Underground pipe network leakage pollution tracing device and use method

Abstract

The invention relates to an underground pipe network leakage pollution traceability device and a use method. The traceability device comprises a movable base, a control device, a tracer agent putting device, a positioning device, a tracer agent sensor, a camera and a shell. The tracer agent putting device is arranged on the movable base, a flow velocity sensor is arranged on the movable base, the tracer agent putting device is wrapped by the shell, and a water permeable hole is formed in the shell; the positioning device, the tracer sensor and the camera are connected to the control device, the tracer sensor is arranged in the circumferential direction of the inner side of the shell, and the camera is arranged on the outer side of the shell; the tracer agent putting device is used for putting tracer agents in batches, and the tracer agent putting device and the movable base are controlled by the control device. The tracer feeding device is suitable for feeding underground pipelines with different pipe diameters, and can be used for feeding quantitative tracers at fixed positions and finding leakage positions in a phreatic aquifer, a confined aquifer and an oil and gas transportation underground pipeline which are difficult to feed the tracers in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of underground pipe network management, and in particular to an underground pipe network leakage pollution source tracing device and a use method thereof. Background Art

[0002] Underground pipelines, known as the "capillaries" of a city, refer to the water supply, drainage, oil and gas, heat, industry and other pipelines and their ancillary facilities within the city. They are important infrastructure and lifelines to ensure the operation of the city. The core of pipeline operation management is safety and economy. When urban water supply, drainage, oil and gas, industry and other pipelines leak, it will cause catastrophic accidents such as water leakage, oil leakage, pollution leakage, etc. At the same time, sewage and sludge outside the pipe will be sucked into the pipe, which poses a great safety hazard.

[0003] Due to the large area of ​​underground pipe networks, it is not easy to detect and find leakage points in underground pipe networks. Therefore, it is necessary to continuously monitor the changes in relevant data in the underground pipe network through technical means, and quickly and accurately identify and extract the leakage and pollution characteristics of the fluid in the pipeline, so as to quickly and accurately locate the leakage location.

[0004] The current underground pipe network leakage detection technology mainly includes active and passive detection methods. The passive detection method mainly involves personnel removing the manhole cover and manually checking the underground pipe network leakage points; the active detection method is based on the theory of sound waves or electromagnetic waves, and uses various methods and instruments to detect leakage in the early stage of underground leakage.

[0005] The existing technology has the following disadvantages: long time and high cost; it does not take into account the incompleteness of the pipe network wall, such as the development of holes and cracks. Under such conditions, it is impossible to ensure that the pipe network wall and the surrounding rock and soil medium are tightly integrated, and it is affected by other factors such as noise, resulting in inaccurate sound wave or electromagnetic wave data. Sewage and sludge outside the underground pipe network will be sucked into the pipe, making it impossible to quickly and accurately locate the leak. Due to the accumulation of sewage and sludge in the underground pipe network and the aging and clogging of the pipe network, the aperture of the underground pipe network has changed, which cannot be checked manually. Summary of the invention

[0006] In order to solve the problems existing in the above-mentioned prior art, the present invention provides an underground pipe network leakage pollution tracing device, including a mobile base, a control device, a tracer delivery device, a positioning device, a tracer sensor, a camera and a casing.

[0007] A flow rate sensor is provided on the mobile base to sense the flow rate of the liquid in the pipeline. The tracer delivery device is arranged on the mobile base, and the outer shell covers the tracer delivery device to protect the tracer delivery device and prevent collision. The outer shell is provided with a water-permeable hole for the medium in the pipeline to flow into the outer shell, so that the tracer can be smoothly delivered into the medium in the pipeline.

[0008] The positioning device, the tracer sensor and the camera are connected to the control device. The tracer sensor is arranged on the inner circumference of the shell to sense the tracer released by the tracer delivery device. The camera is arranged on the outer side of the shell to obtain the image inside the pipeline. The tracer delivery device is used to deliver the tracer in batches. The tracer delivery device and the mobile base are controlled by the control device.

[0009] The control device can be external, communicating via wired or wireless means and controlled manually; or it can be built-in, automatically finding the leakage location through artificial intelligence and other means.

[0010] Furthermore, the shell includes a mounting ring and a plurality of sub-shell assemblies; each sub-shell assembly includes a sub-shell, a first motor, a first connecting rod and a second connecting rod, the first motor is fixed on the mounting ring, the output end of the first motor is connected to one end of the first connecting rod, and the two ends of the second connecting rod are respectively hinged to the other end of the first connecting rod and the inner side of the sub-shell; the top ends of the sub-shells are connected together, and the mounting ring is installed on the tracer delivery device, so that each sub-shell can be opened outward under the drive of the first motor, so as to increase the distance of the tracer sensor as needed to obtain higher perception accuracy.

[0011] Furthermore, each subshell is provided with a tracer sensor.

[0012] Furthermore, the tracer delivery device includes a gas tank, a solenoid valve assembly and a tracer tank; the tracer tank includes a tank body, a piston and an orifice cap, the piston is slidably arranged in the tank body, and the orifice cap is arranged at the top opening of the tank body and can be opened outward in one direction; a tracer is arranged between the piston and the orifice cap, and a vent is arranged on the side wall of the tank body corresponding to the lower side of the piston, and the solenoid valve assembly connects the gas tank and the vent; the solenoid valve assembly is controlled by a control device, and the amount of tracer delivered in a single time can be controlled by controlling the opening and closing of the solenoid valve assembly.

[0013] Furthermore, tracer sensors are also provided on the outer circumference of the mobile base to increase the sensing accuracy.

[0014] Furthermore, the mobile base is also provided with a pressure sensor, a temperature sensor, an inclination sensor and / or a pollutant sensor, which can obtain corresponding information as needed to facilitate further determination of the leakage location.

[0015] The present invention also provides a method for using an underground pipe network leakage pollution tracing device, which is used for the tracing device as described above, and comprises the following steps: S1. Place a traceability device in the underground pipe network that needs to be detected to monitor fluid data.

[0016] S2. Use cameras to detect the diameter of underground pipes and collect images to preliminarily determine the area where leakage occurs, and move to that area using a mobile base.

[0017] S3. Release some tracers, collect tracer concentration information through tracer sensors, and determine leakage direction based on fluid data.

[0018] S4. Move in the direction of leakage by moving the base.

[0019] S5. Repeat operations S3-S4 until the leakage location is determined.

[0020] Furthermore, the outer shell includes a mounting ring and a plurality of sub-shell assemblies; each sub-shell assembly includes a sub-shell, a first motor, a first connecting rod and a second connecting rod, the first motor is fixed on the mounting ring, the output end of the first motor is connected to one end of the first connecting rod, and the two ends of the second connecting rod are respectively hinged to the other end of the first connecting rod and the inner side of the sub-shell; the top ends of the sub-shells are connected together, and the mounting ring is installed on the tracer delivery device so that each sub-shell can be opened outward under the drive of the first motor; each sub-shell is provided with a tracer sensor.

[0021] S3 also includes determining the current diameter of the underground pipe network, opening the sub-shell outward, increasing the distance between the tracer sensor and the tracer delivery device on the corresponding sub-shell; and calculating the distance between the corresponding tracer sensor and the tracer delivery device by the rotation angle of the corresponding first motor. When the diameter of the pipeline becomes smaller or the pipeline is silted up, the sub-shell is retracted inward to facilitate passage.

[0022] Furthermore, the determination method in S3 includes: optimizing the tracer concentration sequence based on the ant colony algorithm and outputting the results through iterative calculation; screening the calculation results of the improved ant colony algorithm and outputting the optimal result of the peak area of ​​the underground pipeline tracer concentration; constructing the optimization solution space of the underground pipeline leakage position; setting each ant to randomly select the underground pipeline network tracer placement position as the initial placement position, calculating the transfer probability for each ant k (k=1,2,3…n), and determining its tracer diffusion law through probability until the path sequence of all ants is recorded to form a path record table; collecting the optimal path in the path record table in real time, updating the pheromone, and after the first traversal is completed, selecting the ant with the shortest path, and the ant releases the pheromone in the next traversal, and then, after each traversal is completed, the pheromone concentration of each underground pipeline line is updated according to the pheromone released by the ant with the shortest path; judging whether it is stagnant and trapped in the local optimum.

[0023] Furthermore, each ant selects a path based on probability, which is determined by the pheromone concentration and the attractiveness of the path, and the attractiveness of the path is determined by the predicted underground pipe network leakage location and the availability of underground pipe network tracer diffusion; the calculation formula for the selection probability Pij is ; Where Pij is the probability of an ant choosing from node i to node j, is the pheromone concentration of ants from node i to node j, is the path attraction of the ant from node i to node j, and To adjust the parameters, is the pheromone concentration of the ant from node i to the node k that has not been reached, is the path attraction of the ant from node i to the unreached node k, and allowed is the set of nodes that the ant is about to visit.

[0024] In addition to being suitable for placing tracers in underground pipelines of different diameters, the present invention can also place a fixed amount of tracers at fixed locations in submerged aquifers, confined aquifers, and underground pipelines for oil and gas transportation, where tracers are difficult to place using the prior art, and find the leakage location.

[0025] The present invention can also observe the well wall conditions in real time, accurately determine the flow direction of fluid, monitor the real-time temperature, horizontal inclination angle, and leakage position, and has the advantages of being reusable, easy to carry, low cost, and not easy to damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 It is a schematic diagram of the traceability device of the present invention.

[0028] In the figure: 1. mobile base; 2. tracer delivery device; 3. positioning device; 4. tracer sensor; 5. camera; 6. housing; 7. flow rate sensor; 8. water permeable hole; 9. mounting ring; 10. sub-shell; 11. first motor; 12. first connecting rod; 13. second connecting rod; 15. gas tank; 16. solenoid valve assembly; 18. tank body; 19. piston; 20. orifice cap; 21. vent hole; 22. tracer. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not 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.

[0030] Embodiment 1:

[0031] See also Figure 1The tracing device of this embodiment includes a mobile base 1, a control device, a tracer delivery device 2, a positioning device 3, a tracer sensor 4, a camera 5 and a housing 6. Preferably, a lighting lamp is also provided at the camera 5 to provide lighting in the pipeline. This embodiment adopts an external control device, which is manually controlled, and a screen is provided at the control device.

[0032] The mobile base 1 is provided with a flow rate sensor 7 for sensing the flow rate of the liquid in the pipeline. The tracer delivery device 2 is arranged on the mobile base 1, and the shell 6 covers the tracer delivery device 2 to protect the tracer delivery device 2 from collision. The shell 6 is provided with a water-permeable hole 8 for the medium in the pipeline to flow into the shell 6, so that the tracer 22 can be smoothly delivered into the medium in the pipeline.

[0033] The positioning device 3, the tracer sensor 4 and the camera 5 are connected to the control device. The tracer sensor 4 is arranged on the inner circumference of the outer shell 6 to sense the tracer 22 released by the tracer delivery device 2; the camera 5 is arranged on the outer side of the outer shell 6 to obtain the image inside the pipeline; the tracer delivery device 2 is used to deliver the tracer 22 in batches, and the tracer delivery device 2 and the mobile base 1 are controlled by the control device.

[0034] The housing 6 of this embodiment has a telescopic function, specifically, the housing 6 includes a mounting ring 9 and a plurality of sub-housing components; each sub-housing component includes a sub-housing 10, a first motor 11, a first connecting rod 12 and a second connecting rod 13, and the sub-housing 10 is made of a flexible material; the first motor 11 is fixed on the mounting ring 9, the output end of the first motor 11 is connected to one end of the first connecting rod 12, and the two ends of the second connecting rod 13 are respectively hinged to the other end of the first connecting rod 12 and the inner side of the sub-housing 10; the top ends of the sub-housings 10 are connected together, and the mounting ring 9 is installed on the tracer delivery device 2, so that each sub-housing 10 can be opened outwards under the drive of the first motor 11, so as to increase the distance of the tracer sensor 4 as needed to obtain higher perception accuracy. Preferably, a tracer sensor 4 is provided on each sub-housing 10.

[0035] The tracer delivery device 2 of this embodiment includes a gas tank 15, a solenoid valve assembly 16 and a tracer tank; the tracer tank includes a tank body 18, a piston 19 and an orifice cap 20, the piston 19 is slidably arranged in the tank body 18, the orifice cap 20 is arranged at the top opening of the tank body 18, and a torsion spring is arranged at the connection position, which can be opened outward in one direction under a certain pressure and automatically closed when the pressure is insufficient. A tracer 22 is arranged between the piston 19 and the orifice cap 20, and the tank body 18 is provided with a vent hole 21 on the side wall corresponding to the lower side of the piston 19, and the solenoid valve assembly 16 connects the gas tank 15 and the vent hole 21. The solenoid valve assembly 16 is controlled by a control device. By controlling the opening and closing of the solenoid valve assembly 16, a certain amount of gas can be injected into the tank body 18 under the piston 19, pushing the piston 19 to move upward, and squeezing out a certain amount of tracer 22. By controlling the opening time of the solenoid valve assembly 16, the amount of tracer 22 delivered in a single time can be controlled.

[0036] In this embodiment, a tracer sensor 4 is also provided on the outer circumference of the mobile base 1 to increase the sensing accuracy. The mobile base 1 is also provided with a pressure sensor, a temperature sensor, an inclination sensor and / or a pollutant sensor, which can obtain corresponding information as needed to facilitate further determination of the leakage location.

[0037] Embodiment 2:

[0038] This embodiment is a method for using the traceability device, comprising the following steps: S1. Place a traceability device in the underground pipe network that needs to be detected to monitor fluid data.

[0039] S2. Detect the diameter of the underground pipe network and collect images through the camera 5, preliminarily determine the area where the leakage occurs, and move to the area through the mobile base 1.

[0040] S3. Add part of the tracer 22, collect the concentration information of the tracer 22 through the tracer sensor 4, and determine the leakage direction in combination with the fluid data.

[0041] S4, moving the base 1 in the leakage direction.

[0042] S5. Repeat operations S3-S4 until the leakage location is determined.

[0043] Preferably, the housing 6 includes a mounting ring 9 and a plurality of sub-housing assemblies; each sub-housing assembly includes a sub-housing 10, a first motor 11, a first connecting rod 12 and a second connecting rod 13, the first motor 11 is fixed on the mounting ring 9, the output end of the first motor 11 is connected to one end of the first connecting rod 12, and the two ends of the second connecting rod 13 are respectively hinged to the other end of the first connecting rod 12 and the inner side of the sub-housing 10; the top ends of the sub-housings 10 are connected together, and the mounting ring 9 is installed on the tracer delivery device 2, so that each sub-housing 10 can be opened outwards under the drive of the first motor 11; each sub-housing 10 is provided with a tracer sensor 4.

[0044] S3 also includes determining the current diameter of the underground pipe network, opening the sub-shell 10 outward, increasing the distance between the tracer sensor 4 and the tracer delivery device 2 on the corresponding sub-shell 10, and calculating the distance between the corresponding tracer sensor 4 and the tracer delivery device 2 by the rotation angle of the corresponding first motor 11. When the diameter of the pipeline becomes smaller or the pipeline is silted up, the sub-shell 10 is retracted inward to facilitate passage.

[0045] The determination method in S3 includes: optimizing the concentration sequence of the tracer 22 based on the ant colony algorithm, and outputting the results through iterative calculation; screening the calculation results of the improved ant colony algorithm, and outputting the optimal results of the peak concentration area of ​​the underground pipeline tracer 22; constructing the optimization solution space of the underground pipeline leakage position; setting each ant to randomly select the underground pipeline network tracer 22 placement position as the initial placement position, calculating the transfer probability for each ant k (k=1,2,3…n), and determining its tracer 22 diffusion law through probability until the path sequence of all ants is recorded to form a path record table; collecting the optimal path in the path record table in real time, updating the pheromone, and after the first traversal is completed, selecting the ant with the shortest path, and the ant releases the pheromone in the next traversal. After that, after each traversal is completed, the pheromone concentration of each underground pipeline line is updated according to the pheromone released by the ant with the shortest path; judging whether it is stagnant and trapped in a local optimum.

[0046] Furthermore, each ant selects a path according to probability, which is determined by the pheromone concentration and the attractiveness of the path, and the attractiveness of the path is determined by the predicted underground pipe network leakage location and the availability of underground pipe network tracer 22 diffusion; the calculation formula for the selection probability Pij is ; Where Pij is the probability of an ant choosing from node i to node j, is the pheromone concentration of ants from node i to node j, is the path attraction of the ant from node i to node j, and To adjust the parameters, is the pheromone concentration of the ant from node i to the node k that has not been reached, is the path attraction of the ant from node i to the unreached node k, and allowed is the set of nodes that the ant is about to visit.

[0047] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An underground pipe network leakage pollution tracing device, characterized in that: The invention comprises a mobile base, a control device, a tracer delivery device, a positioning device, a tracer sensor, a camera and a shell; the tracer delivery device is arranged on the mobile base, a flow rate sensor is arranged on the mobile base, the shell covers the tracer delivery device, and a water permeable hole is arranged on the shell; the positioning device, the tracer sensor and the camera are connected to the control device, the tracer sensor is arranged on the inner circumference of the shell, and the camera is arranged on the outer side of the shell; the tracer delivery device is used for delivering the tracer in batches, and the tracer delivery device and the mobile base are controlled by the control device.

2. The underground pipe network leakage pollution tracing device according to claim 1 is characterized in that: The shell includes a mounting ring and a plurality of subshell assemblies; each subshell assembly includes a subshell, a first motor, a first connecting rod and a second connecting rod, the first motor is fixed on the mounting ring, the output end of the first motor is connected to one end of the first connecting rod, and the two ends of the second connecting rod are respectively hinged to the other end of the first connecting rod and the inner side of the subshell; the top ends of the subshells are connected together, and the mounting ring is installed on the tracer delivery device, so that the subshells can be opened outwards under the drive of the first motor.

3. The underground pipe network leakage pollution tracing device according to claim 2 is characterized in that: Each subshell is provided with a tracer sensor.

4. The underground pipe network leakage pollution tracing device according to claim 1 is characterized in that: The tracer delivery device comprises a gas tank, a solenoid valve assembly and a tracer tank; the tracer tank comprises a tank body, a piston and an orifice cap, the piston is slidably arranged in the tank body, the orifice cap is arranged at the top opening of the tank body and can be opened outward in one direction; a tracer is arranged between the piston and the orifice cap, a vent hole is arranged on the side wall of the tank body corresponding to the lower side of the piston, and the solenoid valve assembly connects the gas tank and the vent hole; the solenoid valve assembly is controlled by a control device.

5. The underground pipe network leakage pollution tracing device according to claim 1 is characterized in that: Tracer sensors are also arranged on the outer circumference of the mobile base.

6. The underground pipe network leakage pollution tracing device according to claim 1 is characterized in that: The mobile base is also provided with a pressure sensor, a temperature sensor, an inclination sensor and / or a pollutant sensor.

7. A method for using an underground pipe network leakage pollution tracing device, used for the tracing device as claimed in claim 1, characterized in that: The following steps are involved: S1. Place the traceability device in the underground pipe network that needs to be detected to monitor the fluid data; S2, using cameras to detect the diameter of underground pipes and collect images, preliminarily determine the area where leakage occurs, and move to that area using a mobile base; S3, releasing part of the tracer, collecting the tracer concentration information through the tracer sensor, and combining it with the fluid data to determine the leakage direction; S4, moving in the leakage direction by moving the base; S5. Repeat operations S3-S4 until the leakage location is determined.

8. The method for using the underground pipe network leakage pollution source tracing device according to claim 7 is characterized in that: The housing comprises a mounting ring and a plurality of sub-housing assemblies; each sub-housing assembly comprises a sub-housing, a first motor, a first connecting rod and a second connecting rod, the first motor is fixed on the mounting ring, the output end of the first motor is connected to one end of the first connecting rod, and the two ends of the second connecting rod are respectively hinged to the other end of the first connecting rod and the inner side of the sub-housing; the top ends of the sub-housings are connected together, and the mounting ring is installed on the tracer delivery device so that the sub-housings can be opened outwards under the drive of the first motor; each sub-housing is provided with a tracer sensor; S3 also includes determining the current diameter of the underground pipe network, opening the sub-shell outward, and increasing the distance between the tracer sensor and the tracer delivery device on the corresponding sub-shell; and calculating the distance between the corresponding tracer sensor and the tracer delivery device by the rotation angle of the corresponding first motor.

9. The method for using the underground pipe network leakage pollution source tracing device according to claim 7 is characterized in that: The determination method in S3 includes: optimizing the tracer concentration sequence based on the ant colony algorithm and outputting the results through iterative calculation; screening the calculation results of the improved ant colony algorithm and outputting the optimal results of the peak concentration area of ​​the underground pipeline tracer; constructing the optimization solution space of the underground pipeline leakage position; setting each ant to randomly select the underground pipeline network tracer placement position as the initial placement position, calculating the transfer probability for each ant k (k=1,2,3…n), and determining its tracer diffusion law through probability until the path sequence of all ants is recorded to form a path record table; collecting the optimal path in the path record table in real time, updating the pheromone, and selecting the ant with the shortest path after the first traversal is completed. The ant releases pheromone in the next traversal, and then, after each traversal is completed, the pheromone concentration of each underground pipeline line is updated according to the pheromone released by the ant with the shortest path; judging whether it is stagnant and trapped in the local optimum.

10. The method for using the underground pipe network leakage pollution source tracing device according to claim 8, characterized in that: Each ant chooses a path based on probability, which is determined by the pheromone concentration and the attractiveness of the path. The attractiveness of the path is determined by the predicted underground pipe network leakage location and the availability of underground pipe network tracer diffusion; the calculation formula for the selection probability Pij is ; Where Pij is the probability of an ant choosing from node i to node j, is the pheromone concentration of ants from node i to node j, is the path attraction of the ant from node i to node j, and To adjust the parameters, is the pheromone concentration of the ant from node i to the node k that has not been reached, is the path attraction of the ant from node i to the unreached node k, and allowed is the set of nodes that the ant is about to visit.

Images