CN113958882A - Method for marking leakage position of water supply pipeline based on intelligent ball and external magnetic field - Google Patents
Method for marking leakage position of water supply pipeline based on intelligent ball and external magnetic field Download PDFInfo
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 144
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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
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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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
- F16L55/40—Constructional aspects of the body
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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
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention discloses a method for marking the leakage position of a water supply pipeline based on an intelligent ball and an external magnetic field, wherein the external magnetic field is additionally arranged at a set position outside the water supply pipeline, and the distance between the external magnetic field and a detection starting point is L; opening a control switch of the intelligent ball, sealing the intelligent ball, and putting the intelligent ball into the water supply pipeline to enable the intelligent ball to flow along with water at the bottom of the water supply pipeline; collecting sound wave data of a water supply pipeline by an intelligent ball, collecting acceleration data of the intelligent ball in a rolling process in the water supply pipeline by an accelerometer, collecting magnetic data of the water supply pipeline by a magnetometer, and storing the collected sound wave, acceleration and magnetic data into an SD card in the intelligent ball; and taking out the intelligent ball by using a ball collecting net at the tail end of the detected water supply pipeline, reading and analyzing sound wave, acceleration and magnetic force data in an SD card in the intelligent ball, and marking the position of a leakage point in the water supply pipeline. According to the method, the accuracy of positioning the leakage point is improved by comprehensively analyzing related data according to the data such as sound waves, acceleration, magnetic force and the like.
Description
Technical Field
The invention relates to the technical field of water supply pipeline detection, in particular to a method for marking a leakage position of a water supply pipeline based on an intelligent ball and an external magnetic field.
Background
Pipeline inspection robots are widely used for water supply pipeline leaks. And to realize the positioning of the leakage point by the pipeline robot, the problem of positioning the pipeline robot is firstly solved.
The positioning of the pipeline detection robot is divided into passive positioning outside the pipeline and autonomous positioning inside the pipeline. For passive positioning outside the pipe, the existing method mainly adopts an extremely low electromagnetic wave positioning technology and an acoustic wave positioning technology. The extremely low electromagnetic wave positioning technology can avoid the shielding effect of the metal pipeline on the electromagnetic wave, but the positioning method adopts a mode of establishing a receiving base station to obtain an extremely low electromagnetic wave signal sent by a pipeline robot. The receiving base station adopts the arranged sensor array, and the single arrangement mode leads to single type of signals received by the sensors, which is not beneficial to positioning under the condition of variable pipeline trends. The acoustic wave positioning technology does not have the electromagnetic shielding problem, but the acoustic wave sensor needs to be fixed on the outer wall of the pipeline, and when the buried pipeline is detected, the method is poor in applicability and low in positioning accuracy.
The autonomous positioning in the tube comprises an inertial navigation system positioning method and radioactive ray positioning. The method for positioning by the inertial navigation system needs to introduce high-precision azimuth angle reference equipment, and is high in cost. For water supply pipeline detection, the radioactive ray positioning can pollute the water body, and the use process can also cause health damage to operators.
The Chinese patent application with publication number CN109723979A discloses a water supply pipeline leakage positioning detection system, which uses two sensors to collect water leakage sound signals at two ends of a pipeline and then performs related operation on the two collected signals to determine a leakage point according to that water leaking out of the pipeline can rub against a leakage opening, surrounding media can generate friction sound along with water flow, and the collision or friction can generate vibration with different frequencies so as to generate water leakage sound. But the positioning method still has the problem of low positioning precision.
Disclosure of Invention
The invention is based on the technical problems to be solved: a method for marking the leakage position of a water supply pipeline with low cost and small positioning error of a leakage point is provided.
In order to solve the technical problems, the invention provides the following technical scheme:
a method for marking the leakage position of a water supply pipeline based on an intelligent ball and an external magnetic field comprises the following steps:
s1, before the intelligent ball is thrown, the intelligent ball is fully charged, and an accelerometer and a magnetometer in the intelligent ball can be tested to work normally;
s2, adding an external magnetic field at a set position outside the water supply pipeline, wherein the distance between the external magnetic field and the detection starting point is L;
s3, opening a control switch of the intelligent ball, sealing the intelligent ball, and putting the intelligent ball into the water supply pipeline to enable the intelligent ball to flow along with water at the bottom of the water supply pipeline; collecting sound wave data of a water supply pipeline by an intelligent ball, collecting acceleration data of the intelligent ball in a rolling process in the water supply pipeline by an accelerometer, collecting magnetic data of the water supply pipeline by a magnetometer, and storing the collected sound wave, acceleration and magnetic data into an SD card in the intelligent ball;
and S4, taking out the intelligent ball from the detected tail end of the water supply pipeline by using a ball collecting net, reading and analyzing the sound wave, acceleration and magnetic force data in the SD card in the intelligent ball, and marking the position of a leakage point in the water supply pipeline.
The advantages are that: the invention only needs to set the intelligent ball and the external magnetic field, and has simple equipment and low cost; meanwhile, data such as sound waves, acceleration and magnetic force can be collected through the intelligent ball, the precision of leakage point positioning is improved by comprehensively analyzing related data, and the condition that error is large due to single data detection is avoided.
Preferably, in step S1, the test magnetometer further comprises the following operations:
s11, in order to eliminate the influence of the geomagnetic field on the magnetometer, the intelligent ball is moved outdoors by a 8-shaped motion or plane cross motion method, and the magnetometer obtains magnetic data;
s12, transmitting the magnetometer data to an upper computer through a serial port; the upper computer processes the saved magnetometer data to obtain a magnetic bias value; calculating the magnetic bias values of the x axis, the y axis and the z axis to obtain a hard magnetic elimination value, and writing the hard magnetic elimination value into a magnetometer chip;
and S13, re-reading the magnetometer data corrected by the geomagnetic field magnetic data, and observing the vector sum of the magnetometer freely rotated at the same position and being stabilized near a fixed value through the upper computer, thereby indicating that the magnetic data induced by the external magnetic field by the magnetometer is not influenced by the geomagnetic field.
Preferably, in step S12, the upper computer obtains data of the magnetic bias value by importing the magnetometer data into the AntMag software.
Preferably, the sound wave data is analyzed in step S4 as follows:
s41, analyzing the sound wave data of the intelligent ball to obtain the relation between the sound wave amplitude and the time, and determining the position of the intelligent ball corresponding to the time t1 in the water supply pipeline according to the variation of the sound wave amplitude at the time t1, thereby preliminarily judging the position of the leakage point of the water supply pipeline.
Preferably, the acceleration data is analyzed in step S4 as follows:
s42, the analysis of the acceleration data of the accelerometer reveals that, when a leak signal occurs at time t1, the calculation formula of the distance X1 between the leak point and the detection start point is as follows:
X1＝N1*C (1)
where N1 is the number of cycles the smart ball rolls over time t1 in the acceleration data and C is the maximum cross-sectional perimeter of the measured smart ball.
Preferably, if the water supply pipeline is a ferromagnetic pipeline, the magnetic data in step S4 is analyzed as follows:
s43, analyzing the magnetic force data of the magnetometer to obtain the relation between the magnetization intensity and time, determining the position of the leakage point according to the data peak point of the magnetic force intensity, and obtaining the time t2 corresponding to the data peak point, so that the calculation formula of the distance X2 between the leakage point and the detection starting point is as follows:
X2＝N2*C (2)
wherein N2 is the number of cycles that the smart ball rolls in the acceleration data within time t2, and C is the maximum cross-sectional perimeter of the measured smart ball;
and then the X1 and the X2 are mutually corrected to obtain the estimated position of the leakage point.
Preferably, if the water supply pipeline is a non-ferromagnetic pipeline, the magnetic data in step S4 is analyzed as follows:
s44, recording the strength of the magnetic field signal by the magnetometer, analyzing the magnetic data of the magnetometer to obtain the relation between the magnetic signal and time, and thus obtaining the distance X3 between the leakage point and the external magnetic field by the calculation formula as follows:
X3＝(t1-t3)*Vflow rate of flow (3)
Wherein the time t3 is a time point corresponding to the maximum amplitude of the magnetic force signal, VFlow rate of flowIs the water flow speed in the water supply pipeline;
thereby determining the position of the leak point from the detection start point as L-X3.
Preferably, the outside cover of intelligence ball is equipped with the sponge ball.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, the intelligent ball is used for collecting data such as sound waves, acceleration and magnetic force, and comprehensively analyzing related data to improve the precision of leakage point positioning, so that the condition of large error caused by single data detection is avoided. In addition, the invention only needs to add an external magnetic field on the basis of the intelligent ball, does not need to assemble an expensive receiving base station or high-precision azimuth angle reference equipment, and has simple equipment and lower cost.
(2) For a ferromagnetic pipeline, the difference of magnetic signals at the leakage point can be clearly obtained by an external magnetic field and the principle of a leakage magnetic field, the point where the difference of the magnetic signals occurs is the leakage point, and the leakage point determined by combining a sound wave method is comprehensively analyzed, so that the error of the positioning of the leakage point can be further reduced. For a non-ferromagnetic pipeline, the intelligent ball moves in the water supply pipeline, when the non-ferromagnetic pipeline is close to the position of an external magnetic field, the amplitude of a magnetic signal can generate large fluctuation, the distance between the intelligent ball and the external magnetic field can be estimated through the fluctuation change, and then the position of a pipeline leakage point is determined. Therefore, the invention can meet different types of water supply pipelines and has strong practicability.
(3) Magnetic signal that external magnetic field arouses does not receive the influence that the pipeline is buried, receives magnetic signal through the interior magnetometer of intelligence ball, need not at the fixed sensor of pipe wall, provides convenience for buried water supply pipe's leakage detection.
Drawings
FIG. 1 is a schematic diagram of a detection of an embodiment of the present invention;
FIG. 2 is a schematic diagram of the magnetic bias values of magnetometers of the invention affected by the earth's magnetic field;
FIG. 3 is a schematic diagram of the magnetic bias value of a magnetometer after degaussing according to an embodiment of the invention;
FIG. 4 is a diagram illustrating the variation of the magnetic field when the S pole is in the positive state according to the embodiment of the present invention;
FIG. 5 is a diagram of the variation of magnetic field when the N pole is in positive alignment according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of acoustic data according to an embodiment of the present invention
FIG. 7 is a schematic diagram of a leakage magnetic field according to an embodiment of the present invention;
FIG. 8 is a graph of the magnetic force of a defective section within a ferromagnetic pipe for an embodiment magnetometer of the present invention.
Detailed Description
In order to facilitate the understanding of the technical solutions of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the drawings attached to the specification.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1, the embodiment discloses a method for marking a leakage position of a water supply pipeline based on an intelligent ball and an external magnetic field, which comprises the following steps:
before the intelligent ball 1 is put in, the intelligent ball 1 is fully charged. Meanwhile, the inside of the smart ball 1 of the embodiment is provided with measuring devices such as an accelerometer (not shown) and a magnetometer (not shown), so that the accelerometer and the magnetometer in the smart ball 1 can be tested to work normally.
Then, the detection starting point of the intelligent ball 1 is determined, an external magnetic field 3 is additionally arranged at a set position outside the water supply pipeline 2, and the distance between the external magnetic field 3 and the detection starting point is set to be L in the embodiment.
Then open the control switch of intelligent ball 1 and sealed, establish the sponge ball in the outside cover of intelligent ball 1 simultaneously and prevent that intelligent ball 1 from causing the condition of damage because of colliding the pipeline.
The intelligent ball 1 flows with water at the bottom of the water supply pipeline 2; collecting sound wave data of a water supply pipeline 2 by an intelligent ball 1, collecting acceleration data of the intelligent ball 1 in the rolling process in the water supply pipeline 2 by an accelerometer, collecting magnetic data of the water supply pipeline 2 by a magnetometer, and storing the collected sound wave, acceleration and magnetic data into an SD card (not shown) in the intelligent ball 1;
and finally, taking out the intelligent ball 1 from the detected tail end of the water supply pipeline 2 by using a ball collecting net, reading and analyzing the sound wave, acceleration and magnetic force data in the SD card in the intelligent ball 1, and marking the position of a leakage point in the water supply pipeline 2.
Due to the influence of the earth magnetic field, magnetometers obtain a magnetometric signal which is not 0 without the influence of other magnetic fields. It is therefore necessary to eliminate the influence of the earth magnetic field in order to identify the influence of the external magnetic field 3 on the magnetometer.
In the outdoor, the intelligent ball 1 is moved by 8-shaped motion or plane cross and other methods, so that the three-axis components of the magnetometer are ensured to have the maximum value and the minimum value.
And transmitting the magnetometer data to an upper computer through a serial port. And importing the saved magnetometer data into AntMag software to obtain a magnetic bias value. And calculating the magnetic bias values of the x axis, the y axis and the z axis to obtain a hard magnetic elimination value, and writing the hard magnetic elimination value into the magnetometer chip.
And re-reading the magnetometer data after degaussing (correction of geomagnetic field and magnetic force data), and observing whether the vector sum of the magnetometers freely rotating at the same position is stabilized near a fixed value or not through an upper computer.
As shown in fig. 2 and 3, by observing that the sphere is moved and rotated within a certain range by the upper computer software, the magnetometer data are substantially stabilized near 340, so it can be verified that: after the influence of the geomagnetic field in the environment is eliminated, the vector sum of the magnetometers is close to a fixed value under the condition of no other magnetic field interference. At this time, the magnetometer does not influence the magnetic data induced by the external magnetic field.
After the geomagnetic field magnetic offset is demagnetized, a magnetic field is additionally arranged around the intelligent ball 1, and the position and the direction of the magnetic field are fixed; at the moment, the intelligent ball 1 is moved, and the three-axis data vector and the change of the magnetometer of the upper computer are observed.
The magnet positions are opposite according to the S pole, clockwise rotated by 90 degrees, 270 degrees and N-level opposite to four angles, and 4 groups of experiments are carried out. The intelligent ball 1 is 4 meters away from the external magnetic field generating point and is from far to near to 1 meter. And recording the vector sum change of the magnetometers of the upper computer in real time.
As shown in fig. 4 and 5, it was observed by the upper computer software that the magnetic field intensity exhibited stepwise jump changes as the small ball approached the magnet, with jump changes at 3 meters, 2 meters, and 1 meter. The fluctuation is 10% at 3 m, 30% at 2 m and 2 times the amplitude at 1 m. Comparing fig. 4 and 5, the absolute value of the change in the magnitude of the magnetic field intensity remains substantially the same when the magnets are displaced in the north-south direction. Therefore, it can be conjectured that the magnetic field intensity change value shows exponential change in the process that the distance between the small ball and the emitting point of the external magnetic field is gradually reduced. The data changes of 90 ° and 270 ° are similar to those of fig. 4 and 5, and thus are not described in detail.
According to the above experiment, the closer the smart ball 1 is to the external magnetic field 3, the larger the amplitude of the magnetic signal. The magnetic field intensity change value and the distance show exponential change, so the distance between the intelligent ball 1 and the external magnetic field 3 can be determined through the property.
In the concrete testing process, the sound wave signal can be recorded to intelligence ball 1 in the removal in-process of water supply pipe 2, and the difference of the sound wave when the sound wave that produces when leaking through the pipeline and normal pipeline operation can judge the leakage point.
Therefore, by analyzing the sound wave data, the relationship between the sound wave amplitude and the time can be obtained, as shown in fig. 6, the horizontal axis is time, the vertical axis is the sound wave change amplitude, the sound wave signal at the time t1 can be distinguished from the leakage signal according to fig. 6, and at this time, the position of the pipeline leakage can be judged by only determining the position of the smart ball 1 corresponding to t1 in the pipeline.
Still loading in the intelligent ball 1 has the accelerometer, through the acceleration change of record intelligent ball 1 roll in the pipeline in-process, confirms the distance of marcing of intelligent ball 1 in the pipeline, and then realizes the location to the pipeline leakage point.
Specifically, during the detection process, the smart ball 1 rolls along the bottom of the water supply pipeline 2, and the rolling process can be approximately around a fixed shaft. Therefore, the change of the gravity acceleration recorded by the accelerometer shows a more obvious periodic change in one axis of the three-axis components of the accelerometer. One period obtained in the accelerometer data is the time for the intelligent ball 1 to roll for one circle in the pipeline; and acquiring the cycle number, namely knowing the number of rolling circles of the intelligent ball 1 in the pipeline. The product of the number of turns and the maximum cross-sectional perimeter of the sphere can be approximated as the distance the sphere travels along the pipe.
Therefore, it is known that in the case where a leakage signal occurs at time t1, the calculation formula for obtaining the distance X1 from the detection start point of the leakage point by the accelerometer is as follows:
X1＝N1*C (1)
where N1 is the number of cycles the smart ball 1 rolls over time t1 in the acceleration data and C is the maximum cross-sectional perimeter of the measured smart ball 1.
In order to improve the positioning accuracy of the leakage point, an external magnetic field 3 is additionally arranged in the embodiment.
If the detected water supply pipeline 2 is a ferromagnetic pipeline, the external magnetic field 3 can magnetize the pipeline due to the high magnetic permeability of the ferromagnetic pipeline. If the material of the material is continuous and uniform, the magnetic induction lines are restrained in the pipeline. At this time, if the water supply pipeline 2 is defective, cracked, or the like, a leakage magnetic field is formed, which is schematically shown in fig. 7.
The magnetometers record magnetomechanical data as the smart ball 1 passes a leak as shown in FIG. 8. From time t2 corresponding to the peak point of the magnetic force data in fig. 8, the time point at which the leakage magnetic field is detected is determined to be time t2, so that the calculation formula of the distance X2 of the leakage point from the detection start point by the magnetometer is as follows:
X2＝N2*C (2)
where N2 is the number of cycles the smart ball 1 rolls over time t2 in the acceleration data and C is the maximum cross-sectional perimeter of the measured smart ball 1.
The X1 measured by the accelerometer and the X2 measured by the magnetometer are then corrected with respect to each other to obtain an estimated location of the leak. The method ensures that the leakage point determined by the detection method is more accurate by combining the acceleration data and the magnetic force data.
If the water supply pipeline 2 is a non-ferromagnetic pipeline, such as a PVC pipe, a stainless steel pipe and the like, the water supply pipeline is not influenced by a magnetic field, and when the external magnetic field 3 is increased, the magnetometer in the intelligent ball 1 can record the strength of the magnetic signal of the external magnetic field 3. Therefore, the calculation formula for obtaining the distance X3 between the leakage point and the external magnetic field 3 by analyzing the magnetic force data of the magnetometer and obtaining the relationship between the magnetic force signal and time is as follows:
X3＝(t1-t3)*Vflow rate of flow (3)
Wherein the time t3 is a time point corresponding to the maximum amplitude of the magnetic force signal, VFlow rate of flowThe water flow rate in the water supply pipe 2.
Therefore, the position of the leak point from the detection start point can be determined to be L-X3 according to the set position of the external magnetic field 3.
The detection method only needs to arrange the intelligent ball 1 and increase the external magnetic field 3. The expensive receiving base station or high-precision azimuth angle reference equipment does not need to be assembled, the equipment is simple, and the cost is low. Meanwhile, magnetic signals caused by the external magnetic field 3 are not influenced by the buried pipeline, the magnetometers in the intelligent ball 1 receive the magnetic signals, a sensor does not need to be fixed on the pipe wall, and convenience is brought to leakage detection of the buried pipeline.
Meanwhile, the detection method can adapt to pipelines of different types, and has extremely strong practicability:
and for non-ferromagnetic pipelines which are long in the years and lack of design drawings, the intelligent ball 1 can be positioned in the pipeline. When the intelligent ball 1 moves in the pipe and is close to the position of the external magnetic field 3, the amplitude of the magnetic signal can generate large fluctuation, the distance between the intelligent ball 1 and the external magnetic field 3 can be estimated through the fluctuation change, and then the position of the pipeline leakage point is determined.
For a ferromagnetic pipeline, an external magnetic field 3 is added, the principle of a leakage magnetic field is utilized, the difference of magnetic force signals at a leakage point can be clearly obtained, the point where the difference of the magnetic force signals occurs is the leakage point, the comprehensive analysis is carried out on the leakage point determined by combining a sound wave method, and the error of the positioning of the leakage point can be further reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The above-mentioned embodiments only represent embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the concept of the present invention, and these embodiments are all within the protection scope of the present invention.
Claims (8)
1. A method for marking the leakage position of a water supply pipeline based on an intelligent ball and an external magnetic field is characterized in that: the method comprises the following steps:
s1, before the intelligent ball (1) is thrown, the intelligent ball (1) is fully charged, and an accelerometer and a magnetometer in the intelligent ball (1) can be tested to work normally;
s2, adding an external magnetic field (3) at a set position outside the water supply pipeline (2), wherein the distance between the external magnetic field (3) and a detection starting point is L;
s3, opening a control switch of the intelligent ball (1), sealing the intelligent ball, and putting the intelligent ball into the water supply pipeline (2) to enable the intelligent ball to flow along with water at the bottom of the water supply pipeline (2); collecting sound wave data of a water supply pipeline (2) by an intelligent ball (1), collecting acceleration data of the intelligent ball (1) in the rolling process in the water supply pipeline (2) by an accelerometer, collecting magnetic data of the water supply pipeline (2) by a magnetometer, and storing the collected sound wave, acceleration and magnetic data into an SD card in the intelligent ball (1);
s4, taking out the intelligent ball (1) from the detected tail end of the water supply pipeline (2) by using a ball collecting net, reading and analyzing the sound wave, acceleration and magnetic force data in the SD card in the intelligent ball (1), and marking the position of a leakage point in the water supply pipeline (2).
2. The method for marking the leakage position of the water supply pipeline based on the intelligent ball and the external magnetic field according to claim 1, wherein the method comprises the following steps: in step S1, the test magnetometer further comprises the following operations:
s11, in order to eliminate the influence of the geomagnetic field on the magnetometer, the intelligent ball (1) is moved outdoors by a 8-shaped motion or plane cross motion method, and the magnetometer obtains magnetic data;
s12, transmitting the magnetometer data to an upper computer through a serial port; the upper computer processes the saved magnetometer data to obtain a magnetic bias value; calculating the magnetic bias values of the x axis, the y axis and the z axis to obtain a hard magnetic elimination value, and writing the hard magnetic elimination value into a magnetometer chip;
and S13, re-reading the magnetometer data corrected by the geomagnetic field magnetic data, and observing the vector sum of the magnetometer freely rotated at the same position and being stabilized near a fixed value through the upper computer, thereby indicating that the magnetic data induced by the magnetometer to the external magnetic field (3) is not influenced by the geomagnetic field.
3. The method for marking the leakage position of the water supply pipeline based on the intelligent ball and the external magnetic field according to claim 2, wherein the method comprises the following steps: in step S12, the host computer obtains data of the magnetic bias value by importing the magnetometer data into the AntMag software.
4. The method for marking the leakage position of the water supply pipeline based on the intelligent ball and the external magnetic field according to claim 1, wherein the method comprises the following steps: the sound wave data is analyzed in step S4 as follows:
s41, analyzing the sound wave data of the intelligent ball (1), obtaining the relation between the sound wave amplitude and the time, and determining the position of the intelligent ball (1) corresponding to the time t1 in the water supply pipeline (2) according to the variation of the sound wave amplitude at the time t1, and preliminarily judging the position of the leakage point of the water supply pipeline (2).
5. The method for marking the leakage position of the water supply pipeline based on the intelligent ball and the external magnetic field according to claim 4, wherein the method comprises the following steps: the acceleration data is analyzed in step S4 as follows:
s42, the analysis of the acceleration data of the accelerometer reveals that, when a leak signal occurs at time t1, the calculation formula of the distance X1 between the leak point and the detection start point is as follows:
X1＝N1*C (1)
where N1 is the number of cycles that the smart ball (1) rolls over time t1 in the acceleration data, and C is the maximum cross-sectional perimeter of the measured smart ball (1).
6. The method for marking the leakage position of the water supply pipeline based on the intelligent ball and the external magnetic field according to claim 5, wherein the method comprises the following steps: if the water supply pipeline (2) is a ferromagnetic pipeline, the magnetic data in step S4 is analyzed as follows:
s43, analyzing the magnetic force data of the magnetometer to obtain the relation between the magnetization intensity and time, determining the position of the leakage point according to the data peak point of the magnetic force intensity, and obtaining the time t2 corresponding to the data peak point, so that the calculation formula of the distance X2 between the leakage point and the detection starting point is as follows:
X2＝N2*C (2)
wherein N2 is the number of cycles of rolling of the intelligent ball (1) in the acceleration data within the time t2, and C is the maximum section perimeter of the intelligent ball (1) measured;
and then the X1 and the X2 are mutually corrected to obtain the estimated position of the leakage point.
7. The method for marking the leakage position of the water supply pipeline based on the intelligent ball and the external magnetic field according to claim 4, wherein the method comprises the following steps: if the water supply pipeline (2) is a non-ferromagnetic pipeline, the magnetic data in step S4 is analyzed as follows:
s44, recording the strength of the external magnetic field (3) signal by the magnetometer, analyzing the magnetic data of the magnetometer to obtain the relation between the magnetic signal and time, and thus obtaining the distance X3 between the leakage point and the external magnetic field (3) by the calculation formula as follows:
X3＝(t1-t3)*Vflow rate of flow (3)
Wherein the time t3 is a time point corresponding to the maximum amplitude of the magnetic force signal, VFlow rate of flowIs the water flow speed in the water supply pipeline (2);
thereby determining the position of the leak point from the detection start point as L-X3.
8. The method for marking the leakage position of the water supply pipeline based on the intelligent ball and the external magnetic field according to claim 1, wherein the method comprises the following steps: the outside of the intelligent ball (1) is sleeved with a sponge ball.
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