Non-stop water health detection system and detection method for water supply pipeline

Abstract

A robot is connected with an external power supply and an upper computer through cables, adopts a modular tubular structure, and carries a sensor group, an electromagnetic generator and a power mechanism; the sensor group is used for collecting image information and sound information in the pipeline and posture information of the robot, and the power mechanism is used for driving the robot to advance in the pipeline; the cable winding and unwinding unit is used for winding and unwinding a cable; the precise positioning unit realizes precise positioning of the robot by means of electromagnetic wave transmission and comprises an electromagnetic generator and a receiver, and the electromagnetic generator and the receiver are respectively used for transmitting and receiving low-frequency electromagnetic waves; the upper computer receives cable length information output by the cable winding and unwinding unit, completes preliminary positioning of the robot in combination with a water supply network electronic map, controls advancing of the robot in combination with posture information, receives image information and sound information, completes defect detection of a pipeline, and finally outputs a health detection report in combination with accurate positioning.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline detection, and particularly relates to a non-stop water health detection system and method for water supply pipelines. Background Art

[0002] The urban water supply system is an important lifeline project. Once the water supply capacity decreases or fails due to various reasons, it will have a serious impact on the normal production and living order of the city. Affected by many complex factors such as pipe materials, interface types, laying environments, and transported water quality, water supply pipelines will inevitably have problems such as corrosion, scaling, interface cracking, and sand hole leaks. Therefore, it is necessary to regularly detect water supply pipelines.

[0003] Traditional pipeline detection is carried out by professionals, with a large workload and low efficiency. Existing pipeline inspection robots can move inside pipelines and mostly use conventional inertial navigation modules for positioning. However, for rigid pipelines with a large burial depth, the GPS positioning signal will be weakened, and the positioning accuracy of this module will be greatly reduced, making it impossible to accurately find the leak point location. Summary of the Invention

[0004] The present invention provides a self-driven water supply pipeline detection device, which solves the technical problems such as poor positioning accuracy of existing pipeline detection.

[0005] The present invention can be realized through the following technical solutions:

[0006] A non-stop water health detection system for water supply pipelines includes a robot, a precise positioning unit, and a cable winding and unwinding unit.

[0007] The robot is connected to an external power supply and a host computer through a cable, and adopts a modular tubular structure. It is equipped with a sensor group, an electromagnetic generator, and a power mechanism. The sensor group is used to collect image information, sound information inside the pipeline, and the attitude information of the robot itself. The power mechanism is used to drive the robot to travel inside the pipeline.

[0008] The cable winding and unwinding unit is used to wind and unwind the cable.

[0009] The precise positioning unit realizes precise positioning of the robot by means of electromagnetic wave transmission, and includes an electromagnetic generator and a receiver. The electromagnetic generator is used to emit low-frequency electromagnetic waves, and the receiver is arranged on the ground and used to receive low-frequency electromagnetic waves.

[0010] The host computer receives the cable length information output by the cable winding and unwinding unit, combines it with the electronic map of the water supply network to complete the preliminary positioning of the robot, receives the image information and sound information to complete the defect detection of the pipeline, combines the attitude information to control the travel of the robot, and finally combines the precise positioning to output a health detection report.

[0011] Further, the robot includes a head cabin, a tail cabin, and a plurality of functional cabins disposed between the head cabin and the tail cabin. They are all connected to each other through a tubular sealing mechanism, which is used to provide a passage for the cable to pass through and achieve the sealing between the passage and the cabin body;

[0012] A clamping mechanism is provided at the end of the tail cabin, and a power conversion unit is provided inside. The clamping mechanism is used to provide pressure clamping for the cable;

[0013] A power mechanism is provided at the end of the head cabin, a vision sensor is provided at the head end, and a control unit is provided inside. A corresponding function detection unit is provided inside each functional cabin for detecting corresponding defects in the water supply pipeline;

[0014] The power conversion unit is connected to an external power supply through a cable to supply power to the control unit, the power mechanism, and the function detection unit.

[0015] Further, the tubular sealing mechanism includes a wire threading column tube disposed inside the cabin body. The inside of the wire threading column tube allows the cable to pass through. One end of it is provided with a step. A connecting tube is sleeved outside the small-size part. A ring-shaped protrusion is provided along its circumferential direction. The large-size part is in threaded cooperation with the end cover. The inside of the connecting tube also allows the cable to pass through.

[0016] The end cover is fitted with the end of the cabin body. A first threaded through hole for the connecting tube to pass through is provided at its central position. The first threaded through hole is in threaded cooperation with the large-size part. A first annular stop piece is provided at one end of it. The first annular stop piece contacts the ring-shaped protrusion.

[0017] Further, a nested sealing mechanism is used to seal between the end of the tail cabin and the cable. The nested sealing mechanism includes an end cover, a first sealing sleeve, and a first tightening nut that are nested and fitted in sequence. A through hole for the cable to pass through is provided at the central position of the end cover. An extension tube is provided extending outward along the axial direction of the through hole. The outside of the extension tube is in threaded cooperation with the first tightening nut;

[0018] The first sealing sleeve is sleeved outside the cable. One end of it is in a frustum shape. The small head of the frustum shape is inserted into the inside of the extension tube. The end face of the large head contacts the second annular stop piece at the end of the first tightening nut. The inner ring of the second annular stop piece is matched with the outer diameter of the cable.

[0019] Further, the clamping mechanism includes a upper clamping block and a lower clamping block that cooperate with each other. A notch for the cable to pass through is provided at the central position between the upper clamping block and the lower clamping block. The inner dimension of the notch is smaller than the outer dimension of the cable.

[0020] A plurality of threaded holes are provided on both sides of the upper clamping block and the lower clamping block. Bolts pass through the corresponding threaded holes to fix the upper clamping block and the lower clamping block on the cross plate of the T-shaped bracket, and the vertical plate of the T-shaped bracket is fixed at the end of the tail cabin.

[0021] Furthermore, the outer shape of the vertical plate matches the end of the tail cabin. A through hole for the cable to pass through is provided at its central position, and a power conversion unit is assembled at the end of the cross plate.

[0022] Furthermore, one of the functional cabins is set as a leak point detection cabin, including a columnar cabin body with a hollowed-out structure on the side wall close to the tail end. Inside the columnar cabin body, the hollowed-out area and the non-hollowed-out area are sealed and isolated by a partition board.

[0023] For the hollowed-out area, a hydrophone is provided on the partition board.

[0024] For the non-hollowed-out area, an electromagnetic generator and a leak point detection control circuit board are provided on the partition board. The electromagnetic generator is used to generate and emit electromagnetic waves with a preset frequency.

[0025] Furthermore, the hydrophone includes a spherical detection end and a rod-shaped fixed end. A second threaded through hole for the rod-shaped fixed end to pass through is provided on the partition board. The second threaded through hole is in threaded cooperation with a second tightening nut. A third annular stop piece is provided on the end face close to the spherical detection end. The second tightening nut has an external thread structure.

[0026] A second sealing sleeve is sleeved outside the rod-shaped fixed end. The second sealing sleeve is inserted inside the second threaded through hole. One end of it is in a frustum shape. The small head of the frustum shape abuts against the third annular stop piece, and the large head contacts the second tightening nut.

[0027] Furthermore, the electromagnetic generator is in a columnar structure. It is assembled inside a columnar frame through a plurality of clamps. The bottom surface of the columnar frame is assembled on the partition board, and a leak point detection control circuit board is assembled on its side wall with a cut surface.

[0028] A non-stop water health detection method for a water supply pipeline based on the non-stop water health detection system for a water supply pipeline described above includes the following steps:

[0029] Step 1: According to the electronic map of the water supply pipe network, determine the pipeline range to be detected. With the assistance of the cable winding and unwinding unit, lower the robot into the pipeline.

[0030] Step 2: The robot real-time collects the image information, sound information inside the pipeline and the attitude information of the robot itself, and transmits them to the upper computer in real time.

[0031] Step 3: The operator determines the walking direction of the robot based on the electronic map of the water supply network and the image information, and combines it with the cable length information to achieve preliminary positioning. The upper computer processes the image information and sound information. If a suspected defect is found, a warning is issued and the robot is controlled to stop moving forward;

[0032] Step 4: The operator reviews the corresponding image information or sound information based on the warning. If it is determined to be a defect, the upper computer controls the electromagnetic generator to work. The operator uses the receiver to search for electromagnetic waves on the ground and determines the geographical location with the strongest electromagnetic wave intensity to achieve precise positioning and determine the exact location of the pipeline defect.

[0033] The beneficial technical effects of the present invention are as follows:

[0034] 1. Considering that low-frequency electromagnetic waves have less attenuation and strong penetration ability during transmission, the present invention ingeniously mounts the electromagnetic wave generator on the robot and sets the mobile receiver on the ground. On the premise of determining the preliminary position of the robot, the receiver is used to search for the low-frequency electromagnetic waves emitted by the electromagnetic wave generator. According to the strength of the electromagnetic wave signal, precise positioning of the robot can be completed, and thus effective defect positioning of underground pipelines, especially steel pipelines, can be achieved. The positioning accuracy is high, the application range is wider, and the detection system of the present invention has a high level of intelligence, which can greatly save the workload of operators, improve the detection efficiency, and has good practicability;

[0035] At the same time, for the preliminary positioning of the robot, it can be achieved only by relying on the electronic map of the water supply network, the image information collected by the robot in real time, and the length information of the cable wound and released, without complex algorithms. Therefore, the cost can be effectively reduced, and it more meets the actual application requirements of pipeline detection.

[0036] 2. By means of the tubular sealing mechanism, each cabin is connected together, making the overall detection device a split modular structure. It can not only achieve electrical connection and communication connection between cabins, but also achieve sealing between cabins, improving the waterproof performance of the overall device. At the same time, the split modular structure is more conducive to expanding or reducing the detection function, with stronger flexibility and wider applicability, and is convenient for performing maintenance, with better practicability.

[0037] 3. With the threaded cooperation of the wire threading column tube and the end cover, the first annular stop piece is urged against the end face of the annular protrusion, thereby clamping the connecting pipe between the two, realizing the misaligned clamping seal between the connecting pipe and the cabin. Compared with the conventional sealing ring structure, the present invention has a better sealing effect and stronger waterproof performance;

[0038] Meanwhile, considering the particularity of the end of the tail cabin, the present invention designs a nested sealing mechanism. By means of the threaded fit between the end cap with an extension pipe and the first tightening nut, the second annular stop piece is urged against the large head end face of the first sealing sleeve, and the first sealing sleeve is tightly squeezed into the gap between the cable and the extension pipe. The hydrophone and the isolation plate adopt a similar sealing structure. Therefore, the water supply pipeline detection device of the present invention has good waterproof performance, provides a good working environment for the internal components, and helps to extend the service life of the entire device.

[0039] 4. A clamping mechanism is provided at the end of the tail cabin to provide a pressured clamp for the cable, ensuring that the cable will not be pulled out of the detection device due to external force, providing guarantee for the energy transmission from an external power source, improving the endurance of the entire device, and at the same time reducing the influence of the cable tension on the movement of the water supply pipeline detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is the overall structure schematic diagram of the present invention;

[0041] Figure 2 is the overall structure schematic diagram of the robot of the present invention;

[0042] Figure 3 is the exploded schematic diagram of the overall structure of the present invention;

[0043] Figure 4 is the overall structure schematic diagram of the tubular sealing mechanism of the present invention;

[0044] Figure 5 is the overall structure schematic diagram of the nested sealing mechanism of the present invention;

[0045] Figure 6 is the overall structure schematic diagram of the fastening and clamping mechanism of the present invention;

[0046] Figure 7 is the overall structure schematic diagram of the leak detection cabin of the present invention;

[0047] Wherein, 1 - head cabin, 11 - power mechanism, 12 - camera, 13 - lighting lamp, 2 - tail cabin, 21 - fastening and clamping mechanism, 211 - upper clamping block, 212 - lower clamping block, 213 - T-shaped bracket, 22 - power conversion unit, 3 - functional cabin, 31 - isolation plate, 32 - hydrophone, 33 - electromagnetic generator, 34 - leak detection control circuit board, 35 - clamp, 36 - second tightening nut, 37 - second sealing sleeve, 4 - tubular sealing mechanism, 41 - wire threading column pipe, 42 - annular protrusion, 5 - cable, 6 - connecting pipe, 7 - nested sealing mechanism, 71 - first sealing sleeve, 72 - first tightening nut, 73 - extension pipe. DETAILED DESCRIPTION OF THE INVENTION

[0048] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0049] As Figure 1 shown, the present invention provides a non-stop water health detection system for water supply pipelines, including a robot, a precise positioning unit, and a cable winding and unwinding unit. The robot is connected to an external power supply and a host computer through a cable, and adopts a modular tubular structure. It is equipped with a sensor group, an electromagnetic generator, and a power mechanism. The sensor group is used to collect image information, sound information, and the attitude information of the robot itself inside the pipeline. The power mechanism is used to drive the robot to move inside the pipeline. The cable winding and unwinding unit is used to wind and unwind the cable. The precise positioning unit realizes the precise positioning of the robot by means of electromagnetic wave transmission, including an electromagnetic generator and a receiver. The electromagnetic generator is used to emit low-frequency electromagnetic waves. The receiver is arranged on the ground and adopts a movable structure to receive low-frequency electromagnetic waves. The host computer receives the cable length information output by the cable winding and unwinding unit, combines it with the electronic map of the water supply network, completes the preliminary positioning of the robot, receives the image information and sound information, completes the defect detection of the pipeline, and combines the attitude information to control the movement of the robot. Finally, combined with the precise positioning, a health detection report is output. In this way, through the cable length information of winding and unwinding, combined with the electronic map of the water supply network, the preliminary positioning of the robot is realized. Then, by using the electromagnetic generator and the receiver in cooperation, the precise positioning of the robot is realized, so as to complete the precise positioning of the pipeline fault point. At the same time, combined with image information, sound information, etc., the defect detection of pipeline leakage, scaling, rust, etc. is completed, and a health detection report is output. It has a high level of intelligence, can greatly save the workload of operators, improve the detection efficiency, has good practicability, and the low-frequency electromagnetic wave has less attenuation and strong penetration ability during the transmission process, can effectively complete the defect positioning of underground pipelines, especially steel pipelines, has high positioning accuracy, and has a wider application range.

[0050] Specifically as follows:

[0051] As Figures 2 - 7As shown in the figure, the robot includes a head cabin 1, a tail cabin 2, and a plurality of functional cabins 3 disposed between the head cabin 1 and the tail cabin 2. They are all connected to each other through a tubular sealing mechanism 4, which is used to provide a passage for the cable to pass through and achieve the sealing between the passage and the cabin body. A fastening and clamping mechanism 21 is provided at the end of the tail cabin 2, and a power conversion unit 22 is provided inside. The fastening and clamping mechanism 21 is used to provide pressure clamping for the cable. A power mechanism 11 is provided at the end of the head cabin 1, and a control unit is provided inside. A corresponding function detection unit is provided inside each functional cabin, which is used to detect the corresponding defects of the water supply pipeline. The power conversion unit 22 is connected to an external power supply through a cable to supply power to the control unit, the power mechanism, and the function detection unit. In this way, the connection between each cabin is realized through the tubular sealing mechanism, which can not only realize the electrical connection and communication connection between the cabins, but also ensure the sealing between the cabins. At the same time, the split modular structure of the robot can be realized, which is convenient for the function expansion and maintenance of the robot. In addition, by introducing an external power supply through a cable, a continuous and stable working power supply is provided for the robot, ensuring the endurance of the robot and providing a physical basis for the detection of water supply pipelines in a larger range.

[0052] Specifically as follows:

[0053] Considering that the overall structure of the water supply pipeline detection device is split, and the cabins are connected together through a tubular sealing mechanism instead of an integral structure, we set the power mechanism 11 at the end of the head cabin 1 to facilitate towing other cabins to move in the water supply pipeline. The power mechanism 11 can be built with multiple propellers, and a visual detection unit such as a camera 12 and a lighting lamp 13 can also be assembled at the top of the head cabin 1 to collect image information inside the water supply pipeline. Through image processing and calculation, the internal defects of the pipeline such as corrosion and scaling are analyzed. A three-axis gyroscope is assembled on the internal control unit to detect the attitude information of the robot itself, and the relative position of the water supply pipeline detection device inside the pipeline is obtained through analysis, which is convenient for attitude adjustment and travel control, etc.

[0054] Since the power supply of the water supply pipeline detection device comes from an external power supply, and its electric energy is transmitted to each module unit through a cable, during the movement process, the cable will be subjected to a certain tensile force. Therefore, we set a clamping mechanism with anti-tensile ability in the tail cabin to prevent the cable from being pulled out of the water supply pipeline detection device during the movement process and reduce the influence of the cable tensile force on the movement of the water supply pipeline detection device.

[0055] Such as Figure 4As shown, the tubular sealing mechanism 4 is arranged between the end of the head cabin 1 and the functional cabin 3, between two adjacent functional cabins 3, and between the functional cabin 3 and the front end of the tail cabin 2. It includes a wire threading column tube 41 arranged inside the cabin body. The inside of the wire threading column tube 41 allows the cable 5 to pass through. One end of it is provided with a step, so that the end forms two pipes with different outer diameters. A connecting pipe 6 is sleeved on the outside of the corresponding small-size part, and the corresponding large-size part is in threaded cooperation with the end cover. The inside of the connecting pipe 6 also allows the cable 5 to pass through. In this way, the connected connecting pipe 6 and the wire threading column tube 41 can lead the external cable into the inside of the cabin body. At the same time, we can also arrange a ring-shaped protrusion 42 along the circumference on the outside of the small-size part. The sleeved connecting pipe 6 can adopt a hose structure to increase the tightness and firmness of the connection between the connecting pipe 6 and the wire threading column tube 41 and prepare for subsequent sealing;

[0056] The end cover cooperates with the end of the cabin body. A first threaded through hole for the connecting pipe to pass through is arranged at its central position. The first threaded through hole is in threaded cooperation with the large-size part. One end of it is provided with a first annular stop piece, and the first annular stop piece contacts the end face of the first ring-shaped protrusion. Therefore, after the connecting pipe 6 is sleeved on the small-size part, the end cover is screwed onto the large-size part. As the wire threading column tube 41 is gradually screwed into the first threaded through hole, the first annular stop piece gradually abuts against the ring-shaped protrusion 42, so as to clamp the connecting pipe 6 between the ring-shaped protrusion 42 and the first annular stop piece to achieve the sealing between the cabin body and the connecting pipe 6.

[0057] For the end of the tail cabin, there is no need to connect other cabin bodies, only to connect the cable 5. Therefore, there is no need for a tubular sealing mechanism for sealing. We designed a nested sealing mechanism 7, as Figure 5 shown. The nested sealing mechanism 7 includes an end cover, a first sealing sleeve 71 and a first tightening nut 72 that are nested and matched in sequence. They are all sleeved on the cable 5. A through hole for the cable 5 to pass through is arranged at the central position of the end cover. An extension tube 73 is arranged outward along the axial direction of the through hole. The outside of the extension tube 73 is in threaded cooperation with the first tightening nut 72; the first sealing sleeve 71 is sleeved on the outside of the cable. One end of it is in a frustum shape. The small head of the frustum shape is inserted into the inside of the extension tube 73, and the end face of the large head contacts the second annular stop piece at the end of the first tightening nut 72. The inner circle of the second annular stop piece matches the outer diameter of the cable 5.

[0058] During assembly, first sleeve the first sealing sleeve 71 on the cable, then sleeve the end cover and the first tightening nut 72 on both sides of the first sealing sleeve 71 respectively, then insert the small head of the first sealing sleeve into the inside of the extension tube 73, and finally screw the end cover onto the extension tube 73. As the first tightening nut 72 is gradually screwed in, the second annular stop piece abuts against the large head of the frustum shape, so as to gradually squeeze the first sealing sleeve 71 into the inside of the extension tube 73 to achieve the sealing between the cable and the tail cabin.

[0059] As Figure 6 shown, the fastening and clamping mechanism 21 is inside near the end of the tail cabin, including a cooperating upper clamping block 211 and a lower clamping block 212. A notch for the cable 5 to pass through is provided at the central position between the upper clamping block 211 and the lower clamping block 212. The inner dimension of the notch is smaller than the outer dimension of the cable 5. A plurality of threaded holes are provided on both sides of the upper clamping block 211 and the lower clamping block 212. Bolts pass through the corresponding threaded holes to fix the upper clamping block 211 and the lower clamping block 212 on the cross plate of the T-shaped bracket 213, and the vertical plate of the T-shaped bracket 213 is fixed at the end of the tail cabin.

[0060] We can design the outer shape of the vertical plate to fit the inner cavity of the cabin, such as circular, and a through hole for the cable 5 to pass through is provided at its central position. Then the vertical plate can be assembled to the end of the tail cabin through bolts. At the same time, since the notch between the upper clamping block 211 and the lower clamping block 212 is smaller than the cable, after the bolts are assembled, the cable 5 will be firmly clamped between the clamping plates, realizing clamping with pressure.

[0061] Considering that a power conversion unit 22 is assembled inside the tail cabin, we can appropriately lengthen the cross plate to facilitate the assembly of the power conversion unit 22 to the end of the cross plate. The corresponding power conversion control board 23 is also assembled on the cross plate, and the clamping blocks are assembled to other positions on the cross plate close to the power conversion unit 22.

[0062] The specific number and detection functions of the functional cabins 3 can be determined according to actual needs. For example, if leak point detection needs to be performed, one of the functional cabins can be set as a leak point detection cabin, and a hydrophone is used to achieve leak point detection.

[0063] Considering the working principle of the hydrophone, we design the side wall of the columnar cabin near the tail end into a hollow structure, as Figure 7 shown. Inside the columnar cabin, the hollow area and the non-hollow area are sealed and isolated by a partition board 31. The partition board 31 can be a circular plate that fits the columnar cabin, and the seal between the partition board 31 and the columnar cabin is achieved through a plurality of sealing rings.

[0064] For the hollow area, a hydrophone 32 is provided on the partition board 31;

[0065] For the non-hollow area, an electromagnetic generator 33 and a leak point detection control circuit board 34 are provided on the partition board 31. The electromagnetic generator 33 is used to generate and emit electromagnetic waves with a preset frequency, which can be used in cooperation with a receiver on the ground to achieve precise positioning of the water supply pipeline detection device, so as to determine the precise position of the leak point on the water supply pipeline.

[0066] The electromagnetic generator 33 has a columnar structure and is assembled inside a columnar frame through a plurality of clamps 35. The bottom surface of the columnar frame is assembled on the isolation plate 31, and its side wall is provided with a cut surface, on which a leakage detection control circuit board 34 is assembled.

[0067] The hydrophone 32 includes a spherical detection end and a rod-shaped fixed end. Considering that the hydrophone 32 also needs to be sealed, its sealing structure is similar to the sealing structure between the tail cabin and the cable. We have provided a second threaded through hole on the isolation plate 31 for the rod-shaped fixed end to pass through. The second threaded through hole is in threaded cooperation with a second tightening nut 36. The second tightening nut 36 can adopt an external thread structure. A third annular stop piece is provided on the end surface of the second threaded through hole close to the spherical detection end. A second sealing sleeve 37 is sleeved outside the rod-shaped fixed end. The second sealing sleeve 37 has the same structure as the first sealing sleeve 71 and is inserted inside the second threaded through hole. One end of it is frustum-shaped, and the small head of the frustum-shaped part abuts against the third annular stop piece, and the large head contacts the second tightening nut 36.

[0068] Similarly, during assembly, first insert the rod-shaped fixed end of the hydrophone 32 into the second threaded through hole, then sleeve the second sealing sleeve 37 onto the rod-shaped fixed end, and move the second sealing sleeve 37 along the rod-shaped fixed end so that the small head is inserted into the interior of the second threaded hole. Finally, screw the second tightening nut 36 into the second threaded through hole, thereby gradually squeezing the second sealing sleeve 37 into the second threaded through hole to achieve the sealing of the hydrophone 32.

[0069] When using the non-stop water health detection system of the present invention to perform health detection on a water supply pipeline, the ground power supply is transmitted to the robot through a cable, and communication between the robot and the upper computer is achieved at the same time. The robot is equipped with a power mechanism by itself, so it is not necessary to stop the water supply to perform health detection. The specific steps are as follows:

[0070] Step 1: According to the electronic map of the water supply pipe network, determine the pipeline range to be detected. With the assistance of the cable winding and unwinding unit, lower the robot into the pipeline. An entrance can be opened at the pipeline to facilitate the lowering of the robot. At the same time, according to the electronic map of the water supply pipe network, record the lowering point, that is, the starting point of the robot's travel.

[0071] Step 2: The robot real-time collects the image information, sound information inside the pipeline and the attitude information of the robot itself, and transmits them to the upper computer in real time.

[0072] The head cabin of the robot is equipped with a vision sensor, a three-axis gyroscope, a three-axis accelerometer, etc., to complete the detection of the robot's attitude information and the image information inside the pipeline. The function cabin is internally equipped with a hydrophone, which can collect the sound information inside the pipeline and transmit it to the upper computer to adjust the robot's attitude so that it can walk steadily inside the pipeline. At the same time, further analyze the image information and sound information to find corresponding defects.

[0073] Step 3: The operator determines the walking direction of the robot based on the electronic map of the water supply network and the image information, and combines the cable length information to achieve preliminary positioning. The host computer processes the image information and sound information. If a suspected defect is found, a warning is issued and the robot is controlled to stop moving forward.

[0074] Considering the weight of the robot itself and the cable, on the premise of ensuring that the robot can walk steadily, the operator can determine the walking direction of the robot according to the image information of the pipeline and in combination with the electronic map of the water supply network. Then the cable winding and unwinding unit can record the length of the cable wound and unwound, so as to determine the preliminary position of the robot. If the host computer processes the image or sound information and finds any abnormality, it can automatically issue a warning and at the same time control the robot to stop moving forward, and the operator can conduct a review, such as repeatedly viewing and comparing the abnormal sound segments or images to determine whether it is a real defect.

[0075] Step 4: The operator reviews the corresponding image information or sound information according to the warning. If it is determined to be a defect, the host computer controls the electromagnetic generator to work. The operator uses the receiver to search for electromagnetic waves on the ground and determines the geographical location with the maximum electromagnetic wave intensity to achieve precise positioning and determine the exact location of the pipeline defect.

[0076] If the operator determines it to be a real defect, the electromagnetic generator carried by the robot starts to work and continuously emits low-frequency electromagnetic waves such as 2.5 Hz. This electromagnetic wave has a small attenuation and strong penetrability and is emitted radially outward. At this time, the operator holds the receiver and searches for and receives the low-frequency electromagnetic waves on the ground. The closer to the position of the robot, the stronger the corresponding signal. By finding the geographical location with the maximum electromagnetic wave intensity, the exact location of the pipeline defect can be determined.

[0077] Although the specific implementation manners of the present invention are described above, those skilled in the art should understand that these are only examples. Without departing from the principle and essence of the present invention, various changes or modifications can be made to these implementation manners. Therefore, the protection scope of the present invention is defined by the appended claims.

Claims

1. A non-stop water supply health detection system for water supply pipelines, characterized by: Including robots, precise positioning units, and cable retracting units. The robot is connected to an external power source and a host computer through cables, and adopts a modular tubular structure. It is equipped with a sensor group, an electromagnetic generator and a power mechanism. The sensor group is used to collect image information, sound information and posture information of the robot inside the pipeline, and the power mechanism is used to drive the robot to move inside the pipeline; The cable retracting unit is used for retracting cables; The precise positioning unit realizes precise positioning of the robot by means of electromagnetic wave transmission, and comprises an electromagnetic generator and a receiver, wherein the electromagnetic generator is used to emit low-frequency electromagnetic waves, and the receiver is arranged on the ground and is used to receive the low-frequency electromagnetic waves; The host computer receives the cable length information output by the cable retracting and releasing unit, and completes the preliminary positioning of the robot in combination with the electronic map of the water supply network, receives image information and sound information, completes the defect detection of the pipeline, and controls the movement of the robot in combination with the posture information, and finally outputs a health detection report in combination with precise positioning.

2. The non-stop water supply health detection system for water supply pipelines according to claim 1 is characterized in that: The robot comprises a head cabin, a tail cabin and a plurality of functional cabins arranged between the head cabin and the tail cabin, which are connected to each other through a tubular sealing mechanism, and the tubular sealing mechanism is used to provide a channel for the cable to pass through and to achieve sealing between the channel and the cabin body; A clamping mechanism is provided at the end of the tail compartment, and a power conversion unit is provided inside the clamping mechanism, and the clamping mechanism is used to provide pressure clamping for the cable; A power mechanism is provided at the end of the head cabin, a visual sensor is provided at the head end, a control unit is provided inside, and a corresponding function detection unit is provided inside each of the function cabins to realize corresponding defect detection of the water supply pipeline; The power conversion unit is connected to an external power source via a cable to supply power to the control unit, the power mechanism, and the function detection unit.

3. The non-stop water supply health detection system for water supply pipelines according to claim 2 is characterized in that: The tubular sealing mechanism comprises a threading column tube arranged inside the cabin, the interior of the threading column tube is for cables to pass through, one end of the threading column tube is provided with a step, a connecting tube is sleeved on the outer side of the small-sized portion, a circle of annular protrusions is provided along the circumference of the connecting tube, the large-sized portion is threadedly matched with the end cover, and the interior of the connecting tube is also for cables to pass through. The end cover cooperates with the end of the cabin body, and a first threaded through hole for the connecting pipe to pass through is arranged at its central position. The first threaded through hole cooperates with the thread of the large-size part, and a first annular stopper is arranged at one end thereof, and the first annular stopper contacts with the annular protrusion.

4. The non-stop water supply health detection system for water supply pipelines according to claim 2, characterized in that: A nested sealing mechanism is used between the end of the tail compartment and the cable to achieve sealing, and the nested sealing mechanism includes an end cover, a first sealing sleeve and a first tightening nut which are nested and matched in sequence, a through hole for the cable to pass through is provided at the central position of the end cover, an extension tube is provided outwardly along the axial direction of the through hole, and the outer side of the extension tube is threadedly matched with the first tightening nut; The first sealing sleeve is sleeved on the outside of the cable, and one end of the first sealing sleeve is in a truncated cone shape. The small head of the truncated cone is inserted into the interior of the extension tube, and the end face of the large head contacts the second annular stopper at the end of the first tightening nut, and the inner circle of the second annular stopper matches the outer diameter of the cable.

5. The non-stop water supply health detection system for water supply pipelines according to claim 2, characterized in that: The clamping mechanism includes an upper clamping block and a lower clamping block that cooperate with each other. A recess for the cable to pass through is arranged at the central position between the upper clamping block and the lower clamping block. The inner dimension of the recess is smaller than the outer dimension of the cable. A plurality of threaded holes are arranged on both sides of the upper clamping block and the lower clamping block. Bolts pass through the corresponding threaded holes to fix the upper clamping block and the lower clamping block to the horizontal plate of the T-shaped bracket. The vertical plate of the T-shaped bracket is fixed to the end of the tail cabin.

6. The non-stop water supply health detection system for water supply pipelines according to claim 5, characterized in that: The shape of the vertical plate matches the end of the tail cabin, a through hole for cables to pass through is arranged at the central position of the vertical plate, and a power conversion unit is installed at the end of the horizontal plate.

7. The non-stop water supply health detection system for water supply pipelines according to claim 2, characterized in that: One of the functional cabins is configured as a leak detection cabin, including a columnar cabin body with a hollow structure on the side wall near the tail end, and the hollow area and the non-hollow area are sealed and isolated by an isolation plate inside the columnar cabin body. For the hollow area, a hydrophone is arranged on the isolation plate; For the non-hollow area, an electromagnetic generator and a leakage detection control circuit board are arranged on the isolation plate, and the electromagnetic generator is used to generate and emit electromagnetic waves of a preset frequency.

8. The non-stop water supply health detection system for water supply pipelines according to claim 7, characterized in that: The hydrophone comprises a spherical detection end and a rod-shaped fixed end, a second threaded through hole through which the rod-shaped fixed end passes is arranged on the isolation plate, the second threaded through hole is threadedly matched with a second tightening nut, a third annular stopper is arranged on the end surface thereof close to the spherical detection end, and the second tightening nut adopts an external thread structure; A second sealing sleeve is sleeved on the outer side of the rod-shaped fixed end. The second sealing sleeve is inserted into the second threaded through hole. One end of the second sealing sleeve is truncated cone-shaped. The small head of the truncated cone is against the third annular stop plate, and the large head is in contact with the second tightening nut.

9. The non-stop water supply health detection system for water supply pipelines according to claim 7, characterized in that: The electromagnetic generator is a columnar structure, which is assembled inside a columnar frame through a plurality of clamps. The bottom surface of the columnar frame is assembled on an isolation plate, and a section is provided on the side wall thereof, on which a leakage detection control circuit board is assembled.

10. A method for detecting the health of a water supply pipeline without stopping water flow based on the system for detecting the health of a water supply pipeline without stopping water flow according to claim 1, characterized in that The following steps are involved: Step 1: Determine the range of the pipeline to be inspected based on the electronic map of the water supply network, and lower the robot into the pipeline with the assistance of the cable retracting unit; Step 2: The robot collects image information, sound information and posture information of the pipeline in real time, and transmits it to the host computer in real time; Step 3: The operator determines the robot's walking direction based on the electronic map and image information of the water supply network, and achieves preliminary positioning based on the cable length information. The host computer processes the image information and sound information. If a suspected defect is found, an early warning is issued and the robot is controlled to stop moving. Step 4: The operator reviews the corresponding image information or sound information based on the early warning. If it is determined to be a defect, the host computer controls the electromagnetic generator to work. The operator uses the receiver to search for electromagnetic waves on the ground and determine the geographical location with the highest electromagnetic wave intensity to achieve precise positioning to determine the exact location of the pipeline defect.

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