CN110894911A - Intelligent leakage detection robot for detecting leakage points of liquid filling pipeline and detection method - Google Patents
Intelligent leakage detection robot for detecting leakage points of liquid filling pipeline and detection method Download PDFInfo
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/46—Launching or retrieval of pigs or moles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention discloses an intelligent leakage detection robot for detecting leakage points of a liquid filling pipeline and a detection method, wherein the intelligent leakage detection robot comprises a shell, a control module and a sensing device; the sensing device adopts a magnetic field sensor or a plurality of pressure sensors or both the magnetic field sensor and the pressure sensors; the beneficial technical effects of the invention are as follows: the intelligent leakage detecting robot and the detection method for detecting the leakage points of the liquid filling pipeline are provided, the scheme has simple hardware and low data processing difficulty, and the leakage points on the liquid filling pipeline can be conveniently found and positioned. The beneficial technical effects of the invention are as follows: the intelligent leakage detecting robot and the detection method for detecting the leakage points of the liquid filling pipeline are provided, the scheme has simple hardware and low data processing difficulty, and the leakage points on the liquid filling pipeline can be conveniently found and positioned.
Description
Technical Field
The invention relates to a liquid filling pipeline leakage point detection technology, in particular to an intelligent leakage detection robot and a detection method for liquid filling pipeline leakage point detection.
Background
In recent years, with the introduction of concepts such as smart cities, higher requirements are put on safe and efficient operation of underground liquid-filled pipe networks.
The pipeline is under the safe operation condition, intraductal pressure is even stable, and when the pipeline takes place to leak, near the pressure of leak point sharply changes, inside and outside because there is stronger pressure differential in the leak point, cause intraductal fluid to spout from the leak opening high speed, spun high-speed fluid and leak opening friction, the near air bubble burst of leak opening intraductal inboard and the violent irregular change of intraductal pulsating pressure, make near the leakage vibration that produces stronger leakage again, intraductal spherical robot integration more than one sensor, the intraductal condition state variable quantity that the operation will be leaked and arouse to near the leak opening sensing, carry out the analysis to variable quantity data and can fix a position the leakage position of pipeline.
① intelligent ball based on endoscopic method, an image sensor is integrated on the intelligent ball, the sensor collects images in the pipe and analyzes the images, the image sensor identifies the image at the leakage position to finish positioning, Chinese patent (CN 205615602U) proposes that an infrared probe is used for obtaining images in the pipe, the obtained images are sent to an image processing device for preprocessing, the preprocessed image data are sent to an outside device in a wireless communication mode through a microprocessor to judge the leakage information of the pipe, the method can collect image data in the pipe, but the liquid filled pipe has strong wavelet shielding effect on wireless communication signals, so that the image data in the pipe cannot be transmitted to the outside device in real time, the leakage judgment and misjudgment are caused, ② intelligent ball in the pipe based on magnetic leakage technology, the intelligent ball in the pipe based on magnetic leakage technology analyzes the leakage situation in the pipe by utilizing the flux data in the metal pipe, the leakage detection method realizes the leakage of the pipe by combining a magnetic leakage detection system, the intelligent ball in the pipe design and a micro acoustic pressure sensor integrated with a magnetic leakage detection system (CN-acoustic sensor), the intelligent ball detection method realizes the detection method by combining the magnetic leakage detection of detecting the leakage of a pipeline by using a magnetic leakage detection system, the magnetic leakage of a magnetic leakage detection system, the leakage detection of a magnetic leakage detection system, the leakage detection of a leakage detection system, the leakage detection of a leakage detection system, the leakage detection system of a leakage detection of a detection system of a leakage detection system of.
Disclosure of Invention
Aiming at the problems in the background art, the invention provides an intelligent leakage detection robot for detecting leakage points of a liquid filling pipeline, which is innovative in that: the intelligent leakage detection robot comprises a shell, a control module and a sensing device; the sensing device is selected from the following three schemes:
the first scheme is as follows: the sensing device adopts a magnetic field sensor; scheme II: the sensing device adopts a plurality of pressure sensors; the third scheme is as follows: the sensing device simultaneously adopts a magnetic field sensor and a plurality of pressure sensors;
when the sensing device adopts a scheme, the intelligent leakage detecting robot has the structure that: the control module and the magnetic field sensor are arranged in an inner cavity of the shell through a bracket, the shell completely wraps and seals the control module and the magnetic field sensor, and the control module is electrically connected with the magnetic field sensor;
when sensing device adopted scheme two, the structure of intelligence leak detection robot was: the surface of the shell is provided with a plurality of mounting holes, a plurality of pressure sensors are arranged in the mounting holes in a one-to-one correspondence mode, sensing parts of the pressure sensors face the outer side, gaps between the pressure sensors and the mounting holes are sealed, the control module is arranged in an inner cavity of the shell through a support, the shell wraps and seals the control module, and the control module is electrically connected with the pressure sensors;
when sensing device adopted scheme three, the structure of intelligence leak detection robot was: the utility model discloses a magnetic field sensor, including casing, casing surface, a plurality of pressure sensor, control module and magnetic field sensor, the casing surface is provided with a plurality of mounting holes, and a plurality of pressure sensor one-to-one sets up in a plurality of mounting holes, and pressure sensor's response portion is towards the outside, and the clearance between pressure sensor and the mounting hole is sealed to be handled, control module and magnetic field sensor pass through the support mounting in the inner chamber of casing, and the casing is all wrapped up control module and magnetic field sensor and is sealed, and pressure sensor and magnetic field sensor all are connected.
Preferably, a radio frequency identification module is further arranged in the housing.
Preferably, the housing has an outer shape of a sphere, a cylinder, a bowl or a capsule.
Based on the scheme, the invention also provides a detection method for detecting the leakage point of the liquid filling pipeline, wherein the liquid filling pipeline is formed by connecting a plurality of connecting pipes; the hardware related to the method comprises an intelligent leakage detection robot; the intelligent leakage detecting robot is structurally as described above; the detection method comprises the following steps:
the pressure sensor is used for acquiring vibration signals around the intelligent leakage detection robot; the magnetic field sensor is used for acquiring magnetic field signals around the intelligent leakage detection robot;
setting a starting point and an end point of a detection area on a liquid filling pipeline, enabling the fluid in the liquid filling pipeline to flow from the starting point to the end point, and enabling the density of the intelligent leakage detecting robot to be larger than that of the fluid; the pipe wall of the connecting pipe at the starting position is provided with a transmitting barrel communicated with the inside of the connecting pipe, and the pipe wall of the connecting pipe at the finishing position is provided with a receiving barrel communicated with the inside of the connecting pipe; a receiving net is arranged in the receiving cylinder and extends into the corresponding connecting pipe;
1) the intelligent leakage detecting robot is thrown into the liquid filling pipeline through the launching tube and moves along with the flow of the fluid;
2) in the moving process of the intelligent leakage detection robot, the sensing device collects corresponding signals in real time and transmits the collected signals to the control module; the control module stores the output signal of the sensing device, compares the amplitude of the output signal with a set threshold value, and records the corresponding amplitude as a characteristic amplitude if the amplitude of the output signal exceeds the threshold value; after the characteristic amplitude appears, the control module controls the counter to add 1, and then the control module records the time information corresponding to the characteristic amplitude and the current counting result of the counter;
3) after the intelligent leakage detecting robot is blocked by the receiving net, the intelligent leakage detecting robot is taken out through the receiving barrel; then connecting the control module to the processing device; the processing device reads the output signal, the time information and the counting result stored by the control module;
4) the characteristic amplitude is caused by two cases, the first case being: when the intelligent leakage detecting robot passes through the junction of the adjacent connecting pipes, the intelligent leakage detecting robot jumps due to structural discontinuity; the second case is: when the intelligent leakage detecting robot passes through a leakage point, a signal jumps caused by the leakage point; marking the characteristic amplitude corresponding to the first condition as 1# amplitude, and marking the characteristic amplitude corresponding to the second condition as 2# amplitude; the technician identifies the output signal, the time information and the counting result, distinguishes the 1# amplitude from the 2# amplitude, and then determines the distance L from the leakage point to the starting point according to the following formula1：
L1＝v0·t1(1)
Wherein, t1Time information corresponding to the 2# amplitude value; v. of0Solving v for the moving speed of the intelligent leakage detection robot according to the following formula0：
Wherein, t0Comprises the following steps: time information corresponding to the 1# amplitude detected for the last time before the 2# amplitude appears; l is0Comprises the following steps: before the 2# amplitude appears and when the 1# amplitude is detected for the last time, the distance from the position of the intelligent leakage detecting robot to the starting point is solved according to the following formula0：
L0＝n0·l0(3)
Wherein n is0Is given as0Corresponding counting results; l0The length of a single connecting pipe.
The principle of the invention is as follows: as can be known from the prior art, a long-distance pipeline is generally formed by connecting a plurality of connecting pipes, and the material for manufacturing the pipeline is either a magnetic medium or a non-magnetic medium; for the connecting pipe of the magnetic medium, when the connecting pipe is intact, because the structure is flawless, the magnetic field signal of the connecting pipe middle part has continuity, because the structure of the junction of two adjacent connecting pipes is discontinuous, the magnetic field signal of the junction also has discontinuity, when there is a leak point on the connecting pipe, there is corresponding structural defect on the connecting pipe certainly, therefore there is discontinuity in the magnetic field signal of the leak point too, and the jump of the magnetic field signal that the leak point causes and jump of the magnetic field signal that the junction causes have differences, the artificial identification can be discerned very easily; for the connecting pipe of the non-magnetic medium, when the connecting pipe is intact, the structure of the connecting part is discontinuous, the vibration signal of each part in the middle of the connecting pipe is weaker, the vibration signal of the connecting part of two adjacent connecting pipes is stronger, when a leakage point exists on the connecting pipe, the vibration signal of the leakage point is stronger due to fluid leakage, and the vibration signal of the leakage point and the vibration signal of the connecting part have larger difference, so that the vibration signal can be easily identified by manual identification.
The intelligent leakage detecting robot is placed in the pipeline, the intelligent leakage detecting robot moves along the pipeline under the pushing action of the fluid, and signals related to the connection position and the leakage point are recorded; during post-processing, according to the known length of the connecting pipe and the counting result corresponding to the 1# amplitude detected for the last time before the 2# amplitude appears, the calculation can be carried out according to the formula (3)t0The moving distance of the intelligent leakage detecting robot in time can be calculated according to the formula (2), and finally, the distance from the leakage point to the starting point can be calculated according to the formula (1) according to the time information of the leakage point, so that the position of the leakage point can be positioned.
To the pipeline of different materials, different sensing device can be carried on to intelligence leak detection robot, for example, to the pipeline of non-magnetic medium, intelligence leak detection robot can carry on pressure sensor, to the pipeline of magnetic medium, intelligence leak detection robot both can only carry on pressure sensor, also can only carry on magnetic field sensor, can also carry on two kinds of sensors simultaneously, when carrying on two kinds of sensors simultaneously, the data of post processing to two kinds of sensors are handled respectively, then compare two kinds of processing structure cross references, improve positioning accuracy.
Preferably, a radio frequency identification module is further arranged in the housing; and a radio frequency detection module matched with the radio frequency identification module is arranged in the receiving cylinder. After the radio frequency identification module and the radio frequency detection module are arranged, when the intelligent leakage detecting robot is blocked by the receiving net, the intelligent leakage detecting robot can be found through the radio frequency detection module, and therefore the intelligent leakage detecting robot can be taken out in time.
Preferably, the housing has an outer shape of a sphere, a cylinder, a bowl or a capsule.
The beneficial technical effects of the invention are as follows: the intelligent leakage detecting robot and the detection method for detecting the leakage points of the liquid filling pipeline are provided, the scheme has simple hardware and low data processing difficulty, and the leakage points on the liquid filling pipeline can be conveniently found and positioned.
Drawings
Fig. 1 is a schematic view of a cross-sectional structure of an intelligent leakage detecting robot (taking a sphere as an example, a magnetic field sensor and a pressure sensor are arranged on the intelligent leakage detecting robot at the same time);
FIG. 2 is a schematic view of the detection principle of the present invention;
the names corresponding to each mark in the figure are respectively: the intelligent leakage detection device comprises a shell 1, a control module 2, a magnetic field sensor 3, a pressure sensor 4, a connecting pipe 5, an intelligent leakage detection robot 6, a transmitting barrel 7, a receiving barrel 8 and a leakage point 9.
Detailed Description
The utility model provides an intelligence robot that leaks hunting for liquid filling pipe leak source detects which innovation lies in: the intelligent leakage detection robot comprises a shell 1, a control module 2 and a sensing device; the sensing device is selected from the following three schemes:
the first scheme is as follows: the sensing device adopts a magnetic field sensor 3; scheme II: the sensing device adopts a plurality of pressure sensors 4; the third scheme is as follows: the sensing device simultaneously adopts a magnetic field sensor 3 and a plurality of pressure sensors 4;
when the sensing device adopts a scheme, the intelligent leakage detecting robot has the structure that: the control module 2 and the magnetic field sensor 3 are arranged in an inner cavity of the shell 1 through a bracket, the shell 1 completely wraps and seals the control module 2 and the magnetic field sensor 3, and the control module 2 is electrically connected with the magnetic field sensor 3;
when sensing device adopted scheme two, the structure of intelligence leak detection robot was: the surface of the shell 1 is provided with a plurality of mounting holes, the pressure sensors 4 are arranged in the mounting holes in a one-to-one correspondence mode, the sensing parts of the pressure sensors 4 face the outside, gaps between the pressure sensors 4 and the mounting holes are sealed, the control module 2 is arranged in an inner cavity of the shell 1 through a support, the shell 1 completely wraps and seals the control module 2, and the control module 2 is electrically connected with the pressure sensors 4;
when sensing device adopted scheme three, the structure of intelligence leak detection robot was: the surface of the shell 1 is provided with a plurality of mounting holes, a plurality of pressure sensors 4 are arranged in the mounting holes in a one-to-one mode, the induction parts of the pressure sensors 4 face the outer side, the gaps between the pressure sensors 4 and the mounting holes are sealed, the control module 2 and the magnetic field sensors 3 are arranged in the inner cavity of the shell 1 through supports, the shell 1 wraps the control module 2 and the magnetic field sensors 3 completely and is sealed, and the pressure sensors 4 and the magnetic field sensors 3 are electrically connected with the control module 2.
Further, a radio frequency identification module is also arranged in the housing 1.
Further, the shape of the shell 1 is spherical, cylindrical, bowl-shaped or capsule-shaped.
A detection method for detecting leakage points of a liquid filling pipeline is characterized in that the liquid filling pipeline is formed by connecting a plurality of connecting pipes; the hardware related to the method comprises an intelligent leakage detection robot; the intelligent leakage detection robot comprises a shell 1, a control module 2 and a sensing device; the sensing device is selected from the following three schemes:
the first scheme is as follows: the sensing device adopts a magnetic field sensor 3; scheme II: the sensing device adopts a plurality of pressure sensors 4; the third scheme is as follows: the sensing device simultaneously adopts a magnetic field sensor 3 and a plurality of pressure sensors 4;
when the sensing device adopts a scheme, the intelligent leakage detecting robot has the structure that: the control module 2 and the magnetic field sensor 3 are arranged in an inner cavity of the shell 1 through a bracket, the shell 1 completely wraps and seals the control module 2 and the magnetic field sensor 3, and the control module 2 is electrically connected with the magnetic field sensor 3;
when sensing device adopted scheme two, the structure of intelligence leak detection robot was: the surface of the shell 1 is provided with a plurality of mounting holes, the pressure sensors 4 are arranged in the mounting holes in a one-to-one correspondence mode, the sensing parts of the pressure sensors 4 face the outside, gaps between the pressure sensors 4 and the mounting holes are sealed, the control module 2 is arranged in an inner cavity of the shell 1 through a support, the shell 1 completely wraps and seals the control module 2, and the control module 2 is electrically connected with the pressure sensors 4;
when sensing device adopted scheme three, the structure of intelligence leak detection robot was: the surface of the shell 1 is provided with a plurality of mounting holes, a plurality of pressure sensors 4 are arranged in the mounting holes in a one-to-one correspondence mode, the induction parts of the pressure sensors 4 face the outside, gaps between the pressure sensors 4 and the mounting holes are sealed, the control module 2 and the magnetic field sensors 3 are arranged in the inner cavity of the shell 1 through a support, the shell 1 completely wraps and seals the control module 2 and the magnetic field sensors 3, and the pressure sensors 4 and the magnetic field sensors 3 are electrically connected with the control module 2;
the innovation lies in that: the detection method comprises the following steps:
the pressure sensor 4 is used for acquiring vibration signals around the intelligent leakage detection robot; the magnetic field sensor 3 is used for acquiring magnetic field signals around the intelligent leakage detection robot;
setting a starting point and an end point of a detection area on a liquid filling pipeline, enabling the fluid in the liquid filling pipeline to flow from the starting point to the end point, and enabling the density of the intelligent leakage detecting robot to be larger than that of the fluid; the pipe wall of the connecting pipe at the starting position is provided with a transmitting barrel communicated with the inside of the connecting pipe, and the pipe wall of the connecting pipe at the finishing position is provided with a receiving barrel communicated with the inside of the connecting pipe; a receiving net is arranged in the receiving cylinder and extends into the corresponding connecting pipe;
1) the intelligent leakage detecting robot is thrown into the liquid filling pipeline through the launching tube and moves along with the flow of the fluid;
2) in the moving process of the intelligent leakage detection robot, the sensing device collects corresponding signals in real time and transmits the collected signals to the control module 2; the control module 2 stores the output signal of the sensing device, meanwhile, the control module 2 compares the amplitude of the output signal with a set threshold value, and if the amplitude of the output signal exceeds the threshold value, the corresponding amplitude is recorded as a characteristic amplitude; after the characteristic amplitude appears, the control module 2 controls the counter to add 1, and then the control module 2 records the time information corresponding to the characteristic amplitude and the current counting result of the counter;
3) after the intelligent leakage detecting robot is blocked by the receiving net, the intelligent leakage detecting robot is taken out through the receiving barrel; the control module 2 is then connected to the processing means; the processing device reads out the output signal, the time information and the counting result stored in the control module 2;
4) the characteristic amplitude is caused by two cases, the first case being: when the intelligent leakage detecting robot passes through the junction of the adjacent connecting pipes, the intelligent leakage detecting robot jumps due to structural discontinuity; the second case is: when the intelligent leakage detecting robot passes through a leakage point, a signal jumps caused by the leakage point; marking the characteristic amplitude corresponding to the first condition as 1# amplitude, and marking the characteristic amplitude corresponding to the second condition as 2# amplitude; the technician identifies the output signal, the time information and the counting result, and distinguishes 1Amplitude # and amplitude # 2, and then the distance L from the leak point to the starting point is determined according to the following formula1：
L1＝v0·t1
Wherein, t1Time information corresponding to the 2# amplitude value; v. of0Solving v for the moving speed of the intelligent leakage detection robot according to the following formula0：
Wherein, t0Comprises the following steps: time information corresponding to the 1# amplitude detected for the last time before the 2# amplitude appears; l is0Comprises the following steps: before the 2# amplitude appears and when the 1# amplitude is detected for the last time, the distance from the position of the intelligent leakage detecting robot to the starting point is solved according to the following formula0：
L0＝n0·l0
Wherein n is0Is given as0Corresponding counting results; l0The length of a single connecting pipe.
Further, a radio frequency identification module is also arranged in the shell 1; and a radio frequency detection module matched with the radio frequency identification module is arranged in the receiving cylinder.
Further, the shape of the shell 1 is spherical, cylindrical, bowl-shaped or capsule-shaped.
The magnetic field signal and the vibration signal of the invention are common signal types in the prior art, and when the invention is implemented in detail, the specific processing means can be preferentially adopted from the existing processing means, and are not described in detail herein.
Claims (6)
1. The utility model provides an intelligence robot that leaks hunting for fluid filled pipe leak source detects which characterized in that: the intelligent leakage detection robot comprises a shell (1), a control module (2) and a sensing device; the sensing device is selected from the following three schemes:
the first scheme is as follows: the sensing device adopts a magnetic field sensor (3); scheme II: the sensing device adopts a plurality of pressure sensors (4); the third scheme is as follows: the sensing device simultaneously adopts a magnetic field sensor (3) and a plurality of pressure sensors (4);
when the sensing device adopts a scheme, the intelligent leakage detecting robot has the structure that: the control module (2) and the magnetic field sensor (3) are arranged in an inner cavity of the shell (1) through a support, the shell (1) completely wraps and seals the control module (2) and the magnetic field sensor (3), and the control module (2) is electrically connected with the magnetic field sensor (3);
when sensing device adopted scheme two, the structure of intelligence leak detection robot was: the surface of the shell (1) is provided with a plurality of mounting holes, the pressure sensors (4) are arranged in the mounting holes in a one-to-one correspondence mode, the sensing parts of the pressure sensors (4) face the outside, gaps between the pressure sensors (4) and the mounting holes are sealed, the control module (2) is installed in the inner cavity of the shell (1) through a support, the shell (1) completely wraps and seals the control module (2), and the control module (2) is electrically connected with the pressure sensors (4);
when sensing device adopted scheme three, the structure of intelligence leak detection robot was: casing (1) surface is provided with a plurality of mounting holes, and a plurality of pressure sensor (4) one-to-one set up in a plurality of mounting holes, and the response portion of pressure sensor (4) is towards the outside, and the clearance between pressure sensor (4) and the mounting hole is sealed to be handled, control module (2) and magnetic field sensor (3) pass through the support mounting in the inner chamber of casing (1), and casing (1) is all wrapped up and is sealed control module (2) and magnetic field sensor (3), and pressure sensor (4) and magnetic field sensor (3) all with control module (2) electrical connection.
2. The intelligent leak detection robot for detecting the leakage point of the liquid filling pipe according to claim 1, wherein the intelligent leak detection robot comprises: and a radio frequency identification module is also arranged in the shell (1).
3. The intelligent leakage detection robot for the leakage point detection of the liquid filling pipe according to claim 1 or 2, wherein the intelligent leakage detection robot comprises: the shell (1) is spherical, cylindrical, bowl-shaped or capsule-shaped.
4. A detection method for detecting leakage points of a liquid filling pipeline is characterized in that the liquid filling pipeline is formed by connecting a plurality of connecting pipes; the hardware related to the method comprises an intelligent leakage detection robot; the intelligent leakage detection robot comprises a shell (1), a control module (2) and a sensing device; the sensing device is selected from the following three schemes:
the first scheme is as follows: the sensing device adopts a magnetic field sensor (3); scheme II: the sensing device adopts a plurality of pressure sensors (4); the third scheme is as follows: the sensing device simultaneously adopts a magnetic field sensor (3) and a plurality of pressure sensors (4);
when the sensing device adopts a scheme, the intelligent leakage detecting robot has the structure that: the control module (2) and the magnetic field sensor (3) are arranged in an inner cavity of the shell (1) through a support, the shell (1) completely wraps and seals the control module (2) and the magnetic field sensor (3), and the control module (2) is electrically connected with the magnetic field sensor (3);
when sensing device adopted scheme two, the structure of intelligence leak detection robot was: the surface of the shell (1) is provided with a plurality of mounting holes, the pressure sensors (4) are arranged in the mounting holes in a one-to-one correspondence mode, the sensing parts of the pressure sensors (4) face the outside, gaps between the pressure sensors (4) and the mounting holes are sealed, the control module (2) is installed in the inner cavity of the shell (1) through a support, the shell (1) completely wraps and seals the control module (2), and the control module (2) is electrically connected with the pressure sensors (4);
when sensing device adopted scheme three, the structure of intelligence leak detection robot was: the surface of the shell (1) is provided with a plurality of mounting holes, a plurality of pressure sensors (4) are arranged in the mounting holes in a one-to-one correspondence mode, the sensing parts of the pressure sensors (4) face the outside, gaps between the pressure sensors (4) and the mounting holes are sealed, the control module (2) and the magnetic field sensors (3) are arranged in an inner cavity of the shell (1) through supports, the shell (1) completely wraps and seals the control module (2) and the magnetic field sensors (3), and the pressure sensors (4) and the magnetic field sensors (3) are both electrically connected with the control module (2);
the method is characterized in that: the detection method comprises the following steps:
the pressure sensor (4) is used for acquiring vibration signals around the intelligent leakage detection robot; the magnetic field sensor (3) is used for acquiring magnetic field signals around the intelligent leakage detection robot;
setting a starting point and an end point of a detection area on a liquid filling pipeline, enabling the fluid in the liquid filling pipeline to flow from the starting point to the end point, and enabling the density of the intelligent leakage detecting robot to be larger than that of the fluid; the pipe wall of the connecting pipe at the starting position is provided with a transmitting barrel communicated with the inside of the connecting pipe, and the pipe wall of the connecting pipe at the finishing position is provided with a receiving barrel communicated with the inside of the connecting pipe; a receiving net is arranged in the receiving cylinder and extends into the corresponding connecting pipe;
1) the intelligent leakage detecting robot is thrown into the liquid filling pipeline through the launching tube and moves along with the flow of the fluid;
2) in the moving process of the intelligent leakage detecting robot, the sensing device collects corresponding signals in real time and transmits the collected signals to the control module (2); the control module (2) stores the output signal of the sensing device, meanwhile, the control module (2) compares the amplitude of the output signal with a set threshold value, and if the amplitude of the output signal exceeds the threshold value, the corresponding amplitude is recorded as a characteristic amplitude; after the characteristic amplitude appears, the control module (2) controls the counter to add 1, and then the control module (2) records the time information corresponding to the characteristic amplitude and the current counting result of the counter;
3) after the intelligent leakage detecting robot is blocked by the receiving net, the intelligent leakage detecting robot is taken out through the receiving barrel; then connecting the control module (2) to a processing device; the processing device reads out the output signal, the time information and the counting result stored by the control module (2);
4) the characteristic amplitude is caused by two cases, the first case being: when the intelligent leakage detecting robot passes through the junction of the adjacent connecting pipes, the intelligent leakage detecting robot jumps due to structural discontinuity; the second case is: when the intelligent leakage detecting robot passes through a leakage point, a signal jumps caused by the leakage point; marking the characteristic amplitude corresponding to the first condition as 1# amplitude, and marking the characteristic amplitude corresponding to the second condition as 2# amplitude; the technician identifies the output signal, time information and count results, distinguishes between 1# amplitude and 2# amplitude, and then determines the leak to the starting point according to the following formulaDistance L1：
L1＝v0·t1
Wherein, t1Time information corresponding to the 2# amplitude value; v. of0Solving v for the moving speed of the intelligent leakage detection robot according to the following formula0：
Wherein, t0Comprises the following steps: time information corresponding to the 1# amplitude detected for the last time before the 2# amplitude appears; l is0Comprises the following steps: before the 2# amplitude appears and when the 1# amplitude is detected for the last time, the distance from the position of the intelligent leakage detecting robot to the starting point is solved according to the following formula0：
L0＝n0·l0
Wherein n is0Is given as0Corresponding counting results; l0The length of a single connecting pipe.
5. The method for liquid filled pipe leak detection as defined in claim 4, wherein: a radio frequency identification module is also arranged in the shell (1); and a radio frequency detection module matched with the radio frequency identification module is arranged in the receiving cylinder.
6. The method for liquid filled pipe leak detection as defined in claim 4 or 5, wherein: the shell (1) is spherical, cylindrical, bowl-shaped or capsule-shaped.
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