Copper sulfate leakage detection device and detection method

Abstract

The invention relates to the technical field of anti-seepage engineering, and discloses a copper sulfate leakage detection device and method.When a quadruped robot walks on a geomembrane along a planned path, a foot end sensing device detects the voltage of a foot end, a hose filled with a copper sulfate solution transmits the voltage to a voltage measuring device, and the voltage measuring device measures the leakage of copper sulfate; the voltage measuring device calculates the potential difference of the diagonal foot end according to the voltage and uploads the potential difference to the telemetering ground station, the telemetering ground station draws a potential cloud picture according to the potential difference, and then the leakage position of the impermeable layer is judged according to the position of zero potential. The quadruped robot carries out efficient detection along a planned path, the voltage measuring device is connected with the foot end sensing device through a hose filled with a copper sulfate solution to measure the potential difference of the diagonal foot ends, and an equipotential diagram of the dynamic potential difference of the two diagonal feet at each position is drawn; therefore, the leakage position of the impermeable layer is judged by determining the position of the zero potential, the detection work efficiency and the data accuracy are improved, and the manpower consumption is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of anti-seepage engineering, and in particular to a copper sulfate leakage detection device and a detection method. Background Art

[0002] Geomembrane has the advantages of good anti-seepage effect, convenient construction, strong corrosion resistance, high electrical insulation, low cost and high efficiency, and has been widely used in various anti-seepage projects. However, since geomembranes are easily damaged during production, on-site laying and welding, they can cause leakage into the ground during operation, polluting the surrounding environment and threatening people's lives and health. Therefore, it is very important to conduct leakage detection on geomembranes after construction.

[0003] At present, the dipole method is widely used in the leakage detection of geomembranes with covering layers because of its advantages such as no need for embedded components and low cost. However, the current dipole leakage detection method is to manually carry a dipole sensor to detect the leakage of the geomembrane, which has low detection efficiency, poor traceability of data results and high labor costs. Summary of the invention

[0004] In view of this, the present invention provides a copper sulfate leakage detection device and detection method to solve the problems of low detection efficiency, poor traceability of data results and high labor cost in manually carrying a dipole sensor to detect leakage of geomembranes.

[0005] In the first aspect, the present invention provides a copper sulfate leakage detection device, wherein there is a potential difference between the upper and lower covering layers of a geomembrane, and the device comprises: a quadruped robot, a foot-end sensing device, a hose filled with a copper sulfate solution, a voltage measuring device, and a telemetry ground station, wherein:

[0006] The foot-end sensing device is installed at the foot end of the quadruped robot, and the voltage measuring device is installed on the back of the quadruped robot. The foot-end sensing device is connected to the voltage measuring device through a hose filled with copper sulfate solution;

[0007] When the quadruped robot walks on the geomembrane along the planned path, the foot-end sensing device detects the foot-end voltage, and the hose filled with copper sulfate solution transmits the voltage to the voltage measuring device. The voltage measuring device calculates the potential difference of the diagonal foot end according to the voltage, and uploads the potential difference to the telemetry ground station. The telemetry ground station draws a potential cloud map according to the potential difference, and then determines the leakage position of the anti-seepage layer according to the position of zero potential.

[0008] The present invention provides a copper sulfate leakage detection device, comprising: a quadruped robot, a foot-end sensing device, a hose filled with copper sulfate solution, a voltage measuring device and a telemetry ground station, wherein the foot-end sensing device is installed at the foot end of the quadruped robot, the voltage measuring device is installed on the back of the quadruped robot, and the foot-end sensing device is connected to the voltage measuring device through a hose filled with copper sulfate solution. When the quadruped robot walks on the geomembrane along the planned path, the foot-end sensing device detects the foot-end voltage, the hose filled with copper sulfate solution transmits the voltage to the voltage measuring device, the voltage measuring device calculates the potential difference of the diagonal foot end according to the voltage, and uploads the potential difference to the telemetry ground station, the telemetry ground station draws a potential cloud map according to the potential difference, and then judges the leakage position of the anti-seepage layer according to the position of the zero potential. The quadruped robot in the present invention can perform autonomous and efficient detection along the planned path. The voltage measuring device is connected to the foot-end sensing device through a hose filled with copper sulfate solution to measure the potential difference at the diagonal foot end, and an equipotential line diagram of the dynamic potential difference on the two diagonal feet at each position is drawn through a telemetry ground station. The leakage position of the anti-seepage layer is then determined according to the position of zero potential, thereby improving the detection efficiency, traceability of data results and reducing manpower consumption.

[0009] In an optional embodiment, the device further comprises: a first test electrode and a second test electrode, wherein:

[0010] The first test electrode is placed on the upper layer of the geomembrane and connected to the positive electrode of the power supply, and the second test electrode is placed on the lower layer of the geomembrane and connected to the negative electrode of the power supply.

[0011] In an optional embodiment, the device further includes: the foot end sensing device includes: a metal conductive material, the metal conductive material is embedded in the bottom surface of the foot end, and the metal conductive material is fused and contacted with the copper sulfate solution.

[0012] The foot end of the quadruped robot is modified by embedding metal conductive material on the bottom surface of the foot end and fusion contacting with copper sulfate solution. The diagonal foot end is used as a pair of dipole electrodes. By transforming the foot end into a composite electrode, the quadruped robot can detect the potential difference data of each position at a high decibel during the inspection process, greatly improving the detection sensitivity.

[0013] In an optional embodiment, the metal conductive material includes a copper sheet.

[0014] Copper sheets are the preferred metal conductive material due to their excellent electrical conductivity, good thermal conductivity, strong corrosion resistance and stable performance.

[0015] In an optional embodiment, the device further comprises: a copper sulfate solution release device and a valve, wherein:

[0016] The copper sulfate solution release device is connected to the hose, and the valve is arranged at the connection between the hose and the foot end sensing device;

[0017] The copper sulfate solution releasing device is used to replenish the copper sulfate solution filled in the hose, and the valve is used to adjust the copper sulfate solution seepage in the hose.

[0018] A valve for releasing the solution is set on the side of the foot end to adjust the copper sulfate solution in the hose to leak out slightly, so that the voltage measuring device can receive the voltage value obtained at the bottom of the foot. By replenishing the copper sulfate solution in the hose, the voltage conduction interruption caused by insufficient copper sulfate solution in the hose is avoided.

[0019] In an optional embodiment, the hose filled with copper sulfate solution is connected to the voltage measuring device via a detection electrode.

[0020] The detection electrode connects the voltage measuring device to a hose filled with copper sulfate solution to ensure that the voltage and current values ​​obtained at the foot end are quickly transmitted to the voltage measuring device.

[0021] In a second aspect, the present invention provides a copper sulfate leakage detection method, based on the copper sulfate leakage detection device of the first aspect or any corresponding embodiment thereof, the method comprising:

[0022] Establishing a potential difference between the upper and lower covers of the geomembrane;

[0023] When the quadruped robot walks on the geomembrane along the planned path, collecting the potential difference between the diagonal foot ends of the quadruped robot;

[0024] A potential cloud diagram is drawn according to the potential difference, and then the leakage position of the anti-seepage layer is determined according to the position of zero potential.

[0025] The present invention provides a method for detecting copper sulfate leakage, comprising: establishing a potential difference between the upper and lower covering layers of a geomembrane; collecting the potential difference of the diagonal foot end of the quadruped robot when the quadruped robot walks on the geomembrane along a planned path; drawing a potential cloud map according to the potential difference, and then judging the leakage position of the anti-seepage layer according to the position of zero potential. The quadruped robot in the present invention can perform autonomous and efficient detection along the planned path, and the voltage measuring device is connected to the foot end sensing device through a hose filled with copper sulfate solution to measure the potential difference of the diagonal foot end, and draws an equipotential line map of the dynamic potential difference on the two diagonal feet at each position through a telemetry ground station, and then judging the leakage position of the anti-seepage layer according to the position of zero potential, thereby improving the detection efficiency, the traceability of the data results and reducing manpower consumption.

[0026] In an optional embodiment, establishing a potential difference between the upper and lower covering layers of the geomembrane comprises:

[0027] Place the test electrode on the upper layer of the geomembrane and connect it to the positive pole of the power supply;

[0028] Place a test electrode under the geomembrane and connect it to the negative pole of the power supply.

[0029] In an optional embodiment, when the quadruped robot walks on the geomembrane along the planned path, collecting the potential difference of the diagonal foot ends of the quadruped robot includes:

[0030] Planning a walking path for the quadruped robot;

[0031] When the quadruped robot walks on the geomembrane along the planned path, a foot-end sensing device is used to detect the foot-end voltage of the quadruped robot;

[0032] The voltage is conducted to a voltage measuring device using a hose filled with a copper sulfate solution;

[0033] The potential difference at the diagonal foot ends of the quadruped robot is calculated in the voltage measuring device.

[0034] In an optional embodiment, the method further includes:

[0035] Use the valve to adjust the amount of copper sulfate solution seeping out of the hose.

[0036] A valve for releasing the solution is arranged on the side of the foot end to regulate the slight seepage of the copper sulfate solution in the hose, so as to facilitate the voltage measuring device to receive the voltage value obtained at the sole of the foot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 is a schematic structural diagram of a copper sulfate leakage detection device according to an embodiment of the present invention;

[0039] Figure 2 It is a schematic flow chart of a copper sulfate leakage detection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] The invention provides a copper sulfate leakage detection device, which is applied to leakage detection of geomembranes with covering layers. There is a potential difference between the upper and lower covering layers of the geomembrane.

[0045] like Figure 1 As shown, the copper sulfate leakage detection device in the embodiment of the present invention includes: a quadruped robot, a foot-end sensing device, a hose filled with copper sulfate solution, a voltage measuring device and a telemetry ground station. The foot-end sensing device is installed at the foot end of the quadruped robot, the voltage measuring device is installed on the back of the quadruped robot, and the foot-end sensing device is connected to the voltage measuring device through a hose filled with copper sulfate solution. Figure 1 The side view of the quadruped robot is shown in Figure 1 Only two legs of the quadruped robot are shown, and the other two legs are not shown.

[0046] Specifically, when the quadruped robot walks on the geomembrane along the planned path, the foot-end sensing device detects the foot-end voltage, and the hose filled with copper sulfate solution transmits the voltage to the voltage measuring device. The voltage measuring device calculates the potential difference of the diagonal foot end according to the voltage, and uploads the potential difference to the telemetry ground station. The telemetry ground station draws a potential cloud map according to the potential difference, and then judges the leakage position of the anti-seepage layer according to the position of zero potential. Among them, judging the leakage position of the anti-seepage layer according to the position of zero potential means judging the leakage position of the anti-seepage layer by the change in the direction of the high potential difference formed by the zero potential of the contact with the earth at the leakage point and the adjacent position at a certain distance. In an embodiment of the present invention, a quadruped robot is used as a carrier, carrying a detection device based on copper sulfate solution as a conductor, and a foot-end sensing device is installed on the four feet of the robot. When the quadruped robot walks on the geomembrane along the planned path, the voltage measuring device is connected to the foot-end sensing device through a hose filled with copper sulfate solution to measure the potential difference at the diagonal foot end, and the potential difference is uploaded to the telemetry ground station through digital transmission, thereby realizing autonomous leakage detection of the anti-seepage layer.

[0047] The modified copper sulfate detection device can be better suitable for the assembly of the foot end of the quadruped robot, and the obtained potential difference value is more accurate, the generated potential difference contour is more accurate, and it is better suitable for geomembrane leakage detection with a covering layer.

[0048] The present invention provides a copper sulfate leakage detection device, comprising: a quadruped robot, a foot-end sensing device, a hose filled with copper sulfate solution, a voltage measuring device and a telemetry ground station, wherein the foot-end sensing device is installed at the foot end of the quadruped robot, the voltage measuring device is installed on the back of the quadruped robot, and the foot-end sensing device is connected to the voltage measuring device through a hose filled with copper sulfate solution. When the quadruped robot walks on the geomembrane along the planned path, the foot-end sensing device detects the foot-end voltage, the hose filled with copper sulfate solution transmits the voltage to the voltage measuring device, the voltage measuring device calculates the potential difference of the diagonal foot end according to the voltage, and uploads the potential difference to the telemetry ground station, the telemetry ground station draws a potential cloud map according to the potential difference, and then judges the leakage position of the anti-seepage layer according to the position of the zero potential. The quadruped robot in the present invention can perform autonomous and efficient detection along the planned path. The voltage measuring device is connected to the foot-end sensing device through a hose filled with copper sulfate solution to measure the potential difference at the diagonal foot end, and an equipotential line diagram of the dynamic potential difference on the two diagonal feet at each position is drawn through a telemetry ground station. The leakage position of the anti-seepage layer is then determined according to the position of the zero potential value, thereby improving the detection efficiency and reducing manpower consumption.

[0049] In an optional embodiment, the copper sulfate leakage detection device further includes: a first test electrode and a second test electrode, wherein the first test electrode is placed on the upper layer of the geomembrane and connected to the positive electrode of the high voltage power supply, and the second test electrode is placed on the lower layer of the geomembrane and connected to the negative electrode of the high voltage power supply.

[0050] Specifically, a test electrode is placed on the upper layer of the geomembrane and connected to the positive pole of a high-voltage power supply, and a test electrode is placed on the lower layer of the geomembrane and connected to the negative pole of the high-voltage power supply. A high voltage is applied during the detection process to establish an electric potential difference between the upper and lower covering layers of the geomembrane.

[0051] In an optional embodiment, the device further includes: the foot end sensing device includes: a metal conductive material, the metal conductive material is embedded in the bottom surface of the foot end, and the metal conductive material is fused and contacted with the copper sulfate solution.

[0052] Specifically, the foot end of the quadruped robot is modified, and metal conductive material is embedded on the bottom surface of the foot end and fused with copper sulfate solution. The diagonal foot end is used as a pair of dipole electrodes. By transforming the foot end into a composite electrode, the quadruped robot can detect the potential difference data of each position at a high decibel during the inspection process, greatly improving the detection sensitivity.

[0053] In the embodiment of the present invention, the copper sheet is preferably used as the metal conductive material due to its excellent electrical conductivity, good thermal conductivity, strong corrosion resistance and stable performance.

[0054] In an optional embodiment, the device further comprises: a copper sulfate solution release device and a valve. The copper sulfate solution release device is connected to the hose, and the valve is arranged at the connection between the hose and the foot end sensing device. The copper sulfate solution release device is used to replenish the copper sulfate solution in the hose, and the valve is used to adjust the amount of copper sulfate solution seepage in the hose.

[0055] Specifically, the hose mainly connects the foot-end sensing device and the voltage measuring device with a full copper sulfate solution to ensure that the voltage and current values ​​obtained at the foot-end are quickly transmitted to the voltage measuring device. A valve for releasing the solution is set on the side of the foot-end to adjust the copper sulfate solution in the hose to slightly seep out, so that the voltage measuring device can receive the voltage value obtained at the bottom of the foot. By replenishing the full copper sulfate solution in the hose, it is avoided that the full copper sulfate solution in the hose is insufficient, resulting in interruption of voltage conduction.

[0056] In an optional embodiment, the hose filled with copper sulfate solution is connected to the voltage measuring device through the detection electrode.

[0057] Specifically, the detection electrode connects the voltage measuring device to a hose filled with copper sulfate solution, ensuring that the voltage value and current value obtained at the foot end are quickly transmitted to the voltage measuring device.

[0058] The present invention provides a copper sulfate leakage detection method, based on the copper sulfate leakage detection device of the above embodiment, Figure 2 : is a flow chart of a copper sulfate leakage detection method according to an embodiment of the present invention, such as Figure 2 As shown, the process includes the following steps:

[0059] Step S11, establishing a potential difference between the upper and lower covering layers of the geomembrane.

[0060] Specifically, step S11 includes the following process:

[0061] Step S111, placing a test electrode on the upper layer of the geomembrane and connecting it to the positive electrode of the power supply.

[0062] Step S112, placing a test electrode under the geomembrane and connecting it to the negative pole of the power supply.

[0063] In an embodiment of the present invention, a test electrode is placed on the upper layer of the geomembrane and connected to the positive electrode of a high-voltage power supply, and a test electrode is placed on the lower layer of the geomembrane and connected to the negative electrode of the high-voltage power supply. A high voltage is applied during the detection process to establish an electric potential difference between the upper and lower covering layers of the geomembrane.

[0064] In an embodiment of the present invention, the potential difference can be established in the following manner: water is sprinkled on the surface of the covering layer above the geomembrane to ensure that the covering layer is in a conductive state; a high voltage power supply is set to a voltage of 200V on the covering layer above the geomembrane, and a voltage of 0V is set on the covering layer below the geomembrane.

[0065] Step S12, when the quadruped robot walks on the geomembrane along the planned path, the potential difference at the diagonal foot ends of the quadruped robot is collected.

[0066] Specifically, step S12 includes the following process:

[0067] Step S121, planning a walking path for the quadruped robot.

[0068] Step S122, when the quadruped robot walks on the geomembrane along the planned path, the foot-end sensing device is used to detect the foot-end voltage of the quadruped robot.

[0069] Step S123, using a hose filled with copper sulfate solution to transmit the voltage to a voltage measuring device;

[0070] Step S124, calculating the potential difference at the diagonal foot ends of the quadruped robot in the voltage measuring device.

[0071] In an embodiment of the present invention, the copper sulfate leakage detection device proposed in the above embodiment is used to inspect the geomembrane to complete the leakage detection of the geomembrane. The specific leakage detection process is as follows: when the quadruped robot walks on the geomembrane along the planned path, the foot end sensing device detects the foot end voltage, and the hose filled with copper sulfate solution transmits the voltage to the voltage measuring device, and the voltage measuring device calculates the potential difference of the diagonal foot end according to the voltage.

[0072] Step S13, drawing a potential cloud map according to the potential difference, and then determining the leakage position of the anti-seepage layer according to the position of zero potential.

[0073] Specifically, the voltage measuring device uploads the potential difference to the telemetry ground station, and the telemetry ground station draws a potential cloud map based on the potential difference, and then determines the leakage position of the anti-seepage layer according to the position of zero potential.

[0074] In the embodiment of the present invention, after the copper sulfate leakage detection device completes the inspection, the Surfer software is used to draw a contour map. The leakage point position can be accurately determined by the prominent position of the positive and negative pole changes of the potential in the contour map.

[0075] The present invention provides a method for detecting copper sulfate leakage, comprising: establishing a potential difference between the upper and lower covering layers of a geomembrane; collecting the potential difference of the diagonal foot ends of the quadruped robot when the quadruped robot walks on the geomembrane along a planned path; drawing a potential cloud map according to the potential difference, and then judging the leakage position of the anti-seepage layer according to the position of zero potential. The quadruped robot in the present invention can perform autonomous and efficient detection along the planned path, and the voltage measuring device is connected to the foot end sensing device through a hose filled with copper sulfate solution to measure the potential difference of the diagonal foot end, and draws an equipotential line map of the dynamic potential difference on the two diagonal feet at each position through a telemetry ground station, and then judges the leakage position of the anti-seepage layer according to the position of zero potential, thereby improving the detection efficiency and reducing manpower consumption.

[0076] In an optional embodiment, the method further includes:

[0077] Step S14, using a valve to adjust the amount of copper sulfate solution seepage in the hose.

[0078] Specifically, a valve for releasing the solution is arranged on the side of the foot end to regulate the slight leakage of the copper sulfate solution in the hose, so as to facilitate the voltage measuring device to receive the voltage value obtained at the sole of the foot.

[0079] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A copper sulfate leakage detection device, characterized in that: There is a potential difference between the upper and lower covering layers of the geomembrane. The device includes: a quadruped robot, a foot-end sensing device, a hose filled with copper sulfate solution, a voltage measuring device and a telemetry ground station, wherein: The foot-end sensing device is installed at the foot end of the quadruped robot, and the voltage measuring device is installed on the back of the quadruped robot. The foot-end sensing device is connected to the voltage measuring device through a hose filled with copper sulfate solution; When the quadruped robot walks on the geomembrane along the planned path, the foot-end sensing device detects the foot-end voltage, and the hose filled with copper sulfate solution transmits the voltage to the voltage measuring device. The voltage measuring device calculates the potential difference of the diagonal foot end according to the voltage, and uploads the potential difference to the telemetry ground station. The telemetry ground station draws a potential cloud map according to the potential difference, and then determines the leakage position of the anti-seepage layer according to the position of zero potential.

2. The copper sulfate leakage detection device according to claim 1, characterized in that: The device further comprises: a first test electrode and a second test electrode, wherein: The first test electrode is placed on the upper layer of the geomembrane and connected to the positive electrode of the power supply, and the second test electrode is placed on the lower layer of the geomembrane and connected to the negative electrode of the power supply.

3. The copper sulfate leakage detection device according to claim 1, characterized in that: The device also includes: the foot end sensing device includes: a metal conductive material, the metal conductive material is embedded in the bottom surface of the foot end, and the metal conductive material is fused and contacted with the copper sulfate solution.

4. The copper sulfate leakage detection device according to claim 3, characterized in that: The metal conductive material includes a copper sheet.

5. The copper sulfate leakage detection device according to claim 3, characterized in that: The device also includes: a copper sulfate solution release device and a valve, wherein: The copper sulfate solution release device is connected to the hose, and the valve is arranged at the connection between the hose and the foot end sensing device; The copper sulfate solution releasing device is used to replenish the copper sulfate solution filled in the hose, and the valve is used to adjust the copper sulfate solution seepage in the hose.

6. The copper sulfate leakage detection device according to claim 1, characterized in that: The hose filled with copper sulfate solution is connected to the voltage measuring device through the detection electrode.

7. A copper sulfate leakage detection method, characterized in that: Based on the copper sulfate leakage detection device according to any one of claims 1 to 6, the method comprises: Establishing a potential difference between the upper and lower covers of the geomembrane; When the quadruped robot walks on the geomembrane along the planned path, the potential difference at the diagonal foot ends of the quadruped robot is collected; A potential cloud diagram is drawn according to the potential difference, and then the leakage position of the anti-seepage layer is determined according to the position of zero potential.

8. The copper sulfate leakage detection method according to claim 7, characterized in that: The step of establishing a potential difference between the upper and lower covering layers of the geomembrane comprises: Place the test electrode on the upper layer of the geomembrane and connect it to the positive pole of the power supply; Place a test electrode under the geomembrane and connect it to the negative pole of the power supply.

9. The copper sulfate leakage detection method according to claim 7, characterized in that: When the quadruped robot walks on the geomembrane along the planned path, collecting the potential difference of the diagonal foot ends of the quadruped robot includes: Planning a walking path for the quadruped robot; When the quadruped robot walks on the geomembrane along the planned path, a foot-end sensing device is used to detect the foot-end voltage of the quadruped robot; The voltage is conducted to a voltage measuring device using a hose filled with a copper sulfate solution; The potential difference at the diagonal foot ends of the quadruped robot is calculated in the voltage measuring device.

10. The copper sulfate leakage detection method according to claim 7, characterized in that: The method further comprises: Use the valve to adjust the amount of copper sulfate solution seeping out of the hose.

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