Fluorescence tracing quantitative detection system and method for underwater leakage point of reservoir area

Abstract

The invention discloses a fluorescent tracing quantitative detection system and method for underwater leakage points in a reservoir area. The system comprises an unmanned remote control submersible, a fluorescent tracing pigment spraying device, a laser exciter and an image acquisition device, wherein the fluorescent tracing pigment spraying device, the laser exciter and the image acquisition device are carried on the unmanned remote control submersible; the fluorescent tracing pigment spraying device is used for spraying fluorescent tracing pigment to the leakage point area; the laser exciter is used for emitting laser with a specific wavelength to a leakage point area so as to excite the fluorescent tracing pigment to generate fluorescent light; and the image acquisition device is used for acquiring a pigment diffusion image of the leakage point area. The problem that traditional pigments (such as ink and potassium permanganate) are not observed obviously in a weak seepage field and an environment with poor visibility is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of leakage detection in reservoirs and the reservoir areas of hydropower stations, and particularly relates to a fluorescence tracing quantitative detection system and method for underwater leakage points in a reservoir area. Background Art

[0002] The problem of reservoir leakage directly affects the effectiveness of the reservoir and even endangers the safety of the dam, so leakage control becomes particularly important. Underwater leakage in the reservoir area is a very concealed type of leakage. Especially under high water level conditions, it is difficult to directly observe and detect, which affects subsequent leakage analysis and leakage control measures. Therefore, it is very important to determine the location of underwater leakage points in the reservoir area and conduct leakage assessment.

[0003] Geophysical methods are widely used to identify potential leakage areas in the reservoir area. However, the leakage areas delineated by this method often have a large area and limited accuracy. Therefore, it is necessary to further verify and detect these suspected leakage areas on this basis.

[0004] For example, Chinese invention patent CN117848613A discloses an underwater leakage detection and rapid positioning device. This device precisely locates the leakage position through the cooperation of a hydrophone and an inkjet device with a pen-barrel type underwater special camera, and determines the shape through a scanning sonar. The piston drive motor can spray the colored ink inside the syringe-type ink cartridge at the leakage position. By observing the flow direction of the ink at the leakage position, the situation of the leakage position is evaluated, realizing the precise positioning of the underwater leakage position and the analysis of the leakage situation.

[0005] At present, the detection of underwater leakage points in the reservoir area mainly relies on the visual inspection method. By spraying ink on the suspected leakage area and observing the flow direction of the ink to determine the position of the leakage point. However, when a weak seepage field generated by a small leakage point and limited water visibility make it difficult to drive the ink to form an obvious visible track, the recognition by the naked eye is significantly reduced, directly affecting the precise positioning of the underwater leakage source. In addition, evaluating the leakage characteristics (leakage ratio and leakage volume) of each leakage point in the reservoir area has the following significance: ① Leakage points with a relatively large proportion of leakage volume are usually the main sources of reservoir leakage and may concentrate on structurally weak areas (such as contact zones, dam foundation fissures, etc.), which need to be preferentially treated to quickly reduce the overall risk. ② Treating leakage points with a high proportion of leakage volume can quickly reduce the total leakage volume with less investment and can quickly restore the reservoir capacity and economic benefits. ③ Concentrated areas of large leakage points often expose design or construction problems (such as insufficient depth of the anti-seepage curtain, improper treatment of the contact zone). By analyzing the distribution and leakage volume of the leakage points, it can help to judge the leakage problem and provide a basis for the subsequent anti-seepage treatment plan. When there are multiple leakage points in the reservoir area, the visual inspection method has deficiencies in analyzing and evaluating the specific leakage characteristics of each leakage point and is difficult to provide effective guidance for the subsequent analysis of leakage channels and the formulation of leakage control measures. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a fluorescence tracer quantitative detection system for underwater leakage points in a reservoir area to solve the problem that traditional pigments (such as ink, potassium permanganate) are not clearly observable in a weak seepage field and an environment with poor visibility. The present invention also provides a fluorescence tracer quantitative detection method for underwater leakage points in a reservoir area to analyze and evaluate the leakage characteristics of multiple leakage points in the reservoir area, providing a basis for subsequent analysis of leakage channels and formulation of leakage treatment measures.

[0007] On the one hand, the present invention provides a fluorescence tracer quantitative detection system for underwater leakage points in a reservoir area,

[0008] including a remotely operated underwater vehicle and a fluorescence tracer pigment injection device, a laser exciter, and an image acquisition device mounted on the remotely operated underwater vehicle;

[0009] The fluorescence tracer pigment injection device is used to inject fluorescence tracer pigment into the leakage point area;

[0010] The laser exciter is used to emit laser with a specific wavelength to the leakage point area to excite the fluorescence tracer pigment to generate fluorescence;

[0011] The image acquisition device is used to acquire the pigment diffusion image in the leakage point area.

[0012] Further, the fluorescence tracer pigment injection device includes:

[0013] A robotic arm installed on the remotely operated underwater vehicle;

[0014] A pigment tank installed on the remotely operated underwater vehicle for storing fluorescence tracer pigment;

[0015] A piezoelectric nozzle provided at the output end of the robotic arm for injecting fluorescence tracer pigment, and the piezoelectric nozzle is connected to the pigment tank through a pipeline.

[0016] Further, the laser exciter uses a 532nm green laser.

[0017] Further, the image acquisition device includes an underwater camera and a filter system provided at the lens of the underwater camera, and the filter system is used to allow the fluorescence that excites the fluorescence tracer pigment to pass through and shield light of other wavelength bands.

[0018] Further, it also includes an illumination device mounted on the remotely operated underwater vehicle for assisting navigation lighting during non-fluorescence observation.

[0019] Further, it further includes a ground workstation, which is electrically connected to the remotely operated underwater vehicle through a communication transmission cable.

[0020] Further, it further includes an acoustic beacon on the water surface and a positioning system. The acoustic beacon on the water surface is arranged on the water surface, and the positioning system is used to calculate the transmission time and phase difference of the acoustic wave signal between the remotely operated underwater vehicle and the acoustic beacon on the water surface to determine the relative position between the two.

[0021] On the other hand, the present invention provides a fluorescence tracer quantitative detection method for underwater leakage points in a reservoir area, including the following steps:

[0022] Step S10: Based on the possible leakage areas divided in the reservoir area, determine the distribution range and boundary of the possible leakage areas;

[0023] Step S20: The remotely operated underwater vehicle enters the possible leakage area, observes the bottom topography characteristics and the movement of the flow field, and determines the suspected leakage points;

[0024] Step S30: The remotely operated underwater vehicle moves to the area close to the leakage point, and the image acquisition device takes pictures of the leakage point area to obtain the background image within the range of the leakage point;

[0025] Step S40: The fluorescence tracer pigment spraying device sprays the fluorescence tracer pigment into the leakage point area;

[0026] Step S50: The laser exciter emits laser to the underwater area where the fluorescence tracer pigment is sprayed to excite the fluorescence tracer pigment to generate fluorescence;

[0027] Step S60: During the diffusion process of the fluorescence tracer pigment, the image acquisition device takes interval pictures of the leakage point area to obtain the fluorescence images at each moment, and records the time stamp at the same time;

[0028] Step S70: The remotely operated underwater vehicle moves to the next possible leakage area, and repeats steps S20 - S70 until all detection work is completed;

[0029] Step S80: Preprocess the background image and each fluorescence image, respectively obtain the pixel B(t) of the background image of each leakage point and the pixel S(t) of each fluorescence image, and calculate the cumulative fluorescence intensity of each leakage point;

[0030] Step S90: After obtaining the cumulative fluorescence intensity of each leakage point, judge whether there is leakage at the detection point according to the cumulative fluorescence intensity. If there is leakage, obtain the leakage amount of each leakage point according to the fluorescence intensity - leakage amount mapping model.

[0031] Further, in step S80, the method for calculating the cumulative fluorescence intensity of each leakage point is as follows:

[0032] If the fluorescence images are taken at fixed time intervals, the calculation formula for the cumulative fluorescence intensity is as follows:

[0033]

[0034] In the formula, N is the total number of frames, and Δt is the time interval between the acquisitions of each fluorescence image;

[0035] If the fluorescence images are taken at variable intervals, the calculation formula for the cumulative fluorescence intensity is as follows:

[0036]

[0037] In the formula, Δt1 is the previous acquisition time interval, Δt2 is the subsequent acquisition time interval, and N1 is the total number of frames acquired in the previous period.

[0038] Furthermore, the method for the fluorescence intensity - leakage amount mapping model includes the following steps:

[0039] Step K10: Based on the flume model test, a water discharge hole is arranged at the bottom of the flume model. The adjustable negative pressure pump is used to simulate the leakage suction and control the leakage amount, and at the same time, the water turbidity in the flume model is regulated;

[0040] Step K20: Different leakage suctions are turned on to obtain the background images and corresponding fluorescence images of the water discharge hole area under different leakage amounts;

[0041] Step K30: Different water turbidities are changed, and under different water turbidities, the background images and corresponding fluorescence images of the water discharge hole area under different leakage amounts are obtained;

[0042] Step K40: According to the groups of background images and corresponding fluorescence images taken under different water turbidities and different leakage amounts, the cumulative fluorescence intensity is calculated, the relationship between the leakage amount and the fluorescence intensity under different turbidities is established, and the fluorescence intensity - leakage intensity mapping model is obtained.

[0043] The beneficial effects of the present invention are reflected in:

[0044] (1) The present invention replaces traditional pigments (such as ink, potassium permanganate) with fluorescent tracer pigments. At the same time, a laser with a specific wavelength is used to excite fluorescence, and in cooperation with a high - sensitivity optical imaging system, the weak flow invisible to the naked eye is converted into a high - contrast fluorescence signal, solving the problem that the change in the observation of pigment flow is not obvious under a weak seepage field and limited water visibility, thereby accurately determining the location of the leakage point.

[0045] (2) The present invention can quantitatively analyze the leakage amounts of different leakage points through the pigment diffusion process, evaluate the leakage states under multiple leakage points, and provide a basis for the subsequent analysis of leakage channels and the formulation of leakage treatment measures. Description of the Drawings

[0046] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale.

[0047] Figure 1 Schematic diagram of the possible leakage area in the reservoir area of the embodiment of the present invention;

[0048] Figure 2 Schematic diagram of the leakage point detection work of the unmanned remotely operated vehicle in the embodiment of the present invention;

[0049] Figure 3 Flow chart of the reservoir area leakage detection work in the embodiment of the present invention;

[0050] Figure 4 Flow chart of establishing the fluorescence intensity - leakage amount mapping model in the embodiment of the present invention.

[0051] In the drawings, 100 - unmanned remotely operated vehicle; 200 - ground workstation; 300 - communication transmission cable; 400 - underwater acoustic beacon; 500 - leakage point. Specific embodiments

[0052] The following will describe in detail the embodiments of the technical solutions of the present invention in conjunction with the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, so they are only examples and cannot be used to limit the protection scope of the present invention.

[0053] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs.

[0054] As Figure 1 and Figure 2 shown, the embodiment of the present invention provides a fluorescence tracer quantitative detection system for underwater leakage points in the reservoir area, including an unmanned remotely operated vehicle 100 and a fluorescence tracer pigment spraying device, a laser exciter and an image acquisition device carried on the unmanned remotely operated vehicle 100.

[0055] The unmanned remotely operated vehicle 100 (ROV) is a device for underwater operation through remote control, which can replace divers or manned small submarines to perform high - risk underwater operations such as deep - sea exploration, rescue, and mine clearance. It belongs to the prior art and will not be elaborated here.

[0056] The fluorescence tracer pigment spraying device is used to spray the fluorescence tracer pigment into the area of the leakage point 500.

[0057] Fluorescent tracer pigments are environmentally friendly fluorescent dyes that are biodegradable. You can choose sodium fluorescein (for environments with good visibility) or rhodamine B (for environments with poor visibility).

[0058] In some embodiments, the fluorescent tracer paint spraying device includes a robotic arm, a paint tank and a piezoelectric nozzle; the robotic arm is installed on the unmanned remote-controlled submersible 100, and the paint tank is installed on the unmanned remote-controlled submersible 100 for storing fluorescent tracer paint; the piezoelectric nozzle is arranged at the output end of the robotic arm for spraying fluorescent tracer paint, and the piezoelectric nozzle and the paint tank are connected by a pipe.

[0059] Optionally, the piezoelectric nozzle selects lead zirconate titanate (PZT-5H) piezoelectric ceramics, which has stable deformation, high injection volume control accuracy, and adopts a pulse mode.

[0060] Optionally, the paint tank is placed in the lower middle part of the unmanned remote submersible 100, which can lower the overall center of gravity and improve stability. The paint tank adopts a double-wall structure, and the pressure difference between the inside and outside is compensated by silicone oil transmission. The pipeline for supplying paint is laid along the back of the manipulator, and a spirally wound protective cover is used to allow the manipulator to move with full freedom.

[0061] Optionally, the robotic arm is a six-degree-of-freedom electric robotic arm with a load capacity of ≥5kg. The robotic arm is used to flexibly adjust the position of the nozzle to ensure that the tracer is accurately sprayed near the leakage point 500, thereby reducing the impact of the movement of the unmanned remote-controlled submersible 100 on the underwater environment.

[0062] The laser exciter is used to emit a laser of a specific wavelength to the leakage point 500 area to excite the fluorescent tracer pigment to generate fluorescence.

[0063] In some embodiments, the laser exciter uses a 532nm green laser, which is within the excitation spectrum of sodium fluorescein, and water has a weak absorption of green light (strong penetration), and can be output in continuous or pulsed mode.

[0064] The image acquisition device is used to acquire the pigment diffusion image in the leakage point 500 area.

[0065] In some embodiments, the image acquisition device includes an underwater camera and a filter system disposed at the lens of the underwater camera, wherein the filter system is used to allow the fluorescence that excites the fluorescent tracer pigment to pass through and shield light of other wavelengths to improve the contrast of the shooting.

[0066] Optionally, the underwater shooting camera uses a scientific-grade sCMOS camera, which can effectively capture weak fluorescence and supports 120fps high-speed shooting to capture slow-flow details.

[0067] In some embodiments, a lighting device is also included, which is carried on the unmanned remotely operated vehicle 100 and is used to assist navigation lighting during non-fluorescence observation.

[0068] Optionally, the lighting device uses an LED light source with an illuminance greater than 2000 lx and a wide-angle scattered light beam.

[0069] In some embodiments, it further includes a ground workstation 200, which is electrically connected to the unmanned remotely operated underwater vehicle 100 through a communication transmission cable 300 for real-time transmission of underwater images.

[0070] In some embodiments, it further includes a communication system for remotely controlling the movement direction of the unmanned remotely operated underwater vehicle 100 and controlling the manipulator.

[0071] In some embodiments, it further includes an acoustic beacon 400 on the water surface and a positioning system. The acoustic beacon 400 is deployed on the water surface. The positioning system is used to calculate the transmission time and phase difference of the acoustic wave signal between the unmanned remotely operated underwater vehicle 100 and the acoustic beacon 400 on the water surface to determine the relative position between the two, and then obtain the position information of the unmanned remotely operated underwater vehicle 100 in the geodetic coordinate system through coordinate transformation.

[0072] The present invention replaces traditional pigments (such as ink, potassium permanganate) with fluorescent tracer pigments, and at the same time uses a laser with a specific wavelength to excite fluorescence, and cooperates with a high-sensitivity optical imaging system to convert the weak flow invisible to the naked eye into a high-contrast fluorescence signal, solving the problem that the change of pigment flow is not obvious under a weak seepage field and limited water visibility, so as to accurately judge the position of the leakage point 500.

[0073] As Figures 1-3 shown, the embodiment of the present invention also provides a fluorescence tracer quantitative detection method for underwater leakage points in the reservoir area, including the following steps:

[0074] Step S10, based on the possible leakage areas in the reservoir area that have been divided, determine the distribution range and boundary of the possible leakage areas, as specifically shown in Figure 1 .

[0075] Step S20, the unmanned remotely operated underwater vehicle 100 enters the possible leakage area, observes the bottom topography characteristics and the movement of the flow field at a distance of 100 cm from the bottom, and determines the suspected leakage point 500.

[0076] Step S30, the unmanned remotely operated underwater vehicle 100 moves to the area close to the leakage point 500, and the image acquisition device takes pictures of the area of the leakage point 500 to obtain the background image within the range of the leakage point 500.

[0077] It should be noted that after the unmanned remotely operated vehicle 100 moves to the area near the leakage point 500, the piezoelectric nozzle is placed 30 cm above the suspected leakage point 500, and the position of the leakage point 500 is recorded. The laser is turned on for preheating to ensure stable output; the camera shooting parameters (shooting time interval, exposure time, gain, etc.) are set.

[0078] Step S40: The fluorescent tracer pigment spraying device sprays fluorescent tracer pigment onto the area of the leakage point 500.

[0079] Specifically, when spraying the fluorescent tracer pigment, the piezoelectric nozzle is controlled to spray a fixed amount of pigment in a pulsed manner.

[0080] Step S50: The laser exciter emits laser light into the underwater area where the fluorescent tracer pigment is sprayed to excite the fluorescent tracer pigment to produce fluorescence.

[0081] Step S60: During the diffusion process of the fluorescent tracer pigment, the image acquisition device takes intermittent pictures of the area of the leakage point 500 to obtain fluorescent images at various moments, and at the same time records the timestamp.

[0082] It should be noted that after the spraying of the fluorescent tracer pigment is completed, the laser exciter is triggered, and the laser trigger signal is strictly synchronized with the camera exposure signal to capture the initial diffusion process. The camera shooting automatically records the timestamp and saves the data.

[0083] Step S70: The unmanned remotely operated vehicle 100 moves to the next possible leakage area, and steps S20 - S70 are repeated until all detection work is completed.

[0084] Step S80: The background image and each fluorescent image are pre - processed to obtain the pixels B(t) of the background image of each leakage point 500 and the pixels S(t) of each fluorescent image respectively, and the cumulative fluorescence intensity of each leakage point 500 is calculated.

[0085] It should be noted that when pre - processing the background image and each fluorescent image, the pictures need to be processed such as dark - field correction, flat - field correction, background subtraction, and noise suppression.

[0086] Specifically, the method for calculating the cumulative fluorescence intensity of each leakage point 500 is as follows:

[0087] If the fluorescent images are taken at a fixed time interval, the formula for calculating the cumulative fluorescence intensity is as follows:

[0088]

[0089] In the formula, N is the total number of frames, and Δt is the shooting time interval of each frame of fluorescent image, which can be selected as 0.5 s.

[0090] If the fluorescence images are taken at variable intervals, the formula for calculating the cumulative fluorescence intensity is as follows:

[0091]

[0092] In the formula, Δt1 is the shooting time interval of the previous segment, Δt2 is the shooting time interval of the subsequent segment, and N1 is the total number of frames shot in the previous segment.

[0093] As a specific example, when the static water body of the reservoir dam has no turbulence, the shooting interval in the first 15 seconds after spraying the pigment can be selected as 0.5 seconds / frame (30 frames) to capture the slow diffusion. From 15 seconds to 180 seconds later, 2 seconds / frame (83 frames) is selected to record the long-tail decay; when the water flow near the leakage point 500 is rapid, the shooting interval in the first 5 seconds after spraying the pigment can be selected as 0.1 seconds / frame (50 frames) to prevent the loss of fluorescence signals. From 5 seconds to 60 seconds later, 0.5 seconds / frame (110 frames) is selected to track the rapid diffusion of the pigment.

[0094] In step S90, after obtaining the cumulative fluorescence intensity of each leakage point 500, it is judged whether there is leakage at the detection point according to the cumulative fluorescence intensity. If there is leakage, the leakage amount of each leakage point 500 is obtained according to the fluorescence intensity-leakage amount mapping model.

[0095] In the present invention, a background picture of the leakage point 500 is taken before spraying the fluorescent tracer pigment, and the pixel B(t) of the background image is obtained to get the average value of each background noise. Then, after spraying the fluorescent tracer pigment, a fluorescence image of the diffusion of the fluorescent tracer pigment at the leakage point 500 is taken, and the pixel S(t) of each fluorescence image is obtained. Then, each fluorescence image is subtracted from the background noise to obtain the fluorescence pixel intensity. Then, the fluorescence pixel intensities within the range of the leakage point 500 in each frame of the image are accumulated to obtain the cumulative fluorescence intensity. Then, the leakage amount corresponding to the cumulative fluorescence intensity is obtained by using the fluorescence intensity-leakage amount mapping model obtained through experiments.

[0096] Therefore, the present invention can quantitatively analyze the leakage amounts of different leakage points 500 through the pigment diffusion process, evaluate the leakage states under multiple leakage points 500, and provide a basis for the subsequent analysis of leakage channels and the formulation of leakage treatment measures.

[0097] It should be noted that the present invention only detects the leakage points 500 and evaluates the leakage amounts in the suspected leakage areas already divided in the reservoir area. The detection area has a certain pertinence and does not spray the pigment blindly. The determination of the suspected leakage area is generally determined through geophysical exploration means or monitoring data.

[0098] It should be noted that the turbidity of the water body in the reservoir area may affect the fluorescence intensity. Before performing fluorescence tracer quantitative detection, it is necessary to detect the turbidity of the water body in the reservoir area and use the fluorescence intensity-leakage volume mapping model corresponding to the turbidity to calculate the leakage volume, which can improve the accuracy of the detection results.

[0099] When there is a leakage point 500 at the bottom of the reservoir, the sprayed fluorescent pigment will be carried away by the leakage point 500, resulting in a decrease in the cumulative fluorescence intensity, and the degree of its decrease is negatively correlated with the leakage volume. The larger the leakage volume, the smaller the cumulative fluorescence intensity; when there is no leakage point 500 at this place, the fluorescence intensity will rise rapidly and then decay slowly. By obtaining the relationship between the cumulative fluorescence intensity and the leakage volume, that is, the mapping model, and considering environmental factors such as turbidity, the determination range of leakage and the magnitude of the leakage volume can be determined.

[0100] Based on the above principle, as Figure 4 shown, this embodiment provides a method for establishing a fluorescence intensity-leakage volume mapping model, which specifically includes the following steps:

[0101] Step K10, based on the flume model test, the size of the flume model is 10m×5m×4m (length×width×height). A water discharge hole is set at the bottom of the flume model, and the leakage suction and the leakage volume are simulated by an adjustable negative pressure pump. At the same time, kaolin is used to regulate the turbidity of the water body in the flume model.

[0102] Step K20, turn on different leakage suctions to obtain the background images and corresponding fluorescence images of the water discharge hole area under different leakage volumes.

[0103] It should be pointed out that the leakage speed of the water discharge hole is proportional to the suction of the negative pressure pump. By controlling the power of the negative pressure pump, the leakage speed of the leakage point 500 can be simulated, and the leakage volume can be measured by a flow meter or the scale on the container for collecting the leaked water body.

[0104] The principles for obtaining the background images and fluorescence images in the experiment are similar to those of the aforementioned fluorescence tracer quantitative detection system, and also include a fluorescence tracer pigment spraying device, a laser exciter, and an image acquisition device. The fluorescence tracer pigment spraying device, the laser exciter, and the image acquisition device do not need to be carried on the remotely operated underwater vehicle 100 and can be arranged in a simple manner. The nozzle of the fluorescence tracer pigment spraying device is set 30 cm above the water discharge hole. Before spraying the fluorescence tracer pigment, first take the background image of the water discharge hole area through the image acquisition device, then spray the standard fluorescence solution to the water discharge hole area through the fluorescence tracer pigment spraying device, and excite the fluorescence of the fluorescence tracer pigment through the laser exciter. Then, take the fluorescence images at each moment during the diffusion process of the fluorescence tracer pigment through the image acquisition device, and record the time stamp at the same time.

[0105] Step K30: Change the turbidity of different water bodies. Under different water body turbidities, obtain the background images and corresponding fluorescence images of the water discharge hole area under different leakage amounts.

[0106] Step K40: Based on the groups of background images and corresponding fluorescence images taken under different water body turbidities and different leakage amounts, calculate the cumulative fluorescence intensity, establish the relationship between the leakage amount and the fluorescence intensity under different turbidities, and obtain the fluorescence intensity - leakage intensity mapping model.

[0107] It can be understood that, in order to improve the accuracy of the experiment, each leakage amount of each water body turbidity can be repeated multiple times (usually 3 times) for the experiment. When obtaining the fluorescence intensity - leakage intensity mapping model, multiple groups of data can be used for fitting and comparison to obtain the optimal fluorescence intensity - leakage intensity mapping model.

[0108] After obtaining the fluorescence intensity - leakage intensity mapping model, one or more groups of leakage amount detection tests can be carried out to verify the error of the fluorescence intensity - leakage intensity mapping model and make it meet the engineering application acceptance standard.

[0109] The present invention provides a fluorescence tracer quantitative detection system and method for underwater leakage points in a reservoir area, realizing the practicability, functionality, and applicability of the detection of underwater leakage points 500. Currently, some research institutions also judge the position of the leakage point 500 by spraying ink underwater, but this method is not obvious for judging smaller leakage points 500 and in a turbid water body environment, and lacks the evaluation of the leakage characteristics of the leakage point 500. The present invention uses an unmanned remotely operated vehicle 100 as a carrier, replaces the conventional ink with environmentally friendly fluorescein sodium (for clear water) or rhodamine B (for turbid water) environment, and based on the characteristics of the fluorescein itself, is equipped with devices such as a high-speed camera and a filter, and obtains the fluorescence intensity during the diffusion process through operation design and data processing technology. At the same time, according to the fluorescence intensity - leakage amount mapping model, the leakage characteristics of different leakage points 500 are quantified.

[0110] The present invention can solve the problem that the weak seepage field caused by smaller leakage points 500 and the traditional ink pigment tracer observation is not obvious in an environment with lower visibility. It can also quantitatively analyze the leakage amount of different leakage points 500 through the pigment diffusion process, evaluate the leakage state under multiple leakage points 500, and by evaluating the leakage characteristics of each leakage point 500, it helps to analyze the reasons for the leakage of the reservoir dam, helps to provide decision-making suggestions for priority treatment to quickly reduce the overall risk, and can quickly reduce the total leakage amount with less investment when the treatment cost is limited, and quickly restore the reservoir capacity and economic benefits.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and the description of the present invention.

Claims

1. A fluorescence tracer quantitative detection system for underwater leakage points in a reservoir area, characterized in that: It includes an unmanned remotely operated vehicle (ROV) and a fluorescence tracer pigment injection device, a laser exciter, and an image acquisition device mounted on the unmanned remotely operated vehicle; The fluorescence tracer pigment injection device is used to inject fluorescence tracer pigment into the leakage point area; The laser exciter is used to emit laser light with a specific wavelength to the leakage point area to excite the fluorescence tracer pigment to generate fluorescence; The image acquisition device is used to acquire the pigment diffusion image of the leakage point area.

2. The fluorescence tracer quantitative detection system for underwater leakage points in a reservoir area according to claim 1, characterized in that: The fluorescence tracer pigment injection device includes: A robotic arm installed on the unmanned remotely operated vehicle; A pigment tank installed on the unmanned remotely operated vehicle for storing fluorescence tracer pigment; A piezoelectric nozzle provided at the output end of the robotic arm for injecting fluorescence tracer pigment, and the piezoelectric nozzle is connected to the pigment tank through a pipeline.

3. The fluorescence tracer quantitative detection system for underwater leakage points in a reservoir area according to claim 1, characterized in that: The laser exciter uses a 532nm green laser.

4. The fluorescence tracer quantitative detection system for underwater leakage points in a reservoir area according to claim 1, characterized in that: The image acquisition device includes an underwater camera and a filter system provided at the lens of the underwater camera, and the filter system is used to allow the fluorescence that excites the fluorescence tracer pigment to pass through and block light in other wavelength bands.

5. The fluorescence tracer quantitative detection system for underwater leakage points in a reservoir area according to claim 1, characterized in that: It further includes an illumination device mounted on the unmanned remotely operated vehicle for assisting navigation lighting during non-fluorescence observation.

6. The fluorescence tracer quantitative detection system for underwater leakage points in a reservoir area according to claim 1, characterized in that: It further includes a ground workstation, and the ground workstation is electrically connected to the unmanned remotely operated vehicle through a communication transmission cable.

7. The fluorescence tracer quantitative detection system for underwater leakage points in a reservoir area according to claim 1, characterized in that: It further includes a waterborne acoustic beacon and a positioning system. The waterborne acoustic beacon is arranged on the water surface, and the positioning system is used to calculate the transmission time and phase difference of the acoustic wave signal between the unmanned remotely operated vehicle and the waterborne acoustic beacon to determine the relative position between the two.

8. A fluorescence tracer quantitative detection method for underwater leakage points in a reservoir area, characterized in that, It includes the following steps: Step S10: Based on the possible leakage areas in the reservoir area that have been divided, determine the distribution range and boundaries of the possible leakage areas; Step S20: The unmanned remotely operated vehicle enters the possible leakage area, observes the bottom topography characteristics and the movement of the flow field, and determines the suspected leakage points; Step S30: The unmanned remotely operated vehicle moves to the area close to the leakage point, and the image acquisition device takes pictures of the leakage point area to obtain the background image within the leakage point range; Step S40: The fluorescence tracer pigment injection device injects fluorescence tracer pigment into the leakage point area; Step S50: The laser exciter emits laser light to the underwater area where the fluorescence tracer pigment is injected to excite the fluorescence tracer pigment to generate fluorescence; Step S60, during the process of the fluorescence tracer pigment diffusion, the image acquisition device takes intermittent pictures of the leakage point area to obtain fluorescence images at various moments, and records the time stamps at the same time; Step S70, the unmanned remotely operated vehicle moves to the next possible leakage area, and steps S20 - S70 are repeated until all detection work is completed; Step S80, preprocess the background image and each fluorescence image, respectively obtain the pixels B(t) of the background image of each leakage point and the pixels S(t) of each fluorescence image, and calculate the cumulative fluorescence intensity of each leakage point; Step S90, after obtaining the cumulative fluorescence intensity of each leakage point, judge whether there is leakage at the detection point according to the cumulative fluorescence intensity. If there is leakage, obtain the leakage amount of each leakage point according to the fluorescence intensity - leakage amount mapping model.

9. The fluorescence tracer quantitative detection method for underwater leakage points in a reservoir area according to claim 8, wherein In step S80, the method for calculating the cumulative fluorescence intensity of each leakage point is as follows: If the fluorescence images are taken at a fixed time interval, the cumulative fluorescence intensity calculation formula is as follows: In the formula, N is the total number of frames, and Δt is the shooting time interval of each frame of fluorescence image; If the fluorescence images are taken at a variable interval, the cumulative fluorescence intensity calculation formula is as follows: In the formula, Δt1 is the previous shooting time interval, Δt2 is the next shooting time interval, and N1 is the total number of frames of the previous shooting.

10. The fluorescence tracer quantitative detection method for underwater leakage points in the reservoir area according to claim 8, characterized in that, The method for establishing the fluorescence intensity - leakage amount mapping model includes the following steps: Step K10, based on the water tank model test, set a water discharge hole at the bottom of the water tank model, simulate the leakage suction and control the leakage amount through an adjustable negative pressure pump, and at the same time regulate the water turbidity in the water tank model; Step K20, turn on different leakage suctions to obtain the background image and the corresponding fluorescence image of the water discharge hole area under different leakage amounts; Step K30, change different water turbidities, and under different water turbidities, obtain the background image and the corresponding fluorescence image of the water discharge hole area under different leakage amounts; Step K40, based on the groups of background images and the corresponding fluorescence images taken under different water turbidities and different leakage amounts, calculate the cumulative fluorescence intensity, establish the relationship between the leakage amount and the fluorescence intensity under different turbidities, and obtain the fluorescence intensity - leakage intensity mapping model.

Images