Detection device and method for water supply pipeline allowing for entering from fire hydrant base

Abstract

A detection device and method for a water supply pipeline allowing for entering from a fire hydrant base. The device comprises: a take-up and pay-off mechanism and a pipeline robot; the take-up and pay-off mechanism is connected to the pipeline robot by means of a communication cable; the pipeline robot comprises a plurality of quasi-spherical compartments connected in series, two adjacent quasi-spherical compartments are connected by means of a flexible cable, and the quasi-spherical compartments are capable of passing through a fire hydrant base of a water supply pipeline; among the plurality of quasi-spherical compartments, the quasi-spherical compartment at one end is connected to the communication cable, and the quasi-spherical compartment at the other end is provided with a propulsion module; at least one quasi-spherical compartment is provided with a sensor, and the sensor is used for detecting the water supply pipeline. By designing the pipeline robot having a plurality of compartments connected in series, the volume of a single compartment can be effectively controlled, and by designing the shape of each compartment to be quasi-spherical, the pipeline robot can adapt to the shape change of the pipeline, thereby enabling efficient and reliable detection of the water supply pipeline.

Description

A detection device and method for fire hydrant base entering water supply pipeline [Technical Field]

[0001] This application belongs to the field of water supply pipeline inspection technology, and more specifically, relates to an inspection device and method for entering a water supply pipeline through a fire hydrant base. [Background Technology]

[0002] With rapid urbanization and continuous population growth, urban water supply systems are becoming increasingly large and complex, leading to a surge in demand for pipeline detection, mapping, and repair. Current technologies utilize large-scale pipeline robots, and their deployment involves a cumbersome process: after road clearing, a straight section of pipe is cut from the main pipeline; a tee connector is welded and installed; the deployment device is then fixed to the cut section; and finally, the robot is deployed into the main pipeline. Furthermore, due to their large size, pipeline robots are prone to getting stuck at bends or tees, affecting reliability. Therefore, achieving efficient and reliable detection of water supply pipelines is a pressing technical problem that needs to be solved in this field. [Summary of the Invention]

[0003] In view of the shortcomings of the existing technology, the purpose of this application is to achieve efficient and reliable detection of water supply pipelines.

[0004] To achieve the above objectives, in a first aspect, this application provides a detection device for entering a water supply pipeline through a fire hydrant base, comprising: a wire reeling mechanism and a pipeline robot;

[0005] The wire feeding and take-up mechanism is connected to the pipeline robot via a communication cable;

[0006] The pipeline robot consists of multiple spherical cabins connected in series, with adjacent spherical cabins connected by flexible cables. The spherical cabins can pass through the fire hydrant base of the water supply pipeline.

[0007] One of the multiple spherical capsules is connected to a communication cable at one end, while the other of the multiple spherical capsules is equipped with a propulsion module.

[0008] At least one spherical chamber is equipped with a sensor for detecting water supply pipes;

[0009] The propulsion module is used to move the pipeline robot;

[0010] The cable reeling mechanism is used to reel in and out communication cables.

[0011] In one possible implementation, the multiple spherical compartments include: a battery compartment, a control compartment, and a propulsion compartment;

[0012] The battery compartment or control compartment is connected to communication cables;

[0013] The propulsion module is equipped with a propulsion compartment.

[0014] In one possible implementation, the detection device further includes: a control host;

[0015] The control cabin is equipped with a control module, which communicates with various sensors via flexible cables and with the control host via communication cables.

[0016] The control module is used to send sensor data to the control host and receive the first control command sent by the control host;

[0017] The control host is used to receive sensor data sent by the control module, process the sensor data, send a first control command to the control module, and send a second control command to the take-up and pay-off mechanism.

[0018] In one possible implementation, at least one spherical capsule is equipped with sensors, which include one or more of the following sensors: a camera, a gyroscope, an accelerometer, a magnetometer, a hydrophone, a pressure sensor, and a temperature sensor.

[0019] In one possible implementation, where the sensors configured in the spherical cabin include a binocular camera, the control host is used to perform visual SLAM based on the image data from the binocular camera.

[0020] In one possible implementation, the communication cable is specifically a zero-buoyancy cable.

[0021] In one possible implementation, the cable take-up and release mechanism includes: a cable take-up and release module and a chamber capable of accommodating a robot. The chamber has a first opening through which a communication cable passes to connect the cable take-up and release module to the pipeline robot. The chamber also has a second opening through which the robot enters and exits the chamber. The shape of the second opening is adapted to the shape of the fire hydrant base.

[0022] The cable take-up and take-up module is used to take up and take down communication cables.

[0023] Secondly, this application provides a detection method for entering a water supply pipe through a fire hydrant base, applicable to the detection device described in the first aspect or any possible implementation of the first aspect, the method comprising:

[0024] The pipeline robot is moved by the propulsion module, and the communication cable is retrieved and deployed by the cable retraction mechanism.

[0025] The water supply pipes are detected using sensors configured in a spherical chamber.

[0026] In one possible implementation, the multiple spherical compartments include: a battery compartment, a control compartment, and a propulsion compartment;

[0027] The battery compartment or control compartment is connected to communication cables;

[0028] The propulsion module is equipped with a propulsion compartment.

[0029] In one possible implementation, the detection device further includes: a control host;

[0030] The control cabin is equipped with a control module, which communicates with various sensors via flexible cables and with the control host via communication cables.

[0031] The method also includes:

[0032] The sensor data is sent to the control host through the control module;

[0033] The host computer receives sensor data sent by the control module and processes the sensor data.

[0034] The control host sends a first control command to the control module and a second control command to the take-up and pay-off mechanism;

[0035] The first control command is executed by the control module, and the second control command is executed by the take-up and release mechanism.

[0036] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art:

[0037] (1) Compared to designing the pipeline robot as a single compartment, this application designs the pipeline robot as multiple compartments connected in series, which can effectively control the volume of a single compartment so that the spherical compartment can pass through the fire hydrant base of the water supply pipeline. The multiple spherical compartments of the pipeline robot can pass through the fire hydrant base in series and enter the main pipeline for inspection by their own power, without the need to drill holes in the main pipeline, thereby improving work efficiency.

[0038] (2) The spherical chamber has a small contact area with the pipe wall, resulting in low friction when moving along the pipeline. It can adapt to various shape changes of the pipeline, pass smoothly through bends and tees, and is not easily jammed, thus improving the reliability of the lifting operation.

[0039] (3) The cable reeling mechanism can be directly installed on the fire hydrant base. The pipeline robot and cable do not come into direct contact with the air, reducing the pollution of tap water. [Attached Image Description]

[0040] Figure 1 is a schematic diagram of the structure of the detection device that enters the water supply pipeline through the fire hydrant base according to an embodiment of this application;

[0041] Figure 2 is a schematic diagram of the pipeline robot provided in this application moving in a water supply pipeline;

[0042] Figure 3 is a flowchart illustrating the detection method for entering the water supply pipeline through the fire hydrant base provided in this embodiment of the application.

Detailed Implementation Methods

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0044] The terms "first" and "second," etc., used in the specification and claims of this application are used to distinguish different objects, not to describe a specific order of objects. For example, "first control command" and "second control command," etc., are used to distinguish different control commands, not to describe a specific order of control commands.

[0045] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0046] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, for example, multiple processing units means two or more processing units, multiple elements means two or more elements, etc.

[0047] The embodiments of this application are described below with reference to the accompanying drawings.

[0048] Figure 1 is a schematic diagram of the structure of the detection device that enters the water supply pipeline through the fire hydrant base according to an embodiment of this application. As shown in Figure 1, the detection device includes: a wire take-up and release mechanism and a pipeline robot.

[0049] The wire feeding and take-up mechanism is connected to the pipeline robot via a communication cable;

[0050] The pipeline robot consists of multiple spherical cabins connected in series, with adjacent spherical cabins connected by flexible cables. The spherical cabins can pass through the fire hydrant base of the water supply pipeline.

[0051] One of the multiple spherical capsules is connected to a communication cable at one end, while the other of the multiple spherical capsules is equipped with a propulsion module.

[0052] At least one spherical chamber is equipped with a sensor for detecting water supply pipes;

[0053] The propulsion module is used to move the pipeline robot;

[0054] The cable reeling mechanism is used to reel in and out communication cables.

[0055] Specifically, the process of using a testing device to inspect a water supply pipeline includes: the laying-out stage and the reeling-in stage.

[0056] During the laying phase, since the spherical cabins can pass through the fire hydrant bases of the water supply pipeline, multiple spherical cabins of the pipeline robot can pass through the fire hydrant bases in series. Each spherical cabin is equipped with a propulsion module, which propels the pipeline robot to move. As the pipeline robot gradually moves away from the laying mechanism, the laying mechanism will cooperate to perform the laying operation. The pipeline robot can enter the main pipeline from the fire hydrant base. The sensors carried by the pipeline robot can detect the main pipeline. The detected data can be transmitted to the control host through the communication cable. The control host processes the detected data to detect the water supply pipeline.

[0057] For flexible cables between two adjacent spherical chambers, the flexible cable can be a type of cable with good bending performance and durability, typically composed of multiple thin copper wires or other conductors wrapped with insulating material to provide electrical insulation and protection. Due to its flexibility, the flexible cable can be used flexibly in confined spaces or dynamic environments, can withstand repeated bending without easily breaking, and ensures a long-term stable electrical connection. Two adjacent spherical chambers can achieve a reliable electrical connection through the flexible cable, and the cable between the two chambers can adapt to changes in the shape of the pipeline when the pipeline robot passes through bends or tees.

[0058] During the cable retraction phase, the propulsion module of the pipeline robot can be turned off, and the cable retraction mechanism will perform the cable retraction operation. As the communication cable between the cable retraction mechanism and the pipeline robot gradually shortens, the pipeline robot will gradually move towards the cable retraction mechanism along the pipeline. Similarly, since the spherical cabin can pass through the fire hydrant base of the water supply pipeline, the multiple spherical cabins of the pipeline robot can pass through the fire hydrant base in series, thereby realizing the recovery of the pipeline robot.

[0059] For example, the wire feeding and take-up mechanism is equipped with a wire reel and a motor. The communication cable is wound on the wire reel, and the motor drives the wire reel to rotate. It can rotate counterclockwise or clockwise. One rotation direction corresponds to wire feeding, and the other rotation direction corresponds to wire take-up.

[0060] Here we will explain what quasi-spherical is. Quasi-spherical is a term used to describe the shape of an object, which refers to an object whose shape is similar to a sphere, but not exactly a perfect sphere. Quasi-spherical has one or more of the following characteristics: (1) Symmetry: Quasi-spherical objects are roughly symmetrical in all directions, with no obvious directional deviation; (2) Roundness: The surface of the object is relatively smooth, without obvious sharp corners or edges; (3) Irregularity: Although it is close to a sphere in general, quasi-spherical objects may have irregularities in details, such as uneven surfaces or local deformations.

[0061] For example, a spheroid can be an approximate standard sphere whose difference from the standard sphere is less than a predetermined error. A spheroid can also be an ellipsoid, oblate spheroid, irregular spheroid, or polyhedron. Among these, an ellipsoid is the most common spheroid shape, characterized by two or three axes of different lengths, yet maintaining overall symmetry. An oblate spheroid is a shape that is flattened in two directions than in the third, resembling a flattened sphere. Irregular spheroids are objects whose shape is close to a sphere, but whose surfaces may have uneven features. Polyhedra, while typically having defined planes and angles, can be very close to a sphere (e.g., a truncated octahedron or truncated icosahedron).

[0062] Understandably, existing pipeline robots only carry their modules through a single compartment, resulting in a cross-sectional area larger than the fire hydrant base area or an excessively long length. Consequently, existing pipeline robots cannot pass through fire hydrant bases, and even if they could, their excessive length would prevent them from passing through bends in the pipeline. These shortcomings necessitate drilling holes in the main pipeline to accommodate the existing pipeline robots, making the operation cumbersome.

[0063] Compared to designing a pipeline robot as a single compartment, this application designs the pipeline robot as multiple compartments connected in series. This effectively controls the volume of each individual compartment, allowing the spherical compartments to pass through the fire hydrant bases of the water supply pipeline. The multiple spherical compartments of the pipeline robot can pass through the fire hydrant bases sequentially in series and enter the main pipeline for inspection using their own power, eliminating the need to drill holes in the main pipeline and thus improving operational efficiency. For example, the spherical compartments can be approximately spherical, in which case the maximum diameter of the compartment can be designed to be 85mm, allowing passage through the base of a DN100 fire hydrant (a type of fire hydrant with a nominal diameter of 100mm).

[0064] It is also worth noting that existing pipeline robots cannot provide their own power and need the water flow in the main pipeline to move them. However, there is generally no water flow between fire hydrants and the main pipeline. Therefore, even if existing pipeline robots can pass through the base of fire hydrants, they cannot move from fire hydrants to the main pipeline.

[0065] In addition, the spherical chamber has a small contact surface with the pipe wall, resulting in low friction when moving along the pipeline. It can adapt to various shape changes of the pipeline, pass smoothly through bends and tees, and is not easily jammed, thus improving the reliability of the operation.

[0066] Therefore, by designing the pipeline robot as multiple compartments connected in series, the volume of a single compartment can be effectively controlled. At the same time, by designing the shape of the compartment as a near-spherical shape, it can adapt to various shape changes of the pipeline, thus achieving efficient and reliable detection of water supply pipelines.

[0067] Figure 2 is a schematic diagram of the pipeline robot moving in a water supply pipeline according to an embodiment of this application. As shown in Figure 2, in one possible implementation, the multiple spherical cabins include: a battery cabin, a control cabin, and a propulsion cabin.

[0068] The battery compartment or control compartment is connected to communication cables;

[0069] The propulsion module is equipped with a propulsion compartment.

[0070] Specifically, the battery compartment, control compartment, and propulsion compartment are all spherical-shaped. When the battery compartment is connected to the communication cable, the battery compartment and propulsion compartment are located at both ends, and the control compartment is located in the middle; when the control compartment is connected to the communication cable, the control compartment and propulsion compartment are located at both ends, and the battery compartment is located in the middle.

[0071] This section describes the propulsion module. When traveling straight along the pipeline, the propulsion module can push the propulsion chamber straight ahead, thereby driving other spherical chambers straight ahead via the flexible cables between the spherical chambers. When passing bends or tees, the propulsion module can push the propulsion chamber to change its direction of travel (turn left, right, move upwards, move downwards, etc.), thereby driving other spherical chambers to change their direction of travel via the flexible cables between the spherical chambers.

[0072] In one possible implementation, the detection device further includes: a control host;

[0073] The control cabin is equipped with a control module, which communicates with various sensors via flexible cables and with the control host via communication cables.

[0074] The control module is used to send sensor data to the control host and receive the first control command sent by the control host;

[0075] The control host is used to receive sensor data sent by the control module, process the sensor data, send a first control command to the control module, and send a second control command to the take-up and pay-off mechanism.

[0076] In one possible implementation, at least one spherical capsule is equipped with sensors, which include one or more of the following sensors: a camera, a gyroscope, an accelerometer, a magnetometer, a hydrophone, a pressure sensor, and a temperature sensor.

[0077] In one possible implementation, where the sensors configured in the spherical cabin include a binocular camera, the control host is used to perform visual SLAM based on the image data from the binocular camera.

[0078] In one possible implementation, the communication cable is specifically a zero-buoyancy cable (zero-buoyancy fiber optic cable or zero-buoyancy cable, etc.).

[0079] In one possible implementation, as shown in Figure 1, the wire take-up and release mechanism includes: a wire take-up and release module (not shown in Figure 1) and a chamber capable of accommodating a robot. The chamber has a first opening through which a communication cable passes to connect the wire take-up and release module to the pipeline robot. The chamber also has a second opening through which the robot enters and exits the chamber. The shape of the second opening is adapted to the shape of the fire hydrant base.

[0080] The cable take-up and take-up module is used to take up and take down communication cables.

[0081] Understandably, with the robot inside the chamber, disinfectant can be injected into the cable reeling mechanism through the second opening to disinfect the device. At the same time, the cable reeling mechanism can be directly installed on the fire hydrant base through the second opening, so that the pipeline robot and cable do not come into direct contact with the air, reducing pollution to tap water.

[0082] Optionally, a third opening can be provided on the wire take-up and take-down mechanism. After disinfection, air is supplied into the device through the third opening, and the airflow can flow out from the second opening. The gas flowing inside the device can quickly dry the disinfectant residue inside the device.

[0083] The following is an exemplary description of the system functions of the detection device provided in this application that enters the water supply pipeline through the fire hydrant base.

[0084] (1) The pipeline robot is equipped with a thruster, which can be set in the thrust chamber. The thruster provides power so that the pipeline robot can move in the pipeline.

[0085] (2) The pipeline robot is equipped with binocular cameras, hydrophones, pressure sensors, temperature sensors, gyroscopes, accelerometers, magnetometers, and other sensors. The binocular cameras, gyroscopes, accelerometers, and magnetometers can be arranged in the propulsion compartment, while the hydrophones, pressure sensors, and temperature sensors can be arranged in the control compartment.

[0086] The control cabin is equipped with a control module, which is used to receive sensor data and send the sensor data to the control host via cables.

[0087] The control host is used to receive and process sensor data sent by the control module in the control cabin; it is also used to control the pipeline robot and the wire take-up and release mechanism. When controlling the pipeline robot, control commands can be sent to the control module in the control cabin via cables. The control module then executes corresponding operations based on the control commands (e.g., the control module controls the propulsion module in the propulsion cabin to turn based on a steering control command). When controlling the wire take-up and release mechanism, control commands can be sent to the mechanism, which then executes corresponding operations based on the control commands (e.g., performing wire release, wire take-up, adjusting wire take-up and release speeds, etc.).

[0088] Binocular cameras can identify the surface of pipes and perform visual SLAM simultaneously. Combined with a high-precision gyroscope, they can simultaneously map and navigate the pipe. The gyroscope can provide accurate information about the camera's attitude and correct accumulated errors in visual SLAM.

[0089] Visual SLAM (Simultaneous Localization and Mapping) is a computer vision technology based on camera images. It allows machines or robots to build a map of their surroundings in real time by analyzing visual information in the environment and determine their own position within the map. Therefore, visual SLAM can use image sequences captured by cameras to achieve autonomous localization and map creation for robots.

[0090] Hydrophones are used to monitor noise in water pipes and can identify leaks. A hydrophone is a device that converts sound wave signals underwater or in pipes into electrical signals. When a water pipe leaks, the friction between the water flow and the pipe wall generates specific noise signals. The hydrophone captures these sound wave signals, and the control unit analyzes these signals using appropriate algorithms to identify the location of the leak.

[0091] Pressure sensors are used to monitor the pressure at various points in the water pipe. The control host can determine whether the pressure at various points in the water pipe is abnormal based on the pressure monitoring data. The control host can also calculate the vertical height of the monitoring point relative to the injection point based on the pressure difference between the pressure at the injection point (the connection between the wire reeling mechanism and the fire hydrant base) and the pressure at the monitoring point.

[0092] Temperature sensors are used to monitor the temperature at various points in the water pipes, and the control unit can determine whether the temperature at various points in the water pipes is abnormal based on the temperature monitoring data.

[0093] (3) The pipeline robot is connected to the zero-buoyancy fiber optic cable and the cable take-up and release mechanism, and transmits the collected data to the control host through the fiber optic cable. The zero-buoyancy fiber optic cable is an underwater communication cable. Its design makes the buoyancy in the water equal to the weight of the cable itself, so that the cable maintains neutral buoyancy underwater and will not float or sink, thereby reducing the influence of water buoyancy and ensuring stability and reliability during underwater operation.

[0094] (4) The cable take-up and take-up mechanism is used to take up and put down cables. It can neatly arrange the cables inside and control the speed of take-up and take-up in conjunction with the operation of the robot.

[0095] Figure 3 is a flowchart illustrating the detection method for entering the water supply pipeline through the fire hydrant base provided in this application embodiment. As shown in Figure 3, the method is applied to the above-mentioned detection device and includes the following steps S101 and S102.

[0096] Step S101: The pipeline robot is moved by the propulsion module, and the communication cable is wound up and down by the cable winding and unwinding mechanism;

[0097] Step S102: The water supply pipe is detected by the sensors configured in the spherical chamber.

[0098] In one possible implementation, the multiple spherical compartments include: a battery compartment, a control compartment, and a propulsion compartment;

[0099] The battery compartment or control compartment is connected to communication cables;

[0100] The propulsion module is equipped with a propulsion compartment.

[0101] In one possible implementation, the detection device further includes: a control host;

[0102] The control cabin is equipped with a control module, which communicates with various sensors via flexible cables and with the control host via communication cables.

[0103] The method also includes:

[0104] The sensor data is sent to the control host through the control module;

[0105] The host computer receives sensor data sent by the control module and processes the sensor data.

[0106] The control host sends a first control command to the control module and a second control command to the take-up and pay-off mechanism;

[0107] The first control command is executed by the control module, and the second control command is executed by the take-up and release mechanism.

[0108] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.

[0109] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A detection device that enters a water supply pipeline through a fire hydrant base, characterized in that, include: Cable feeding and unloading mechanisms and pipeline robots; The wire feeding and take-up mechanism is connected to the pipeline robot via a communication cable; The pipeline robot consists of multiple spherical cabins connected in series, with adjacent spherical cabins connected by flexible cables. The spherical cabins can pass through the fire hydrant base of the water supply pipeline. One of the multiple spherical capsules is connected to a communication cable at one end, while the other of the multiple spherical capsules is equipped with a propulsion module. At least one spherical chamber is equipped with a sensor for detecting water supply pipes; The propulsion module is used to move the pipeline robot; The cable reeling mechanism is used to reel in and out communication cables.

2. The detection device for entering the water supply pipeline through the fire hydrant base according to claim 1, characterized in that, The multiple spherical modules include: battery module, control module, and propulsion module; The battery compartment or control compartment is connected to communication cables; The propulsion module is equipped with a propulsion compartment.

3. The detection device for entering the water supply pipeline through the fire hydrant base according to claim 2, characterized in that, The detection device also includes: a control host; The control cabin is equipped with a control module, which communicates with each sensor via flexible cables and with the control host via communication cables. The control module is used to send sensor data to the control host and receive the first control command sent by the control host. The control host is used to receive sensor data sent by the control module, process the sensor data, send a first control command to the control module, and send a second control command to the take-up and pay-off mechanism.

4. The detection device for entering the water supply pipeline through the fire hydrant base according to claim 3, characterized in that, At least one spherical capsule is equipped with sensors, including one or more of the following sensors: camera, gyroscope, accelerometer, magnetometer, hydrophone, pressure sensor, and temperature sensor.

5. The detection device for entering the water supply pipeline through the fire hydrant base according to claim 4, characterized in that, In cases where the sensors configured in the spherical cabin include binocular cameras, the control host is used to perform visual SLAM based on the image data from the binocular cameras.

6. The detection device for entering the water supply pipeline through the fire hydrant base according to any one of claims 1-5, characterized in that, The communication cable is specifically a zero-buoyancy cable.

7. The detection device for entering the water supply pipeline through the fire hydrant base according to any one of claims 1-5, characterized in that, The cable rewinding mechanism includes: a cable rewinding module and a chamber capable of accommodating a robot. The chamber has a first opening through which a communication cable passes to connect the cable rewinding module to the pipeline robot. The chamber also has a second opening through which the robot enters and exits the chamber. The shape of the second opening is adapted to the shape of the fire hydrant base. The cable take-up and take-up module is used to take up and take down communication cables.

8. A method for detecting water entering a water supply pipe through a fire hydrant base, characterized in that, The method, applied to the detection device as described in any one of claims 1-7, for detecting water entering the water supply pipeline through the fire hydrant base, comprises: The pipeline robot is moved by the propulsion module, and the communication cable is retrieved and deployed by the cable retraction mechanism. The water supply pipes are detected using sensors configured in a spherical chamber.

9. The detection method for water entering the water supply pipeline through the fire hydrant base according to claim 8, characterized in that, The multiple spherical modules include: battery module, control module, and propulsion module; The battery compartment or control compartment is connected to communication cables; The propulsion module is equipped with a propulsion compartment.

10. The detection method for water entering the water supply pipeline through the fire hydrant base according to claim 8, characterized in that, The detection device also includes: a control host; The control cabin is equipped with a control module, which communicates with various sensors via flexible cables and with the control host via communication cables. The method further includes: The sensor data is sent to the control host through the control module; The host computer receives sensor data sent by the control module and processes the sensor data. The control host sends a first control command to the control module and a second control command to the take-up and pay-off mechanism; The first control command is executed by the control module, and the second control command is executed by the take-up and release mechanism.

Images