CN106969269B - Underground pipe network robot positioning system, Leakage Point Location System and leak source localization method - Google Patents
Underground pipe network robot positioning system, Leakage Point Location System and leak source localization method Download PDFInfo
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- CN106969269B CN106969269B CN201710334776.0A CN201710334776A CN106969269B CN 106969269 B CN106969269 B CN 106969269B CN 201710334776 A CN201710334776 A CN 201710334776A CN 106969269 B CN106969269 B CN 106969269B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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- General Engineering & Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
Include device people, background monitoring system, relay system and the remote control system for acquiring front end data the invention discloses a kind of underground pipe network robot positioning system；Front end data includes video data and location data；The robot carries out wire communication by relay system and background monitoring system two-way communication, robot by the communications cable and relay system；The remote control system is communicated by relay system with background monitoring system.The invention also discloses the leakage plot-plot control system and leak source localization method using underground pipe network robot positioning system, Leakage Point Location System increases leak source locating module on robot positioning system；The location data and video data that leak source localization method is acquired according to robot position leak source.
Description
Technical field
The present invention relates to underground pipe network leak source detection technique fields, especially underground pipe network Leakage Point Location System and positioning side
Method.
Background technology
With being constantly progressive for science and technology, robot detection technique has been widely used in every field.Currently, people
The detection of underground pipe network leak source cannot be carried out in real time, can only shoot in detection robot and store entire underground pipe network
Video data after, copy to and watched on computer, need to watch complete portion's video, it is time-consuming and laborious, be also easy to missing inspection occur.It is maximum
Obstacle is, even if from the specific location that can not judge leak source if judging leak source in video from video.Due to buried pipe
Signal in net is weaker, detection robot enter after underground pipe network in the presence of can not use wireless location technology in the prior art into
Row positioning, such as radio signal power positioning, GPS positioning, still, the positioning for detecting robot are the passes of leak source detection positioning
Key.Maintenance personal can be excavated, to carry out leak source row according to the position of detection robot in the corresponding position on road surface
It removes or overhauls.
Invention content
In view of the above shortcomings of the prior art, the present invention provides a kind of underground pipe network robot positioning system, solves existing
The technical issues of cannot being positioned to the robot for entering underground pipe network in technology, can carry out the movement of robot distant
Control, positions robot in real time.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions：A kind of underground pipe network robot is fixed
Position system, includes for acquiring the robot of front end data, background monitoring system, relay system and remote control system；Institute
Robot is stated by relay system and background monitoring system two-way communication, robot is had by the communications cable and relay system
Line communicates；The remote control system is communicated by relay system with background monitoring system；The remote control system packet
Control stick and control stick communication module are included, control stick is for generating athletic posture order, and control stick communication module will be for that will move
Gesture commands are sent to background monitoring system by relay system, and the athletic posture order includes advancing, retreat and turning；
The robot includes core controller, and core controller two-way communication link has wire communication module, core control
The signal input part of device processed is connected with following functions module：Laser range finder, for detecting robot apart from pipeline curve ahead
The distance at place；Gyroscope, the angular speed for detecting robot；The signal output end of the core controller is connected with following work(
It can module：Camera module, for acquiring video data in real time and passing through wire communication module uploaded videos data；Motion control
Module, the motion for controlling robot execute athletic performance；
The background monitoring system includes the computer for being stored with underground pipe network electronic map, the allocation of computer have with
Lower function module：
Remote control command parsing module, the athletic posture order for parsing remote control system upload；
Distance computing module, the movement that range data and remote control system for being uploaded according to laser range finder upload
Gesture commands carry out calculating robot's walking distance；
Directions calculation module is used for the turn direction of the angular speed calculating robot according to robot；
Track redraws module, for the real time position according to robot ambulation distance and turn direction COMPREHENSIVE CALCULATING machine people
And movement locus, and include on underground pipe network electronic map by real time position and movement locus.
In above-mentioned technical proposal, robot carries out wire communication with relay system, is the front end number for ensureing robot acquisition
According to the premise that can upload to background monitoring system；Can by background monitoring system watch robot upload video come
Road conditions are observed, the control moved to robot ambulation is then realized by remote control system, significantly reducing robot needs
Voluntarily to judge the computational burden of road conditions；The range data and angular speed that background monitoring system is acquired according to robot are realized pair
The positioning of robot.
Preferably, the artificial climbing robot of the machine, the climbing robot include crawling foot and fuselage platform, described
Crawling foot is movement executing mechanism；Each crawling foot includes steering connections, leg joint and shin joint；The steering connections is in water
It is rotatably connected by steering engine with fuselage platform in plane, the leg joint both ends exist with steering connections, shin joint respectively
It is rotatably connected by steering engine on vertical guide；The motion-control module is servos control module, the servos control mould
The signal input part of block is connected with the signal output end of core controller, the signal output end of servos control module respectively with each rudder
Machine is connected；Kernel control module and wire communication module two-way communication.In this way, climbing robot has excellent turning and obstacle detouring
Ability is quite suitable for the road conditions of underground pipe network.
Preferably, the robot further includes D/A D/A converter modules, the signal input of the D/A D/A converter modules
End, signal output end are connect with the signal input part of the signal output end of the camera module, wire communication module respectively.This
Sample, the digital video signal of camera acquisition are converted into analog video signal by D/A D/A converter modules and are uploaded, simulation letter
Occupy that frequency spectrum is relatively narrow, and channel utilization is high when number transmission.
Preferably, the relay system includes repeater, and the repeater includes for being converted to analog video signal
The video frequency collection card of digital video signal.In this way, background monitoring system can directly receive digital video signal, video letter is improved
Number display speed, reduce the delay of vision signal.
Preferably, further include automatic wire feeder, the communications cable is on automatic wire feeder.In this way, in robot
When advancing, retreat, turning, automatic wire feeder can provide tractive force for the communications cable being connected in robot, reduce machine
People drags the power needed for the communications cable.
In addition to a kind of underground pipe network robot positioning system of offer, the present invention also provides a kind of using underground the present invention simultaneously
The leakage plot-plot control system of pipe network robot positioning system and a kind of leak source localization method using Leakage Point Location System, to solve
The technical issues of how underground pipe network leak source being positioned.
In order to solve the above technical problems, adopt the following technical scheme that, it is a kind of using underground pipe network robot positioning system's
Plot-plot control system is leaked, following improvement has been done on the basis of underground pipe network robot positioning system：The meter of the background monitoring system
Calculation machine further includes leak source locating module, is used for when the real time video data manually uploaded according to robot carries out leak source investigation,
The pipe network position that will be deemed as leak source is elected in the sectional drawing center of video, and extract the video interception in video data when
Intermediate node matches it with the timing node of robot motion track, using the robot location matched as leak source position
It sets, and is shown on underground pipe network electronic map.
Above-mentioned technical proposal can get robot in video on each timing node using robot positioning system
The positioning of leak source position is converted to determining for robot location by corresponding geographical location further according to the matching relationship of timing node
Position, to realize the positioning to leak source.
In order to solve the above technical problems, adopting the following technical scheme that, a kind of leak source using above-mentioned Leakage Point Location System is fixed
Position method, includes the following steps：
Step 1：Robot is placed on to the inlet of underground pipe network, and using the entrance as the initial position of robot,
Initial position is recorded in background monitoring system and module is redrawn by track shows initial position on the computer screen；
Step 2：Start robot, robot carries out video acquisition in real time, and collected video data is passed through relaying
System uploads to background monitoring system, and background monitoring system shows video data on the computer screen so that staff sees
It sees；Staff watches video to observe the leakage scenarios of road conditions and pipeline inside pipeline, thus the road arrived according to the observation
Condition controls the control stick of remote control system, and the athletic posture order that control stick generates passes through relaying by control stick communication module
System is sent to background monitoring system, background monitoring system by remote control command parsing module to athletic posture command analysis after,
It is handed down to robot by relay system；
Step 3：Robot receives the athletic posture order that background monitoring system issues by wire communication module, concurrently
Core controller is given, athletic posture order is sent to motion-control module, moving control module for controlling fortune by core controller
Motivation structure executes athletic performance corresponding with athletic posture order；
Step 4：In robot kinematics, laser range finder is carried out at the same time work with gyroscope：Laser range finder is not
Break and emits laser to robot direction of advance with the distance at detecting distance curve ahead；Gyroscope detects robot and is transporting in real time
Angular speed during dynamic；Core controller receives the range data that laser range finder detects and the angle that gyroscope detects
Speed, and pass sequentially through wire communication module, relay system is uploaded to background monitoring system；
Step 5：Background monitoring system judges the motion state of robot according to the angular speed received；If machine is artificial
Straight trip, range data of the distance computing module detected by laser range finder is come calculating robot's straight trip distance；If machine
People is turning, then the athletic posture order uploaded according to the remote control system in step 2 is come calculating robot's turning distance；
The distance that distance computing module will turn adds up to obtain robot ambulation distance one by one with straight trip distance；
Step 6：Directions calculation module calculates the turn direction of robot according to angular speed；
Step 7：Track redraws real-time position of the module according to robot ambulation distance and turn direction COMPREHENSIVE CALCULATING machine people
It sets and movement locus, and includes on underground pipe network electronic map, to realize to robot by real time position and movement locus
Real-time positioning；
Step 8：Staff will be sentenced when watching video to observe pipeline internal leak situation by leak source locating module
Break and elected in the sectional drawing center of video for the pipe network position of leak source, and extracts when segmentum intercalaris of the video interception in video data
Point matches it with the timing node of robot motion track, using the robot location matched as leak source position, and
Include on underground pipe network electronic map, to realize the positioning to leak source by leak source position.
In above-mentioned technical proposal, step 2 realizes the remote control to robot motion with step 3；Step 1 and step 4
It realizes to robot localization data（Angular speed and range data）Acquisition；Step 5,6,7,8 combination pass through to position number
According to calculation processing, realize leak source positioning.
Preferably, the straight trip distance is current straight trip distance and history straight trip sum of the distance；The turning distance is to work as
Forward bending moment from history turn sum of the distance.
Preferably, the current straight trip distance is calculated as follows：The pipeline that acquisition robot is currently located pipeline is total
It is long, the distance apart from corner measured by laser range finder is subtracted with pipeline overall length, is working as preceding pipeline to obtain robot
On current straight trip distance.
Preferably, the current turning distance is calculated as follows：Count the number m of current turning command；If machine
The move distance that people executes single turning command is s；Then the current turning distance of robot is L, L=m × s.
In conclusion the underground pipe network robot positioning system of the present invention is Leakage Point Location System and leak source localization method
Basis, underground pipe network robot positioning system realized the positioning in the enclosure space of dtr signal, replaced using robot
The mankind enter narrow space acquisition front end data, and remote control technology is combined to realize the control to robot kinematics.
Description of the drawings
Fig. 1 is the network structure block diagram of robot positioning system in specific implementation mode 1；
Fig. 2 is the circuit structure block diagram of robot in specific implementation mode 1；
Fig. 3 is the flow diagram of leak source localization method in specific implementation mode 2.
Specific implementation mode
The present invention is described in further detail with preferred embodiment below in conjunction with the accompanying drawings.
Specific implementation mode 1
As shown in Figure 1, a kind of underground pipe network robot positioning system, include for acquire the robot of front end data, after
Platform monitoring system, relay system and remote control system；The robot is two-way with background monitoring system by relay system
Communication, robot carry out wire communication by the communications cable and relay system；The remote control system by relay system with
Background monitoring system is communicated；The remote control system includes control stick and control stick communication module, and control stick is for producing
Raw athletic posture order, control stick communication module are used to athletic posture order being sent to background monitoring system by relay system
System, the athletic posture order include advancing, retreat and turning；
The robot includes core controller, and core controller two-way communication link has wire communication module, core control
The signal input part of device processed is connected with following functions module：Laser range finder, for detecting robot apart from pipeline curve ahead
The distance at place；Gyroscope, the angular speed for detecting robot；The signal output end of the core controller is connected with following work(
It can module：Camera module, for acquiring video data in real time and passing through wire communication module uploaded videos data；Motion control
Module, the motion for controlling robot execute athletic performance；
The background monitoring system includes the computer for being stored with underground pipe network electronic map, the allocation of computer have with
Lower function module：
Remote control command parsing module, the athletic posture order for parsing remote control system upload；
Distance computing module, the movement that range data and remote control system for being uploaded according to laser range finder upload
Gesture commands carry out calculating robot's walking distance；
Directions calculation module is used for the turn direction of the angular speed calculating robot according to robot；
Track redraws module, for the real time position according to robot ambulation distance and turn direction COMPREHENSIVE CALCULATING machine people
And movement locus, and include on underground pipe network electronic map by real time position and movement locus.
In above-mentioned technical proposal, robot carries out wire communication with relay system, is the front end number for ensureing robot acquisition
According to the premise that can upload to background monitoring system；Can by background monitoring system watch robot upload video come
Road conditions are observed, the control moved to robot ambulation is then realized by remote control system, significantly reducing robot needs
Voluntarily to judge the computational burden of road conditions；The range data and angular speed that background monitoring system is acquired according to robot are realized pair
The positioning of robot.
In present embodiment, the artificial climbing robot of machine, the climbing robot includes crawling foot and machine
Body platform, the crawling foot are movement executing mechanism；Each crawling foot includes steering connections, leg joint and shin joint；It is described
Steering connections is rotatably connected with fuselage platform by steering engine in the horizontal plane, the leg joint both ends respectively with steering
Section, shin joint are rotatably connected on vertical guide by steering engine；The motion-control module is servos control module, described
The signal input part of servos control module is connected with the signal output end of core controller, the signal output end of servos control module
It is connected respectively with each steering engine；Kernel control module and wire communication module two-way communication.In this way, climbing robot is with excellent
Turning and obstacle climbing ability, are quite suitable for the road conditions of underground pipe network.
In present embodiment, the circuit structure block diagram of robot is as shown in Fig. 2, the robot further includes D/A numbers
Mould conversion module, the signal input parts of the D/A D/A converter modules, the signal output end letter with the camera module respectively
The signal input part connection of number output end, wire communication module.In this way, the digital video signal of camera acquisition is by D/A digital-to-analogues
Conversion module is converted into analog video signal and is uploaded, and occupies that frequency spectrum is relatively narrow, and channel utilization is high when analog signal transmission.
In present embodiment, the relay system includes repeater, and the repeater includes for by analog video
Signal is converted to the video frequency collection card of digital video signal.In this way, background monitoring system can directly receive digital video signal,
The display speed for improving vision signal, reduces the delay of vision signal.
Further include automatic wire feeder, the communications cable is on automatic wire feeder in present embodiment.This
Sample, in robot advance, retrogressing, turning, automatic wire feeder can provide traction for the communications cable being connected in robot
Power reduces the power needed for the robot dragging communications cable.
Specific implementation mode 2
Present embodiment is to use the leak source positioning of underground pipe network robot positioning system in specific implementation mode 1
System has done following improvement on the basis of underground pipe network robot positioning system：The computer of the background monitoring system is also
Including leak source locating module, for when the real time video data manually uploaded according to robot carries out leak source investigation, will determine that
It is elected in the sectional drawing center of video for the pipe network position of leak source, and extracts when segmentum intercalaris of the video interception in video data
Point matches it with the timing node of robot motion track, using the robot location matched as leak source position, and
It is shown on underground pipe network electronic map.
Present embodiment using robot positioning system get robot in video on each timing node it is right
The positioning of leak source position is converted to the positioning of robot location by the geographical location answered further according to the matching relationship of timing node,
To realize the positioning to leak source.
As shown in figure 3, using the leak source localization method of above-mentioned Leakage Point Location System, include the following steps：
Step 1：Robot is placed on to the inlet of underground pipe network, and using the entrance as the initial position of robot,
Initial position is recorded in background monitoring system and module is redrawn by track shows initial position on the computer screen；
Step 2：Start robot, robot carries out video acquisition in real time, and collected video data is passed through relaying
System uploads to background monitoring system, and background monitoring system shows video data on the computer screen so that staff sees
It sees；Staff watches video to observe the leakage scenarios of road conditions and pipeline inside pipeline, thus the road arrived according to the observation
Condition controls the control stick of remote control system, and the athletic posture order that control stick generates passes through relaying by control stick communication module
System is sent to background monitoring system, background monitoring system by remote control command parsing module to athletic posture command analysis after,
It is handed down to robot by relay system；
Step 3：Robot receives the athletic posture order that background monitoring system issues by wire communication module, concurrently
Core controller is given, athletic posture order is sent to motion-control module, moving control module for controlling fortune by core controller
Motivation structure executes athletic performance corresponding with athletic posture order；
Step 4：In robot kinematics, laser range finder is carried out at the same time work with gyroscope：Laser range finder is not
Break and emits laser to robot direction of advance with the distance at detecting distance curve ahead；Gyroscope detects robot and is transporting in real time
Angular speed during dynamic；Core controller receives the range data that laser range finder detects and the angle that gyroscope detects
Speed, and pass sequentially through wire communication module, relay system is uploaded to background monitoring system；
Step 5：Background monitoring system judges the motion state of robot according to the angular speed received；If machine is artificial
Straight trip, range data of the distance computing module detected by laser range finder is come calculating robot's straight trip distance；If machine
People is turning, then the athletic posture order uploaded according to the remote control system in step 2 is come calculating robot's turning distance；
The distance that distance computing module will turn adds up to obtain robot ambulation distance one by one with straight trip distance；
Step 6：Directions calculation module calculates the turn direction of robot according to angular speed；
Step 7：Track redraws real-time position of the module according to robot ambulation distance and turn direction COMPREHENSIVE CALCULATING machine people
It sets and movement locus, and includes on underground pipe network electronic map, to realize to robot by real time position and movement locus
Real-time positioning；
Step 8：Staff will be sentenced when watching video to observe pipeline internal leak situation by leak source locating module
Break and elected in the sectional drawing center of video for the pipe network position of leak source, and extracts when segmentum intercalaris of the video interception in video data
Point matches it with the timing node of robot motion track, using the robot location matched as leak source position, and
Include on underground pipe network electronic map, to realize the positioning to leak source by leak source position.
In present embodiment, the straight trip distance is current straight trip distance and history straight trip sum of the distance；Described turn
Bending moment is from for sum of the distance of turning with history with a distance from currently turning.
In present embodiment, the current straight trip distance is calculated as follows：It obtains robot and is currently located pipe
The pipeline overall length in road subtracts the distance apart from corner measured by laser range finder, to obtain robot with pipeline overall length
When the current straight trip distance on preceding pipeline.After judging robot turning every time, then current straight trip distance is added to history
Straight trip is kept straight on distance with the value more new historical after cumulative apart from upper.
In present embodiment, the current turning distance is calculated as follows：Count time of current turning command
Number m；If the move distance that robot executes single turning command is s；Then the current turning distance of robot is L, L=m × s.
After the completion of current turning distance calculates, then by the number m zeros of current turning command, and current turning distance is stored as history
Distance of turning counts the number of turning command, to ask again when judging that robot is turned again according to angular speed
Solve current turning distance.
Calculating for robot ambulation distance, distance=turning distance+straight trip distance of walking, is divided into following two situations：
When judging the artificial straight-going state of machine：Distance=history of turning turning distance+distance of currently turning, due to working as
Forward bending moment is from being zero, therefore distance of turning is equal to history and turns distance, and walking distance=history is turned distance+straight trip distance；
When judging the artificial turn condition of machine：Distance=history of keeping straight on straight trip distance+distance of currently keeping straight on, due to working as
Preceding straight trip distance is zero, therefore straight trip distance is equal to history straight trip distance, walking distance=history straight trip distance+turning distance.
Claims (10)
1. a kind of underground pipe network robot positioning system, it is characterised in that：Include for acquiring the robot of front end data, backstage
Monitoring system, relay system and remote control system；The robot passes through relay system and background monitoring system two-way
Letter, robot carry out wire communication by the communications cable and relay system；The remote control system is by relay system with after
Platform monitoring system is communicated；The remote control system includes control stick and control stick communication module, and control stick is for generating
Athletic posture order, control stick communication module are used to athletic posture order being sent to background monitoring system by relay system,
The athletic posture order includes advancing, retreat and turning；
The robot includes core controller, and core controller two-way communication link has wire communication module, core controller
Signal input part be connected with following functions module：Laser range finder, for detecting robot at pipeline curve ahead
Distance；Gyroscope, the angular speed for detecting robot；The signal output end of the core controller is connected with following functions mould
Block：Camera module, for acquiring video data in real time and passing through wire communication module uploaded videos data；Motion control mould
Block, the motion for controlling robot execute athletic performance；
The background monitoring system includes the computer for being stored with underground pipe network electronic map, and the allocation of computer has following work(
It can module：
Remote control command parsing module, the athletic posture order for parsing remote control system upload；
Distance computing module, the athletic posture that range data and remote control system for being uploaded according to laser range finder upload
Order carrys out calculating robot's walking distance；
Directions calculation module is used for the turn direction of the angular speed calculating robot according to robot；
Track redraws module, for the real time position and fortune according to robot ambulation distance and turn direction COMPREHENSIVE CALCULATING machine people
Dynamic rail mark, and include on underground pipe network electronic map by real time position and movement locus.
2. underground pipe network robot positioning system according to claim 1, it is characterised in that：The artificial creeper of machine
Device people, the climbing robot include crawling foot and fuselage platform, and the crawling foot is movement executing mechanism；Each crawling foot packet
Include steering connections, leg joint and shin joint；The steering connections can be turned with fuselage platform by steering engine progress in the horizontal plane
Dynamic connection, the leg joint both ends are rotatably connected on vertical guide by steering engine with steering connections, shin joint respectively；Institute
It is servos control module to state motion-control module, and the signal input part of the servos control module and the signal of core controller are defeated
Outlet is connected, and the signal output end of servos control module is connected with each steering engine respectively；Kernel control module and wire communication module
Two-way communication.
3. underground pipe network robot positioning system according to claim 1, it is characterised in that：The robot further includes D/
A D/A converter modules, the signal input parts of the D/A D/A converter modules, signal output end respectively with the camera module
Signal output end, wire communication module signal input part connection.
4. underground pipe network robot positioning system according to claim 3, it is characterised in that：During the relay system includes
After device, the repeater includes the video frequency collection card for analog video signal to be converted to digital video signal.
5. underground pipe network robot positioning system according to claim 1, it is characterised in that：Further include automatic wire feeder,
The communications cable is on automatic wire feeder.
6. a kind of Leakage Point Location System using underground pipe network robot positioning system as described in claim 1, feature exists
In：The computer of the background monitoring system further includes leak source locating module, for manually according to the real-time of robot upload
When video data carries out leak source investigation, the pipe network position that will be deemed as leak source is elected in the sectional drawing center of video, and extracting should
It is matched with the timing node of robot motion track, will be matched by timing node of the video interception in video data
On robot location as leak source position, and be shown on underground pipe network electronic map.
7. a kind of leak source localization method using the Leakage Point Location System described in claim 6, it is characterised in that：Including following step
Suddenly：
Step 1：Robot is placed on to the inlet of underground pipe network, and using the entrance as the initial position of robot, on backstage
Initial position is recorded in monitoring system and module is redrawn by track shows initial position on the computer screen；
Step 2：Start robot, robot carries out video acquisition in real time, and collected video data is passed through relay system
Background monitoring system is uploaded to, background monitoring system shows video data on the computer screen so that staff watches；
Staff watches video to observe the leakage scenarios of road conditions and pipeline inside pipeline, and the road conditions to arrive according to the observation are come
The control stick of remote control system is controlled, the athletic posture order that control stick generates is passed through relay system by control stick communication module
Be sent to background monitoring system, background monitoring system by remote control command parsing module to athletic posture command analysis after, pass through
Relay system is handed down to robot；
Step 3：Robot receives the athletic posture order that background monitoring system issues by wire communication module, and is sent to
Athletic posture order is sent to motion-control module, moving control module for controlling fitness machine by core controller, core controller
Structure executes athletic performance corresponding with athletic posture order；
Step 4：In robot kinematics, laser range finder is carried out at the same time work with gyroscope：Laser range finder constantly to
Robot direction of advance emits laser with the distance at detecting distance curve ahead；Gyroscope detects robot and is being moved through in real time
Angular speed in journey；Core controller receives the range data that laser range finder detects and the angle that gyroscope detects speed
Degree, and pass sequentially through wire communication module, relay system is uploaded to background monitoring system；
Step 5：Background monitoring system judges the motion state of robot according to the angular speed received；If machine is artificially straight
Row, range data of the distance computing module detected by laser range finder is come calculating robot's straight trip distance；If robot
It is turning, then the athletic posture order uploaded according to the remote control system in step 2 is come calculating robot's turning distance；Road
The distance that journey computing module will turn adds up to obtain robot ambulation distance one by one with straight trip distance；
Step 6：Directions calculation module calculates the turn direction of robot according to angular speed；
Step 7：Track redraw module according to the real time position of robot ambulation distance and turn direction COMPREHENSIVE CALCULATING machine people and
Movement locus, and include on underground pipe network electronic map, to realize the reality to robot by real time position and movement locus
Shi Dingwei；
Step 8：Staff will be deemed as when watching video to observe pipeline internal leak situation by leak source locating module
The pipe network position of leak source is elected in the sectional drawing center of video, and extracts timing node of the video interception in video data,
It is matched with the timing node of robot motion track, using the robot location matched as leak source position, and is shown
Show on underground pipe network electronic map, to realize the positioning to leak source.
8. leak source localization method according to claim 7, it is characterised in that：Straight trip distance for current straight trip distance with
History straight trip sum of the distance；The turning distance is current turning distance and history turning sum of the distance.
9. leak source localization method according to claim 8, it is characterised in that：The current straight trip distance is counted as follows
It calculates：The pipeline overall length that robot is currently located pipeline is obtained, subtracting the distance measured by laser range finder with pipeline overall length turns round
The distance at place, to obtain robot when the current straight trip distance on preceding pipeline.
10. leak source localization method according to claim 8, it is characterised in that：The current turning distance is as follows
It calculates：Count the number m of current turning command；If the move distance that robot executes single turning command is s；Then robot
Current turning distance is L, L=m × s.
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