plates 3 and the two bottom auxiliary corners formed by each connecting plate 3 and the outer fixing plate 2. The top corner is used to install the driving wheel 5, and the two bottom auxiliary corners are used to install the first floating plate 9 and the second floating plate 10 respectively, so that the force is more uniform and stable, ensuring that the pressure wheel and auxiliary wheel on the first floating plate 9 and the second floating plate 10 can smoothly abut on the crawler 15, thereby making the crawler 15 tightly abut against the ground, improving the walking stability of the walking structure.

[0025] The baffle 4 is fixed at intervals at the vertex formed by the two connecting plates 3, the through hole coaxially penetrates the baffle 4, and the driving wheel 5 is rotatably installed in the through hole of the baffle 4 through a bearing (the bearing can be a conventional commercially available deep groove ball bearing).

[0026] The fixing column 6 is arranged on the outside of the baffle 4, the fixing plate 7 is fixed on the side of the fixing column 6 away from the baffle 4, the housing of the driving motor 8 is fixed on the fixing plate 7, the driving shaft of the driving motor 8 passes through the fixing plate 7 and is connected to the driving wheel 5, the driving motor 8 drives the driving wheel 5 to rotate, and then drives the crawler 15 to rotate, so as to realize the forward movement of the walking structure. A bearing is arranged between the driving wheel 5 and the baffle 4 to improve the stability of the driving wheel 5 when rotating.

[0027] The crawler track 15 wound around the driving wheel 5 is located between the baffles 4. The width of the crawler track 15 is equal to the distance between the two baffles 4. Under the resistance of the baffles 4, the crawler track 15 is prevented from axial movement.

[0028] The first floating plate 9 and the second floating plate 10 are respectively connected to the two bottom auxiliary corners formed by the connecting plate 3 and the outer fixed plate 2 through the rotating shaft. Therefore, the first floating plate 9 and the second floating plate 10 are both in a floating adjustment state to adapt to the situation where there are stones or soil blocks on the road surface, thereby improving the obstacle crossing performance of the walking structure.

[0029] The first pressure wheel 11 is rotatably mounted on the outer side of the first floating plate 9 via a rotating shaft, and the first auxiliary wheel 12 is rotatably mounted on the inner side of the first floating plate 9 via a rotating shaft; the second pressure wheel 13 is rotatably mounted on the outer side of the second floating plate 10 via a rotating shaft, and the second auxiliary wheel 14 is rotatably mounted on the inner side of the second floating plate 10 via a rotating shaft.

[0030] like Figure 2 , 3 As shown, the first pressing wheel 11 and the second pressing wheel 13 are located on the opposite sides of the first floating plate 9 and the second floating plate 10, and the first auxiliary wheel 12 and the second auxiliary wheel 14 are located on the opposite sides of the first floating plate 9 and the second floating plate 10. The track 15 is wound around the first pressing wheel 11, the second pressing wheel 13 and the driving wheel 5. Under the action of gravity, the first pressing wheel 11, the first auxiliary wheel 12, the second pressing wheel 13 and the second auxiliary wheel 14 are pressed on the track 15. When the driving motor 8 drives the driving wheel 5 to rotate, the first pressing wheel 11 and the second pressing wheel 13 are driven to rotate synchronously through the track 15. The track 15 contacts the ground and drives the walking structure to move forward.

[0031] like Figure 3 As shown, the first floating plate 9 and the second floating plate 10 are in the form of an isosceles triangle, and the three sides of the isosceles triangle are all provided with arc structures, so as to push out the first pressure wheel 11 and the first auxiliary wheel 12, the second pressure wheel 13 and the second auxiliary wheel 14. When the vehicle moves forward on the road, the first pressure wheel 11, the first auxiliary wheel 12, the second pressure wheel 13 and the second auxiliary wheel 14 are pressed on the track 15 by gravity, and when the driving motor 8 drives the driving wheel 5 to rotate, the first pressure wheel 11 and the second pressure wheel 13 are driven to rotate synchronously through the track 15, and the track 15 contacts the ground to drive the walking structure to move forward.

[0032] The first auxiliary wheel 12 and the second auxiliary wheel 14 are pressed against the inner side of the crawler track 15. When the walking structure travels on a flat ground, the first pressure wheel 11 and the second pressure wheel 13 press the crawler track 15 to contact the ground; at this time, the inner first auxiliary wheel 12 and the second auxiliary wheel 14 also press against the crawler track 15 to contact the ground, so as to avoid the crawler track 15 being pressed only by the outer first pressure wheel 11 and the second pressure wheel 13, resulting in the middle part of the crawler track 15 not being in close contact with the ground, and slipping or friction reduction during driving, thereby affecting the normal advancement of the walking structure.

[0033] In this solution, the first auxiliary wheel 12 and the second auxiliary wheel 14 are arranged inside, and the left half of the area where the track 15 contacts the ground is pressed by the first auxiliary wheel 12 and the first pressure wheel 11, and the right half of the area where the track 15 contacts the ground is pressed by the second auxiliary wheel 14 and the second pressure wheel 13. Sufficient contact between the track 15 and the ground is ensured, the friction between the two is increased, and the stable movement of the walking structure is ensured.

[0034] Since the first floating plate 9 is not fixedly connected to the support frame but is rotatably connected, when there is an obstacle in front of the walking structure, the first floating plate 9 will be pushed to tilt (the outer fixed plate 2 and the connecting plate 3 form the support frame). At this time, the first pressure wheel 11 will first contact with the foreign object, so the foreign object will push against the first pressure wheel 11 and lift it up, that is, the first floating plate 9 will also be pushed to a tilted state (high on the left and low on the right), and the first auxiliary wheel 12 will still be against the track 15 and contact the ground.

[0035] Therefore, when there are stones or soil blocks on the road surface, the crawler 15 initially contacts the ground in the following manner: the first pressure wheel 11, the first auxiliary wheel 12, the second pressure wheel 13 and the second auxiliary wheel 14 jointly press the crawler 15 to contact the ground, and then the first auxiliary wheel 12, the second pressure wheel 13 and the second auxiliary wheel 14 jointly press the crawler 15 to contact the ground. At this time, although the crawler 15 is not pressed by the first pressure wheel 11, the first auxiliary wheel 12 is still pressed, and the crawler 15 is still in a horizontal state and in sufficient contact with the ground (if only the first pressure wheel 11 is provided without the first auxiliary wheel 12, when crossing an obstacle, the first pressure wheel 11 is lifted, and only the second pressure wheel 13 presses the crawler 15 to contact the ground. At this time, the crawler 15 is in an inclined state, and the walking structure is easy to overturn; at the same time, the inclined crawler 15 has too small a contact area with the ground, which also affects the forward movement of the walking structure).

[0036] After the first pressure wheel 11 passes over the obstacle, the foreign object will push against the first auxiliary wheel 12 and lift the first auxiliary wheel 12 by the same principle, that is, the first floating plate 9 is also pushed to a tilted state (the first floating plate 9 at this time becomes a state of left lower and right higher), and the first pressure wheel 11 is still in contact with the track 15. At this time, the contact mode of the track 15 with the ground changes from the first auxiliary wheel 12, the second pressure wheel 13 and the second auxiliary wheel 14 jointly pressing the track 15 to contact the ground to the first pressure wheel 11, the second pressure wheel 13 and the second auxiliary wheel 14 jointly pressing the track 15 to contact the ground. At this time, although the track 15 is no longer pressed by the first auxiliary wheel 12, it still has the pressure of the first pressure wheel 11, and the track 15 is still in a horizontal state with sufficient contact with the ground.

[0037] The principle of the second auxiliary wheel 14 and the second pressure wheel 13 overcoming obstacles is the same as the principle of the first pressure wheel 11 and the first auxiliary wheel 12 overcoming obstacles. When the second auxiliary wheel 14 overcomes obstacles, the contact mode between the support frame crawler 15 and the ground is that the first pressure wheel 11, the first auxiliary wheel 12 and the second pressure wheel 13 jointly press the crawler 15 to contact the ground; when the second pressure wheel 13 overcomes obstacles, the contact mode between the crawler 15 and the ground is that the first pressure wheel 11, the first auxiliary wheel 12 and the second auxiliary wheel 14 jointly press the crawler 15 to contact the ground. It can also ensure that the crawler 15 has three wheels pressing contact, ensuring that the crawler 15 is still in a horizontal state and in sufficient contact with the ground. Avoid the crawler 15 in a tilted state, the walking structure is easy to overturn and the tilted crawler 15 has too small a contact area with the ground, which also affects the forward movement of the walking structure.

[0038] By providing the floating first floating plate 9 and the second floating plate 10, it is ensured that when the walking structure crosses an obstacle, the crawler track 15 has enough wheels to press against it, thereby increasing its contact stability with the ground.

[0039] The CCD camera 42 is fixed at the front end of the housing 44 and faces the ground, and is used to detect whether there are obstacles on the ground (such as stones, sand blocks, etc.). The searchlight 43 is installed on the top of the housing 44 and faces the CCD camera 42, providing sufficient light for the detection of the CCD camera 42 during night driving detection. The CCD camera 42 uses the commercially available MV-CH430-61CM-F-TF model.

[0040] The detection structure is fixed on the top of the traveling frame 1. When the traveling frame 1 is moving, the detection structure completes the detection of the underground pipe network. Figure 4 , 5 As shown, it is a structural schematic diagram of the detection structure. The detection structure is composed of a first steering mechanism and a second steering mechanism, which together realize the four-way rotation (front, back, left, and right) of the mounting plate 32 and the radar 33 thereon, so that the detection range is wider, the detection result is more accurate, and the versatility is stronger.

[0041] The support plate 16 is fixed to the traveling frame 1 by screw fastening. There are two vertical plates 17 fixed at intervals on the top of the support plate 16. The first steering mechanism and the second steering mechanism are both fixed on the support plate 16, thereby realizing the four-way rotation of the radar 33.

[0042] The first guide sleeve 19 and the second guide sleeve 20 are integrally connected to opposite sides of the two vertical plates 17. The first guide sleeve 19 is used to guide the rotation of the internal worm 18 and the external first rotating sleeve 25, and the second guide sleeve 20 is used to guide the rotation of the internal worm 18 and the external second rotating sleeve 26, thereby improving the stability of the four-way rotation of the radar 33.

[0043] The first connecting rod 21 and the second connecting rod 22 are respectively connected to the two ends of the worm 18 in one piece, the first connecting rod 21 passes through the vertical plate 17 and the first guide sleeve 19 through the bearing, and the second connecting rod 22 passes through the vertical plate 17 and the second guide sleeve 20 through the bearing. The setting of the bearing can improve the stability of the worm 18 during rotation, thereby improving the stability of the four-way rotation of the radar 33.

[0044] The first slot 23 is provided at one end of the first connecting rod 21 away from the worm 18 . The first slot 23 is used in conjunction with the first plug plate 38 . The decoupling and coupling between the first plug plate 38 and the first slot 23 enables the reversal of the radar 33 .

[0045] The first slide plate 34 is slidably connected to the top of the support plate 16 by means of a slide rail and a slider, the first motor 36 is fixed to the top of the first slide plate 34 through a support, and the driving shaft of the first motor 36 is fixed with a first plug plate 38 that cooperates with the first slot 23.

[0046] The external moving cylinder drives the first slide plate 34 to move toward the side close to the worm 18 until the first plug plate 38 is inserted into the first slot 23, so as to realize the coupling between the first plug plate 38 and the first slot 23. Then, the first motor 36 drives the first plug plate 38 to rotate. Relying on the coupling between the first plug plate 38 and the first slot 23, the first plug plate 38 drives the worm 18 to rotate. Since the worm wheel 31 is meshed with the worm 18, the rotating worm 18 drives the upper worm wheel 31 to rotate. When the worm wheel 31 reciprocates, the mounting plate 32 and the radar 33 thereon are rotated in two directions (in Figure 4 , 5 (from a viewing angle of 1 / 4, it rotates in both directions).

[0047] The shape of the first plug plate 38 matches the shape of the first slot 23, and the length of the first plug plate 38 is the same as the length of the first slot 23. When the first plug plate 38 is plugged and coupled with the first slot 23, the first plug plate 38 and the first slot 23 are just plugged and matched. If the first plug plate 38 is too short, the contact length between the two is too short, which increases the energy consumption of the first motor 36 and fails to effectively complete the transmission of torque; if the first plug plate 38 is too long, the first plug plate 38 is easy to be twisted off when driving the worm 18 to rotate.

[0048] The first rotating sleeve 25 is sleeved on the first guide sleeve 19, and the second rotating sleeve 26 is sleeved on the second guide sleeve 20. The first rotating sleeve 25 is not fixedly connected to the vertical plate 17 and the first guide sleeve 19, so the first rotating sleeve 25 can rotate along the first guide sleeve 19. Similarly, the second rotating sleeve 26 can also rotate along the second guide sleeve 20.

[0049] The boss 27 is integrally connected to the outer side of the second rotating sleeve 26, and a second slot 24 is provided at one end of the second connecting rod 22 away from the worm 18, and a third slot 28 horizontally penetrates the boss 27 and is coaxially arranged with the second slot 24. The second slide plate 35 is slidably connected to the top of the support plate 16 by means of a slide rail and a slider, and the second motor 37 is fixed to the top of the second slide plate 35 by a bearing. The driving shaft of the second motor 37 is fixed with a third plug plate 40 that matches the third slot 28, and a second plug plate 39 is integrally connected to the inner side of the third plug plate 40 and matches the second slot 24.

[0050] The external moving cylinder drives the second slide plate 35 to move toward the side close to the worm 18 until the second plug plate 39 is inserted into the second slot 24 and the third plug plate 40 is inserted into the third slot 28, thereby realizing the coupling between the second plug plate 39 and the second slot 24 and the third plug plate 40 and the third slot 28. The second motor 37 rotates, thereby driving the worm wheel 31 and the worm 18 to rotate synchronously, realizing the other two-way rotation of the mounting plate 32 and the radar 33 thereon (in Figure 4 , 5 (from the perspective of the camera, it can rotate in two directions, front and back).

[0051] The connecting rod 29 has two parts, which are fixed on the top of the first rotating sleeve 25 and the second rotating sleeve 26 respectively, and the fixing frame 30 is fixed on the top of the connecting rod 29. Since the fixing frame 30 is a rigid structure, the fixing frame 30 can limit the first rotating sleeve 25 and the second rotating sleeve 26 on the first guide sleeve 19 and the second guide sleeve 20 to prevent the first rotating sleeve 25 and the second rotating sleeve 26 from coming off from both sides.

[0052] The worm gear shaft 41 is fixed to the worm wheel 31 by a key and passes through the fixed frame 30 by a bearing, so the fixed frame 30 can not only prevent the first rotating sleeve 25 and the second rotating sleeve 26 from slipping, but also be used to install the worm wheel 31. When the worm 18 drives the worm wheel 31 to rotate, the worm wheel 31 will drive the worm gear shaft 41 to rotate synchronously. The mounting plate 32 is fixed to the top of the worm gear shaft 41, and a radar 33 for emitting electromagnetic waves is fixed to the top of the mounting plate 32.

[0053] The radar 33 is driven by the first steering mechanism and the second steering mechanism to realize four-way rotation, which is not only suitable for detection of straight roads, but also suitable for uphill or downhill situations. The angle area of ​​the radar 33 emission can be appropriately adjusted according to the different directions and angles of the underground pipelines, thereby shortening the detection path and improving the accuracy of the detection results.

[0054] The present invention also includes a pipe network leakage detection system, including the above detection equipment, and also includes a remote control and display structure matched therewith. The display structure can use a display screen, and the remote control structure uses a commercially available remote control handle, which drives the detection equipment to move, and then the detection structure completes the detection of the underground pipe network.

[0055] The display screen is used to receive the ground image taken by the CCD camera 42 and the radar image reflecting the underground pipeline for viewing by the detection personnel. The display screen can be an LED display screen.

[0056] The detection principle of the pipe network leakage detection equipment of the present invention is as follows: The pipeline leakage detection equipment consists of a walking structure and a detection structure. The walking structure travels along the road surface. By setting a walking wheel mechanism, it is ensured that when the walking structure crosses an obstacle, the crawler 15 is always pressed by three wheels, so that it has sufficient contact with the ground, thereby increasing the friction between the two and ensuring the stable movement of the walking structure. The four-way rotation of the radar 33 is achieved through the decoupling and coupling of the first steering mechanism and the second steering mechanism. The radar is used to transmit electromagnetic waves to the ground, and use the propagation and reflection of electromagnetic waves underground to draw a radar image reflecting the underground pipeline situation. Since the leaked water will change the electrical properties of the medium around the pipeline, etc., the leakage of the pipe section can be detected and the leakage point can be accurately determined through the analysis of the image. The degree of automation is higher, the detection efficiency and the accuracy of the detection results are improved, and it can adapt to more variable environments and has stronger versatility.

[0057] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipe network leakage detection device, characterized in that: It includes: A walking structure, the walking structure comprising a walking frame (1) and walking wheel mechanisms fixedly mounted on both sides of the walking frame (1); A detection structure, the detection structure comprising a first steering mechanism arranged on the top of the walking frame (1), a mounting plate (32) fixed on the first steering mechanism, a radar (33) fixed on a side of the mounting plate (32) away from the first steering mechanism, and a second steering mechanism arranged on the first steering mechanism; The first steering mechanism and the second steering mechanism have different rotation directions, thereby realizing four-way rotation of the mounting plate (32).

2. A pipe network leakage detection equipment according to claim 1, characterized in that: The walking wheel mechanism comprises a support frame fixedly mounted on one side of the walking frame (1), a driving wheel (5) rotatably mounted on the top of the support frame, a first floating plate (9) and a second floating plate (10) rotatably mounted on the bottom of the support frame, a first pressure wheel (11) rotatably mounted on the outside of the first floating plate (9), a second pressure wheel (13) rotatably mounted on the outside of the second floating plate (10), and a crawler (15) wound around the driving wheel (5), the first pressure wheel (11) and the second pressure wheel (13).

3. A pipe network leakage detection equipment according to claim 2, characterized in that: The walking wheel mechanism further comprises a first auxiliary wheel (12) rotatably mounted on the inner side of the first floating plate (9) and a second auxiliary wheel (14) rotatably mounted on the inner side of the second floating plate (10), wherein the first auxiliary wheel (12) and the second auxiliary wheel (14) abut against the crawler belt (15).

4. A pipe network leakage detection equipment according to claim 1, characterized in that: The detection structure also includes a support plate (16) fixed on the top of the walking frame (1), a vertical plate (17) fixed at intervals on the top of the support plate (16), and a first guide sleeve (19) and a second guide sleeve (20) fixed on opposite sides of the vertical plate (17).

5. A pipe network leakage detection equipment according to claim 4, characterized in that: The first steering mechanism comprises a worm (18) rotatably mounted between the vertical plates (17), a worm wheel (31) meshing with the worm (18), a worm wheel shaft (41) coaxially penetrated through the worm wheel (31), a first connecting rod (21) integrally connected to one end of the worm (18) and penetrating the vertical plates (17) and the first guide sleeve (19), a first slot (23) provided at the end of the first connecting rod (21), a first slide plate (34) movably arranged on one side of the worm (18), and a first plug plate (38) rotatably mounted on the top of the first slide plate (34), the first plug plate (38) matching with the first slot (23), and the mounting plate (32) fixedly connected to the worm wheel shaft (41).

6. A pipe network leakage detection equipment according to claim 4, characterized in that: The second steering mechanism comprises a second connecting rod (22) integrally connected to the other end of the worm (18) and passing through the vertical plate (17) and the second guide sleeve (20), a second slot (24) opened at the end of the second connecting rod (22), a first rotating sleeve (25) sleeved on the first guide sleeve (19), a second rotating sleeve (26) sleeved on the second guide sleeve (20), a boss (27) integrally connected to the outer side of the second rotating sleeve (26), a third slot (28) passing through the boss (27), a second slide plate (35) movably arranged on the other side of the worm (18), a third plug plate (40) rotatably mounted on the top of the second slide plate (35), a second plug plate (39) integrally connected to the inner side of the third plug plate (40), and a fixing frame (30) fixed to the top of the first rotating sleeve (25) and the second rotating sleeve (26); The second plug plate (39) cooperates with the second slot (24), the third plug plate (40) cooperates with the third slot (28), and the worm gear shaft (41) passes through the fixed frame (30).

7. A pipe network leakage detection equipment according to claim 5, characterized in that: The length of the first plug board (38) is equal to the length of the first slot (23).

8. A pipe network leakage detection equipment according to claim 6, characterized in that: The length of the second plug board (39) is equal to the length of the second slot (24), and the length of the third plug board (40) is equal to the length of the third slot (28).

9. A pipe network leakage detection system, comprising the pipe network leakage detection equipment according to any one of claims 1 to 8, characterized in that: The utility model also comprises a remote control and a display structure matched therewith.

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