CN106644302A - Pipeline leak detection method and device and spherical system - Google Patents
Pipeline leak detection method and device and spherical system Download PDFInfo
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- CN106644302A CN106644302A CN201710090308.3A CN201710090308A CN106644302A CN 106644302 A CN106644302 A CN 106644302A CN 201710090308 A CN201710090308 A CN 201710090308A CN 106644302 A CN106644302 A CN 106644302A
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- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
- G01M3/24—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
- G01M3/243—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations for pipes
- G01M3/246—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations for pipes using pigs or probes travelling in the pipe
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Abstract
The embodiment of the invention discloses a pipeline leak detection method and device and a spherical system for solving the technical problems that methods such as infrared imaging, radar leak detection and gas leak detection only can be used in special conditions and are miscellaneous to operate, high in experience and high in cost, and the paving area is large, the implementing difficulty is great and the economical input is more by virtue of an air sampling method as well as detecting technologies by using caused conveying conditions such as pipeline flow and pressure.
Description
Technical field
The present invention relates to pipe leakage detection field, more particularly to a kind of pipe leakage detection method, device and spherical system
System.
Background technology
The seepage mode of underground water conduit mainly has the extravasation of pipeline moderate rain sewage, oozes in underground water, interior oozes extravasation repeatedly
Occur, seepage not only can produce destruction to the Nature ecological environment, and can produce serious obstruction to the social action of people.
At present, pipe leakage detection technique can be divided into that infrared ray leaks hunting, radar leaks hunting by principle difference, Air leakage detector etc.
It is several, wherein, infrared imaging, radar leak hunting, Air leakage detector these methods can only be used on other occasions, and operate numerous
It is miscellaneous, empirical strong, high cost, by air sampling method and the detection using transport conditions such as the pipeline flow for causing, pressure
Technology its laying area it is wide, enforcement difficulty is big, economic input is more.
The content of the invention
Embodiments provide a kind of pipe leakage detection method, device and spherical system, solve infrared ray into
Leak hunting as, radar, Air leakage detector these methods can only be used on other occasions, and trivial operations, empirical strong, cost
Height, by air sampling method and using the detection technique of the transport conditions such as the pipeline flow that causes, pressure its laying area it is wide,
Enforcement difficulty is big, the technical problem more than economic input.
A kind of pipe leakage detection method provided in an embodiment of the present invention, including：
S1：Pipe leakage detects spherical system when pipeline is tracked, and the MPU6050 that spherical system is detected to pipe leakage is passed
The pipe leakage in MPU6050 sensors detect relative coordinate system OXbYbZb that axle is formed of sensor output detects spherical system
The angular velocity data and acceleration information of system is collected and preserves；
S2：Detect that the angular velocity data and pipeline of spherical system ooze by the pipe leakage in relative coordinate system OXbYbZb
Absolute coordinate system OXYZ and pipe leakage detection that the spherical system of missing inspection is located in the time space motion of tracking pipeline is spherical
The coordinate transform of relative coordinate system OXbYbZb that the MPU6050 sensors detection axle of system is formed, calculates pipeline leak detection ball
Component of the acceleration of gravity of shape system on each direction of principal axis of relative coordinate system OXbYbZb；
S3：The acceleration information of spherical system adds with gravity to be detected to the pipe leakage in relative coordinate system OXbYbZb
The difference of speed data is integrated, by the coordinate transform of absolute coordinate system OXYZ and relative coordinate system OXbYbZb, computer tube
Instantaneous velocity and displacement of the leak detection spherical system in road in absolute coordinate system OXYZ, and by wavelet analysis to pipe leakage
Detecting the acceleration information of spherical system is carried out except making an uproar, and acquisition removes the acceleration information of the spherical system of pipe leakage detection after making an uproar
Peak value number, by the peak value number, obtains the acceleration information cycle that pipe leakage detects spherical system, calculates pipeline and oozes
The spherical system motion distance of missing inspection.
Preferably,
Also include after step S3：
S4：Pipe leakage detects that spherical system has been tracked after full journey, detects spherical system in absolute coordinate pipe leakage
It is instantaneous velocity, displacement, the spherical system motion distance of pipe leakage detection, the sound of the spherical system of pipe leakage detection in OXYZ
The acoustic signals and pipe leakage of ripple acquisition module collection detect that the pipeline leakage tester onboard clock of spherical system is calculated
Temporal information, contrasted with preset acoustic signals analytical database, obtain pipe leakage degree and pipe leakage position.
Preferably,
Step S3 is specifically included：
The acceleration information and acceleration of gravity of spherical system are detected to the pipe leakage in relative coordinate system OXbYbZb
The difference of data is integrated, calculate instantaneous velocity of the spherical system of pipeline leak detection in relative coordinate system OXbYbZb and
Displacement, by the coordinate transform of absolute coordinate system OXYZ and relative coordinate system OXbYbZb, calculates the spherical system of pipeline leak detection
Instantaneous velocity and displacement in absolute coordinate system OXYZ, and the acceleration of spherical system is detected to pipe leakage by wavelet analysis
Degrees of data is carried out except making an uproar, and acquisition removes the peak value number that pipe leakage after making an uproar detects the acceleration information of spherical system, by described
Peak value number, obtains the acceleration information cycle that pipe leakage detects spherical system, by the acceleration information cycle and pipe
The product of the girth of circle that leak detection spherical sub-system diameter in road is located, calculates the spherical system motion distance of pipeline leak detection.
A kind of pipeline leakage tester provided in the embodiment of the present invention, including：
Collection and conservation unit, spherical system is detected when pipeline is tracked for pipe leakage, detects spherical to pipe leakage
The pipeline in MPU6050 sensors detect relative coordinate system OXbYbZb that axle is formed of the MPU6050 sensors output of system
The angular velocity data and acceleration information of the spherical system of leak detection is collected and preserves；
First computing unit, for detecting the angle speed of spherical system by the pipe leakage in relative coordinate system OXbYbZb
Degrees of data and pipe leakage detect absolute coordinate system OXYZ and the pipe of the spherical system at tracking pipeline time space motion place
The coordinate transform of relative coordinate system OXbYbZb that the MPU6050 sensors detection axle of the spherical system of road leak detection is formed, calculates
Pipe leakage detects component of the acceleration of gravity of spherical system on each direction of principal axis of relative coordinate system OXbYbZb；
Second computing unit, for detecting the acceleration of spherical system to the pipe leakage in relative coordinate system OXbYbZb
Degrees of data is integrated with the difference of acceleration of gravity data, by absolute coordinate system OXYZ and relative coordinate system OXbYbZb
Coordinate transform, calculates instantaneous velocity and displacement of the spherical system of pipeline leak detection in absolute coordinate system OXYZ, and by little
Wave analysis detects that the acceleration information of spherical system is carried out except making an uproar to pipe leakage, and acquisition removes pipe leakage after making an uproar and detects spherical system
The peak value number of the acceleration information of system, by the peak value number, obtains the acceleration number of degrees that pipe leakage detects spherical system
According to the cycle, the spherical system motion distance of pipeline leak detection is calculated.
Preferably,
Also include：
Comparison unit, detects that spherical system has been tracked after full journey for pipe leakage, and pipe leakage is detected into spherical system
Instantaneous velocity, displacement, pipe leakage in absolute coordinate system OXYZ detects spherical system motion distance, pipe leakage detection ball
The acoustic signals and pipe leakage of the sound collecting module collection of shape system are detected in the pipeline leakage tester of spherical system
The temporal information of clock calculation is put, is contrasted with preset acoustic signals analytical database, obtain pipe leakage degree and pipe
Road leak location.
Preferably,
Second computing unit is specifically included：
Integration subelement, specifically for detecting adding for spherical system to the pipe leakage in relative coordinate system OXbYbZb
Speed data is integrated with the difference of acceleration of gravity data；
First computation subunit, specifically for the spherical system of calculating pipeline leak detection in relative coordinate system OXbYbZb
Instantaneous velocity and displacement；
Second computation subunit, becomes specifically for the coordinate by absolute coordinate system OXYZ and relative coordinate system OXbYbZb
Change, calculate instantaneous velocity and displacement of the spherical system of pipeline leak detection in absolute coordinate system OXYZ；
Except subelement of making an uproar, specifically for detecting that the acceleration information of spherical system is carried out to pipe leakage by wavelet analysis
Except making an uproar；
First obtains subelement, and the peak that pipe leakage after making an uproar detects the acceleration information of spherical system is removed specifically for acquisition
Value number；
Second obtains subelement, specifically for by the peak value number, obtaining pipe leakage and detecting adding for spherical system
The speed data cycle；
3rd computation subunit, specifically for detecting that spherical system is straight by the acceleration information cycle and pipe leakage
The product of the girth of circle that footpath is located, calculates the spherical system motion distance of pipeline leak detection.
A kind of pipe leakage provided in the embodiment of the present invention detects spherical system, including：Pipe leakage as above
Detection means, supply module, sound collecting module, memory module, bluetooth module, locating module, spherical housing；
Wherein described spherical housing encapsulates the supply module, the sound collecting module, the memory module, the indigo plant
Tooth module, the locating module, the pipeline leakage tester；
The supply module, the sound collecting module, the memory module, the bluetooth module, the locating module
It is connected with the pipeline leakage tester；
The supply module is connected with the sound collecting module, the pipeline leakage tester, the locating module；
The locating module is located at the center that the pipe leakage detects spherical system；
The locating module is MPU6050 sensors；
The pipeline leakage tester, specifically for analyzing the sound collecting module, the locating module data simultaneously
The data storage in the memory module.
Preferably,
The sound collecting module includes Acoustic Signal Acquisition sensor and signal transacting submodule；
The Acoustic Signal Acquisition sensor and the signal transacting submodule are connected by electric signal；The acoustic signals
Collection sensor is electret-type microphone；
The signal transacting submodule, specifically for the pipe leakage detection dress being sent to after electric signal amplification
Put；
The signal transacting submodule is integrated circuit submodule.
Preferably,
The bluetooth module built-in FLASH program memory.
Preferably,
The memory module is SD card.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
A kind of pipe leakage detection method, device and the spherical system provided in the embodiment of the present invention, wherein, a kind of pipeline
Leakage detection method includes：S1：Pipe leakage detects that spherical system, when pipeline is tracked, to pipe leakage spherical system is detected
The pipe leakage inspection in MPU6050 sensors detect relative coordinate system OXbYbZb that axle is formed of MPU6050 sensors output
The angular velocity data and acceleration information for surveying spherical system is collected and preserves；S2：By in relative coordinate system OXbYbZb
Pipe leakage detects that the angular velocity data and pipe leakage of spherical system detects spherical system in tracking pipeline time space motion institute
Absolute coordinate system OXYZ and the pipe leakage detect the relative seat that the MPU6050 sensors detection axle of spherical system is formed
The coordinate transform of mark system OXbYbZb, calculates the acceleration of gravity of the spherical system of pipeline leak detection in relative coordinate system OXbYbZb
Component on each direction of principal axis；S3：The acceleration information of spherical system is detected to the pipe leakage in relative coordinate system OXbYbZb
It is integrated with the difference of acceleration of gravity data, is become by the coordinate of absolute coordinate system OXYZ and relative coordinate system OXbYbZb
Change, calculate instantaneous velocity and displacement of the spherical system of pipeline leak detection in absolute coordinate system OXYZ, and by wavelet analysis
The acceleration information of the spherical system of pipe leakage detection is carried out except making an uproar, acquisition removes pipe leakage after making an uproar and detects adding for spherical system
The peak value number of speed data, by the peak value number, obtains the acceleration information cycle that pipe leakage detects spherical system,
Calculate the spherical system motion distance of pipeline leak detection.In the present embodiment, by being collected to data and preserving, using coordinate
Component of the acceleration of gravity on each direction of principal axis is obtained in conversion, and actual acceleration is poor with acceleration of gravity, and difference is asked for
Integration, using small echo to signal denoising, takes out waveform peak number, and according to the signal period system motion distance is obtained, and solves
Infrared imaging, radar leak hunting, Air leakage detector these methods can only be used on other occasions, and trivial operations, empirical
By force, high cost, by air sampling method and using its laying of the detection technique of the transport conditions such as the pipeline flow for causing, pressure
Area is wide, enforcement difficulty is big, the technical problem more than economic input.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
A kind of schematic flow sheet of the one embodiment for the pipe leakage detection method provided in Fig. 1 embodiment of the present invention；
A kind of flow process of another embodiment of the pipe leakage detection method provided in Fig. 2 embodiment of the present invention is illustrated
Figure；
A kind of structural representation of the one embodiment for the pipeline leakage tester provided in Fig. 3 embodiment of the present invention；
A kind of structural representation of another embodiment of the pipeline leakage tester provided in Fig. 4 embodiment of the present invention
Figure；
A kind of pipe leakage provided in Fig. 5 embodiment of the present invention detects the structural representation of one embodiment of spherical system
Figure；
Fig. 6 is the MPU6050 sensors detection that a kind of pipe leakage provided in the embodiment of the present invention detects spherical system
The relative coordinate system OXbYbZb schematic diagram that axle is formed.
Specific embodiment
A kind of pipe leakage detection method, device and spherical system are embodiments provided, for solving infrared ray
Imaging, radar are leaked hunting, Air leakage detector these methods can only be used on other occasions, and trivial operations, empirical strong, cost
Height, by air sampling method and using the detection technique of the transport conditions such as the pipeline flow that causes, pressure its laying area it is wide,
Enforcement difficulty is big, the technical problem more than economic input.
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described, it is clear that disclosed below to the technical scheme in the embodiment of the present invention
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
Fig. 1 is referred to, a kind of one embodiment for the pipe leakage detection method provided in the embodiment of the present invention includes：
101st, pipe leakage detects that spherical system, when pipeline is tracked, to pipe leakage the MPU6050 of spherical system is detected
The pipe leakage detection in MPU6050 sensors detect relative coordinate system OXbYbZb that axle is formed of sensor output is spherical
The angular velocity data and acceleration information of system is collected and preserves；
, when pipeline is tracked, the central processing unit 1 of pipeline leakage tester is to pipe leakage for pipeline leakage tester
The relative coordinate system that axle formation is detected in MPU6050 sensors of the MPU6050 sensors output of the locating module 6 of detection means
The angular velocity data and acceleration information of the pipeline leakage tester in OXbYbZb is read out, and by TXT document forms
Store to the memory module 4 of pipeline leakage tester.
102nd, detect that the angular velocity data and pipeline of spherical system ooze by the pipe leakage in relative coordinate system OXbYbZb
Absolute coordinate system OXYZ and pipe leakage detection that the spherical system of missing inspection is located in the time space motion of tracking pipeline is spherical
The coordinate transform of relative coordinate system OXbYbZb that the MPU6050 sensors detection axle of system is formed, calculates pipeline leak detection ball
Component of the acceleration of gravity of shape system on each direction of principal axis of relative coordinate system OXbYbZb；
Pipe leakage is detected and occurs that space overturns in spherical system tracking and positioning, and system is sensed by MPU6050
Device recognizes spatial attitude, and by coordinate transform acceleration of gravity is filtered, and can obtain pipe leakage by geometrical relationship and detect spherical system
Absolute coordinate system OXYZ being located in the time space motion of tracking pipeline detects that the MPU6050 of spherical system is passed with the pipe leakage
Transformation relation between relative coordinate OXbYbZb that sensor detection axle is formed, by transformation relation, calculates pipeline leak detection ball
The component of the acceleration of gravity of shape system X, Y, Z axis in relative coordinate system OXbYbZb.
103rd, detect that the acceleration information and gravity of spherical system add to the pipe leakage in relative coordinate system OXbYbZb
The difference of speed data is integrated, by the coordinate transform of absolute coordinate system OXYZ and relative coordinate system OXbYbZb, computer tube
Instantaneous velocity and displacement of the leak detection spherical system in road in absolute coordinate system OXYZ, and by wavelet analysis to pipe leakage
Detecting the acceleration information of spherical system is carried out except making an uproar, and acquisition removes the acceleration information of the spherical system of pipe leakage detection after making an uproar
Peak value number, by the peak value number, obtains the acceleration information cycle that pipe leakage detects spherical system, calculates pipeline and oozes
The spherical system motion distance of missing inspection.
System actual acceleration is poor with system acceleration of gravity, integration is asked for difference, when the detecting system is deposited
When space overturns, component of the acceleration of gravity on the axle need to be deducted with actually measured acceleration, then by integration
Motion instantaneous velocity and displacement of the target object (pipe leakage detects spherical system) in space is tried to achieve in computing.Work as integration
After the completion of computing, then by coordinate transform obtain pipe leakage detect the transient motion speed of spherical system in absolute space with
Displacement.Model acceleration signal is carried out except making an uproar by decomposing, reconstructing, after inverse transformation, reading removes the peak value number of signal after making an uproar.
According to the measuring principle of accelerometer, system often overturns once, and acceleration is presented a cycle, and the move distance of system is acceleration
Spend the product of signal period and the girth of circle that sub-system diameter is located.
The above is that a kind of pipe leakage detection method is described in detail, below will be to a kind of pipe leakage detection side
The process of method is described in detail, and refers to Fig. 2, and a kind of pipe leakage detection method of offer is another in the embodiment of the present invention
One embodiment includes：
201st, pipe leakage detects that spherical system, when pipeline is tracked, to pipe leakage the MPU6050 of spherical system is detected
The pipe leakage detection in MPU6050 sensors detect relative coordinate system OXbYbZb that axle is formed of sensor output is spherical
The angular velocity data and acceleration information of system is collected and preserves；
, when pipeline is tracked, the central processing unit 1 of pipeline leakage tester is to pipe leakage for pipeline leakage tester
The relative coordinate system that axle formation is detected in MPU6050 sensors of the MPU6050 sensors output of the locating module 6 of detection means
The angular velocity data and acceleration information of the pipeline leakage tester in OXbYbZb is read out, and by TXT document forms
Store to the memory module 4 of pipeline leakage tester.
202nd, detect that the angular velocity data and pipeline of spherical system ooze by the pipe leakage in relative coordinate system OXbYbZb
Absolute coordinate system OXYZ and pipe leakage detection that the spherical system of missing inspection is located in the time space motion of tracking pipeline is spherical
The coordinate transform of relative coordinate system OXbYbZb that the MPU6050 sensors detection axle of system is formed, calculates pipeline leak detection ball
Component of the acceleration of gravity of shape system on each direction of principal axis of relative coordinate system OXbYbZb；
Due in for a kind of spherical system tracking and positioning of pipe leakage detection based on MPU6050 location technologies
Occur that space overturns, pipe leakage detects that spherical system recognizes spatial attitude by MPU6050 sensors, by coordinate transform
Filter acceleration of gravity；Can obtain pipe leakage by geometrical relationship detects spherical system in the exhausted of tracking pipeline time space motion place
The relative coordinate system that the MPU6050 sensors detection axle of spherical system is formed is detected with the pipe leakage to coordinate system OXYZ
Transformation relation between OXbYbZb (as shown in Figure 6)：(wherein ψ, θ and γ are absolute coordinate system OXYZ and relative coordinate
Angle between the X, Y, Z axis of OXbYbZb；Xb is the X-coordinate of relative coordinate OXbYbZb, and yb sits for the Y of relative coordinate OXbYbZb
Mark, zb is the Z coordinate of relative coordinate OXbYbZb；X is the X-coordinate of absolute coordinate OXYZ；The Y-coordinate of y absolute coordinate OXYZ；Z is
The Z coordinate of absolute coordinate OXYZ)
Spin matrix is asked for by Euler method
In parameter ψ, θ and γ：
Wherein ωx、ωy、ωzPipe leakage for MPU6050 outputs detects the angular velocity component of spherical system.Pipeline oozes
The acceleration of gravity of the spherical system of missing inspection component of X, Y, Z axis in relative coordinate system OXbYbZb is：
203rd, detect that the acceleration information and gravity of spherical system add to the pipe leakage in relative coordinate system OXbYbZb
The difference of speed data is integrated, and calculates instantaneous speed of the spherical system of pipeline leak detection in relative coordinate system OXbYbZb
Degree and displacement, by the coordinate transform of absolute coordinate system OXYZ and relative coordinate system OXbYbZb, calculate pipeline leak detection spherical
Instantaneous velocity and displacement of the system in absolute coordinate system OXYZ, and spherical system is detected to pipe leakage by wavelet analysis
Acceleration information is carried out except making an uproar, and acquisition removes the peak value number that pipe leakage after making an uproar detects the acceleration information of spherical system, passes through
The peak value number, obtains the acceleration information cycle that pipe leakage detects spherical system, by the acceleration information cycle
With the product of the girth that pipe leakage detects circle that spherical sub-system diameter is located, calculate the spherical system motion of pipeline leak detection away from
From.
When the detecting system Existential Space overturns, acceleration of gravity need to be deducted in the axle with actually measured acceleration
On component, then motion instantaneous velocity and displacement of the target object in space is tried to achieve by integral operation.Work as product
After the completion of partite transport is calculated, then transient motion speed and displacement of the system in absolute space is obtained by coordinate transform.Then pass through
(wavelet analysis) is carried out except making an uproar to signal acceleration signal after decomposition, reconstruct, inverse transformation, and the peak value that reading removes signal after making an uproar is individual
Number.Further according to the measuring principle of accelerometer, system often overturns once, and acceleration is presented a cycle, the motion of computing system
The product of the girth of circle that distance as acceleration signal cycle and sub-system diameter are located.
204th, pipe leakage detects that spherical system has been tracked after full journey, detects spherical system in absolute coordinate pipe leakage
It is instantaneous velocity, displacement, the spherical system motion distance of pipe leakage detection, the sound of the spherical system of pipe leakage detection in OXYZ
The acoustic signals and pipe leakage of ripple acquisition module collection detect that the pipeline leakage tester onboard clock of spherical system is calculated
Temporal information, contrasted with preset acoustic signals analytical database, obtain pipe leakage degree and pipe leakage position.
After pipe leakage detects that spherical system covers whole process, take out from pipeline, the spherical system of opening conduits leak detection
The bluetooth module play button of system, pipe leakage is detected information of acoustic wave in the memory module of spherical system, trace information, when
Between information transmission to host computer, by many experiments, set up acoustic signals analytical database, different degrees of pipeline is carried out etc.
Levelization, the host computer receives the data of the bluetooth module upload and compares with preset acoustic signals analytical database,
Underground water conduit leak magnitude is drawn, and pipeline three-dimensional information record is carried out with reckoning principle and obtain leak location.
If not pure rolling, then the distance for measuring has error with the size of actual pipeline.
In the present embodiment, by being collected to data and preserving, acceleration of gravity is obtained in each axle using coordinate transform
Component on direction, actual acceleration is poor with acceleration of gravity, integration is asked for difference, using small echo to signal denoising,
Waveform peak number is taken out, system motion distance is obtained according to the signal period, when system work is completed, host computer receives bluetooth
Module uploads the data obtained and compares with the acoustic signals analytical database, draws the pipe leakage order of severity, solves
Infrared imaging, radar leak hunting, Air leakage detector these methods can only be used on other occasions, and trivial operations, empirical
By force, high cost, by air sampling method and using its laying of the detection technique of the transport conditions such as the pipeline flow for causing, pressure
Area is wide, enforcement difficulty is big, the technical problem more than economic input.
Fig. 3 is referred to, a kind of one embodiment of pipeline leakage tester provided in an embodiment of the present invention includes：
Collection and conservation unit 301, detects that spherical system, when pipeline is tracked, to pipe leakage ball is detected for pipe leakage
The pipe in MPU6050 sensors detect relative coordinate system OXbYbZb that axle is formed of the MPU6050 sensors output of shape system
The angular velocity data and acceleration information of the spherical system of road leak detection is collected and preserves；
First computing unit 302, for detecting the angle of spherical system by the pipe leakage in relative coordinate system OXbYbZb
Speed data and pipe leakage detect absolute coordinate system OXYZ that spherical system is located in the time space motion of tracking pipeline and described
Pipe leakage detects the coordinate transform of relative coordinate system OXbYbZb that the MPU6050 sensors detection axle of spherical system is formed, meter
Calculate pipe leakage and detect component of the acceleration of gravity of spherical system on each direction of principal axis of relative coordinate system OXbYbZb；
Second computing unit 303, for detecting adding for spherical system to the pipe leakage in relative coordinate system OXbYbZb
Speed data is integrated with the difference of acceleration of gravity data, by absolute coordinate system OXYZ and relative coordinate system OXbYbZb
Coordinate transform, calculate instantaneous velocity and displacement of the spherical system of pipeline leak detection in absolute coordinate system OXYZ, and pass through
Wavelet analysis detects that the acceleration information of spherical system is carried out except making an uproar to pipe leakage, and it is spherical that acquisition removes pipe leakage detection after making an uproar
The peak value number of the acceleration information of system, by the peak value number, obtains the acceleration that pipe leakage detects spherical system
In the data cycle, calculate the spherical system motion distance of pipeline leak detection.
The above is that a kind of pipeline leakage tester each unit is described in detail, below will be to a kind of pipe leakage
The each extra cell of detection means is described in detail, and refers to Fig. 4, a kind of pipe leakage inspection provided in the embodiment of the present invention
Surveying another embodiment of device includes：
Collection and conservation unit 401, detects that spherical system, when pipeline is tracked, to pipe leakage ball is detected for pipe leakage
The pipe in MPU6050 sensors detect relative coordinate system OXbYbZb that axle is formed of the MPU6050 sensors output of shape system
The angular velocity data and acceleration information of the spherical system of road leak detection is collected and preserves；
First computing unit 402, for detecting the angle of spherical system by the pipe leakage in relative coordinate system OXbYbZb
Speed data and pipe leakage detect absolute coordinate system OXYZ that spherical system is located in the time space motion of tracking pipeline and described
Pipe leakage detects the coordinate transform of relative coordinate system OXbYbZb that the MPU6050 sensors detection axle of spherical system is formed, meter
Calculate pipe leakage and detect component of the acceleration of gravity of spherical system on each direction of principal axis of relative coordinate system OXbYbZb；
Second computing unit 403, for detecting adding for spherical system to the pipe leakage in relative coordinate system OXbYbZb
Speed data is integrated with the difference of acceleration of gravity data, by absolute coordinate system OXYZ and relative coordinate system OXbYbZb
Coordinate transform, calculate instantaneous velocity and displacement of the spherical system of pipeline leak detection in absolute coordinate system OXYZ, and pass through
Wavelet analysis detects that the acceleration information of spherical system is carried out except making an uproar to pipe leakage, and it is spherical that acquisition removes pipe leakage detection after making an uproar
The peak value number of the acceleration information of system, by the peak value number, obtains the acceleration that pipe leakage detects spherical system
In the data cycle, calculate the spherical system motion distance of pipeline leak detection；
Second computing unit 403 is specifically included：
Integration subelement 4031, specifically for detecting spherical system to the pipe leakage in relative coordinate system OXbYbZb
Acceleration information be integrated with the difference of acceleration of gravity data；
First computation subunit 4032, specifically for calculating the spherical system of pipeline leak detection in relative coordinate system
Instantaneous velocity and displacement in OXbYbZb；
Second computation subunit 4033, specifically for the seat by absolute coordinate system OXYZ and relative coordinate system OXbYbZb
Mark conversion, calculates instantaneous velocity and displacement of the spherical system of pipeline leak detection in absolute coordinate system OXYZ；
Except subelement 4034 of making an uproar, the acceleration information specifically for detecting spherical system to pipe leakage by wavelet analysis
Carry out removing and make an uproar；
First obtains subelement 4035, specifically for obtain except make an uproar subelement 4034 except after making an uproar pipe leakage detect spherical system
The peak value number of the acceleration information of system；
Second obtains subelement 4036, specifically for obtaining the peak value number that subelement 4035 is obtained by first,
Obtain the acceleration information cycle that pipe leakage detects spherical system；
3rd computation subunit 4037, specifically for obtaining the acceleration information that subelement 4036 is obtained by second
Cycle and pipe leakage detect the product of the girth of circle that spherical sub-system diameter is located, and calculate the spherical system motion of pipeline leak detection
Distance.
Comparison unit 404, detects that spherical system has been tracked after full journey for pipe leakage, and pipe leakage is detected into spherical system
Instantaneous velocity, displacement, pipe leakage detection spherical system motion distance, pipe leakage detection of the system in absolute coordinate system OXYZ
The acoustic signals and pipe leakage of the sound collecting module collection of spherical system detect the pipeline leakage tester of spherical system
Onboard clock calculate temporal information, contrasted with preset acoustic signals analytical database, obtain pipe leakage degree and
Pipe leakage position.
In the present embodiment, data are collected by Collection and conservation unit 401 and are preserved, the first computing unit 402 it is sharp
Component of the acceleration of gravity on each direction of principal axis is obtained with coordinate transform, actual acceleration is poor with acceleration of gravity, to difference
Value asks for integration, the second computing unit 403 and, to signal denoising, takes out waveform peak number using small echo, is obtained according to the signal period
Bluetooth module upload the data obtained is received to system motion distance, comparison unit 404 to enter with the acoustic signals analytical database
Row is compared, and draws the pipe leakage order of severity, solves that infrared imaging, radar leak hunting, Air leakage detector these methods can only be
Use in the case of specific, and trivial operations, empirical strong, high cost, by air sampling method and using the pipeline for causing
The detection technique of the transport conditions such as flow, pressure its laying area is wide, enforcement difficulty is big, the technical problem more than economic input.
Fig. 5 is referred to, a kind of pipe leakage provided in the embodiment of the present invention detects one embodiment bag of spherical system
Include：Pipeline leakage tester as above, supply module, sound collecting module, memory module, bluetooth module, positioning mould
Block, spherical housing；
Wherein described spherical housing encapsulates the supply module, the sound collecting module, the memory module, the indigo plant
Tooth module, the locating module, the pipeline leakage tester；
The supply module, the sound collecting module, the memory module, the bluetooth module, the locating module
It is connected with the pipeline leakage tester；
The supply module is connected with the sound collecting module, the pipeline leakage tester, the locating module；
The locating module is located at the center that the pipe leakage detects spherical system；
The locating module is MPU6050 sensors；
The pipeline leakage tester, specifically for analyzing the sound collecting module, the locating module data simultaneously
The data storage in the memory module.
Further,
The sound collecting module includes Acoustic Signal Acquisition sensor and signal transacting submodule；
The Acoustic Signal Acquisition sensor and the signal transacting submodule are connected by electric signal；The acoustic signals
Collection sensor is electret-type microphone
The signal transacting submodule, specifically for the pipe leakage detection dress being sent to after electric signal amplification
Put；
The signal transacting submodule is integrated circuit submodule.
Further,
The bluetooth module built-in FLASH program memory.
Further,
The memory module is SD card.
Such as Fig. 5, the present invention provides a kind of pipe leakage based on MPU6050 location technologies and detects spherical system, including supplies
Electric module, sound collecting module, memory module, bluetooth module, locating module, CPU, spherical housing, the power supply
Module, sound collecting module, memory module, bluetooth module, locating module are connected with the CPU, each module work
Make relatively independent.
Further,
The supply module selects Large Copacity chargeable lithium cell；The supply module be the sound collecting module, in
Central Processing Unit, locating module are powered；By the central processing unit controls signal, the work electricity needed for each module is produced
Pressure.
Further,
The sound collecting module includes Acoustic Signal Acquisition sensor and signal processing module；The Acoustic Signal Acquisition
Sensor selects electret-type microphone；The signal processing module is MAX9814 integrated circuit modules；The acoustic signals are adopted
Collection sensor collection acoustic signals, produce electric signal, are connected to the signal processing module, and the signal processing module processes institute
Electric signal is stated, and the CPU is sent to after electric signal is amplified.
Further,
The memory module selects SD card；The central processing unit processes the sound collecting module, the locating module
Data, store to the SD card after analysis.
Further,
The locating module selects MPU6050 sensors, and the locating module is located at spherical system centre position, by institute
State MPU6050 and read the system angle of pitch, roll angle, yaw angle, spherical system real time kinematics attitude is obtained by algorithm.
Further,
The bluetooth module selects BK3231 modules, possesses built-in FLASH program memory, is adapted to for the application of customization
Program, preferably protects application security；When system work is completed, the bluetooth module play button is opened, will be described
Data are uploaded to host computer in SD card；By many experiments, acoustic signals analytical database is set up, different degrees of pipeline is entered
Row is hierarchical, and the host computer receives the bluetooth module upload the data obtained to be compared with the acoustic signals analytical database
It is right, draw the pipe leakage order of severity.Data upload to host computer by bluetooth module in SD card.The host computer be based on
Windows system developments.
Further,
The central processing unit selects 32-bit microprocessor.
Further,
The system is placed in the spherical housing；The spherical housing selects erosion-resisting plastic material.
In the present embodiment, by supply module, sound collecting module, memory module, bluetooth module, locating module, central authorities
Processing unit, spherical housing, the supply module, sound collecting module, memory module, bluetooth module, locating module are and institute
State CPU connection, the work of each module is relatively independent, solve infrared imaging, radar leak hunting, Air leakage detector these
Method can only be used on other occasions, and trivial operations, empirical strong, high cost, by air sampling method and utilization
The detection technique of the transport conditions such as the pipeline flow for causing, pressure its laying area is wide, enforcement difficulty is big, the skill more than economic input
Art problem.
Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematic, for example, the unit
Divide, only a kind of division of logic function can have other dividing mode, such as multiple units or component when actually realizing
Can with reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or
The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can according to the actual needs be selected to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, during a computer read/write memory medium can be stored in.Based on such understanding, technical scheme is substantially
The part for contributing to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention
Portion or part steps.And aforesaid storage medium includes：USB flash disk, portable hard drive, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, RandomAccess Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, above example only to illustrate technical scheme, rather than a limitation；Although with reference to front
State embodiment to be described in detail the present invention, it will be understood by those within the art that：It still can be to front
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and does not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. a kind of pipe leakage detection method, it is characterised in that include：
S1：Pipe leakage detects that spherical system, when pipeline is tracked, to pipe leakage the MPU6050 sensors of spherical system is detected
The pipe leakage in MPU6050 sensors detect relative coordinate system OXbYbZb that axle is formed of output detects spherical system
Angular velocity data and acceleration information are collected and preserve；
S2：The angular velocity data and pipe leakage inspection of spherical system is detected by the pipe leakage in relative coordinate system OXbYbZb
Survey absolute coordinate system OXYZ and the spherical system of pipe leakage detection that spherical system is located in the time space motion of tracking pipeline
The coordinate transform of relative coordinate system OXbYbZb that formed of MPU6050 sensors detection axle, calculate the spherical system of pipeline leak detection
Component of the acceleration of gravity of system on each direction of principal axis of relative coordinate system OXbYbZb；
S3：The acceleration information and acceleration of gravity of spherical system are detected to the pipe leakage in relative coordinate system OXbYbZb
The difference of data is integrated, and by the coordinate transform of absolute coordinate system OXYZ and relative coordinate system OXbYbZb, calculates pipeline and oozes
Instantaneous velocity and displacement of the spherical system of missing inspection in absolute coordinate system OXYZ, and pipe leakage is detected by wavelet analysis
The acceleration information of spherical system is carried out except making an uproar, and acquisition removes the peak value that pipe leakage after making an uproar detects the acceleration information of spherical system
Number, by the peak value number, obtains the acceleration information cycle that pipe leakage detects spherical system, calculates pipe leakage inspection
Survey spherical system motion distance.
2. pipe leakage detection method according to claim 1, it is characterised in that also include after step S3：
S4：Pipe leakage detects that spherical system has been tracked after full journey, detects spherical system in absolute coordinate system pipe leakage
Instantaneous velocity, displacement, pipe leakage in OXYZ detects that spherical system motion distance, pipe leakage detect the sound wave of spherical system
The acoustic signals and pipe leakage of acquisition module collection detect what the pipeline leakage tester onboard clock of spherical system was calculated
Temporal information, is contrasted with preset acoustic signals analytical database, obtains pipe leakage degree and pipe leakage position.
3. pipe leakage detection method according to claim 2, it is characterised in that step S3 is specifically included：
The acceleration information and acceleration of gravity data of spherical system are detected to the pipe leakage in relative coordinate system OXbYbZb
Difference be integrated, calculate instantaneous velocity and displacement of the spherical system of pipeline leak detection in relative coordinate system OXbYbZb,
By the coordinate transform of absolute coordinate system OXYZ and relative coordinate system OXbYbZb, the spherical system of pipeline leak detection is calculated exhausted
To the instantaneous velocity in coordinate system OXYZ and displacement, and the acceleration number of degrees of spherical system are detected to pipe leakage by wavelet analysis
Make an uproar according to carrying out removing, acquisition removes the peak value number that pipe leakage after making an uproar detects the acceleration information of spherical system, by the peak value
Number, obtains the acceleration information cycle that pipe leakage detects spherical system, is oozed by the acceleration information cycle and pipeline
The product of the girth of circle that the spherical sub-system diameter of missing inspection is located, calculates the spherical system motion distance of pipeline leak detection.
4. a kind of pipeline leakage tester, it is characterised in that include：
Collection and conservation unit, detects that spherical system, when pipeline is tracked, to pipe leakage spherical system is detected for pipe leakage
MPU6050 sensors output MPU6050 sensors detect axle formed relative coordinate system OXbYbZb in pipe leakage
The angular velocity data and acceleration information for detecting spherical system is collected and preserves；
First computing unit, for detecting the angular speed number of spherical system by the pipe leakage in relative coordinate system OXbYbZb
Detect that absolute coordinate system OXYZ and the pipeline of the spherical system at tracking pipeline time space motion place is oozed according to pipe leakage
The coordinate transform of relative coordinate system OXbYbZb that the MPU6050 sensors detection axle of the spherical system of missing inspection is formed, calculates pipeline
Component of the acceleration of gravity of the spherical system of leak detection on each direction of principal axis of relative coordinate system OXbYbZb；
Second computing unit, for detecting the acceleration number of degrees of spherical system to the pipe leakage in relative coordinate system OXbYbZb
According to being integrated with the difference of acceleration of gravity data, by absolute coordinate system OXYZ and the coordinate of relative coordinate system OXbYbZb
Conversion, calculates instantaneous velocity and displacement of the spherical system of pipeline leak detection in absolute coordinate system OXYZ, and by little wavelength-division
Analyse and detect that the acceleration information of spherical system is carried out except making an uproar to pipe leakage, acquisition removes pipe leakage after making an uproar and detects spherical system
The peak value number of acceleration information, by the peak value number, obtains the acceleration information week that pipe leakage detects spherical system
Phase, calculate the spherical system motion distance of pipeline leak detection.
5. pipeline leakage tester according to claim 4, it is characterised in that also include：
Comparison unit, detects that spherical system has been tracked after full journey for pipe leakage, detects spherical system exhausted pipe leakage
Detect that spherical system motion distance, pipe leakage detect spherical system to the instantaneous velocity in coordinate system OXYZ, displacement, pipe leakage
When the acoustic signals and pipe leakage of the sound collecting module collection of system detect that the pipeline leakage tester of spherical system is built-in
The temporal information that clock is calculated, is contrasted with preset acoustic signals analytical database, obtains pipe leakage degree and pipeline oozes
Leakage position.
6. pipeline leakage tester according to claim 5, it is characterised in that second computing unit is specifically wrapped
Include：
Integration subelement, the acceleration specifically for detecting spherical system to the pipe leakage in relative coordinate system OXbYbZb
Data are integrated with the difference of acceleration of gravity data；
First computation subunit, specifically for calculating wink of the spherical system of pipeline leak detection in relative coordinate system OXbYbZb
Shi Sudu and displacement；
Second computation subunit, specifically for the coordinate transform by absolute coordinate system OXYZ and relative coordinate system OXbYbZb, meter
Calculate pipe leakage and detect instantaneous velocity and displacement of the spherical system in absolute coordinate system OXYZ；
Except subelement of making an uproar, specifically for detecting that the acceleration information of spherical system is removed to pipe leakage by wavelet analysis
Make an uproar；
First obtains subelement, and the peak value that pipe leakage after making an uproar detects the acceleration information of spherical system is removed specifically for acquisition
Number；
Second obtains subelement, specifically for by the peak value number, obtaining the acceleration that pipe leakage detects spherical system
The data cycle；
3rd computation subunit, specifically for detecting spherical sub-system diameter institute by the acceleration information cycle and pipe leakage
In the product of round girth, the spherical system motion distance of pipeline leak detection is calculated.
7. a kind of pipe leakage detects spherical system, it is characterised in that include：Pipe leakage inspection as described in claim 4-6
Survey device, supply module, sound collecting module, memory module, bluetooth module, locating module, spherical housing；
Wherein described spherical housing encapsulates the supply module, the sound collecting module, the memory module, the bluetooth mould
Block, the locating module, the pipeline leakage tester；
The supply module, the sound collecting module, the memory module, the bluetooth module, the locating module with
The pipeline leakage tester connection；
The supply module is connected with the sound collecting module, the pipeline leakage tester, the locating module；
The locating module is located at the center that the pipe leakage detects spherical system；
The locating module is MPU6050 sensors；
The pipeline leakage tester, for analyzing the sound collecting module, the locating module data simultaneously the number
According to being stored in the memory module.
8. pipe leakage according to claim 7 detects spherical system, it is characterised in that the sound collecting module includes
Acoustic Signal Acquisition sensor and signal transacting submodule；
The Acoustic Signal Acquisition sensor and the signal transacting submodule are connected by electric signal；
The Acoustic Signal Acquisition sensor is electret-type microphone
The signal transacting submodule, specifically for the pipeline leakage tester will be sent to after electric signal amplification；
The signal transacting submodule is integrated circuit submodule.
9. pipe leakage according to claim 8 detects spherical system, it is characterised in that the bluetooth module is built-in
FLASH program storages.
10. pipe leakage according to claim 9 detects spherical system, it is characterised in that the memory module is SD card.
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