CN114151737B - Spherical inner detector for pipeline leakage detection and positioning system - Google Patents
Spherical inner detector for pipeline leakage detection and positioning system Download PDFInfo
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- CN114151737B CN114151737B CN202111494396.6A CN202111494396A CN114151737B CN 114151737 B CN114151737 B CN 114151737B CN 202111494396 A CN202111494396 A CN 202111494396A CN 114151737 B CN114151737 B CN 114151737B
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Classifications
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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
- F16L55/28—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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention relates to a spherical inner detector for detecting and positioning pipeline leakage, which comprises a watertight spherical shell, at least two microphones, a microphone bracket (7), a functional circuit board, a power supply module (11) and a signal transmitting device. Wherein, the inside of the watertight spherical shell is provided with an air spherical cavity (2), and a counterweight is arranged near the equatorial plane of the watertight spherical shell, so that the contact point of the spherical inner detector and the inner wall of the pipeline is positioned on the equatorial plane after the spherical inner detector rolls and stands still in the pipeline; a microphone having one center at or near the equator of the watertight hull, referred to as the center microphone, and the other centers at or near the equator of the watertight hull; a microphone holder (7) for holding a microphone; the functional circuit board comprises a main MCU, a data acquisition module, a wireless transmission module, an accelerometer and a magnetometer; the signal transmitting device comprises a transmitting piezoelectric ceramic sensor (12) and a signal generating and driving circuit. The invention also provides a pipeline leakage detection and positioning system using the detector.
Description
Technical Field
The present invention relates to a pipe leak detection system.
Background
The water pipeline is used as one of the largest pipe network systems of the city and is distributed throughout the city. The stability of water supply and drainage is also an important guarantee for meeting the quality of life of citizens. With the wide use of pipelines, on one hand, the number of pipelines is increased year by year, and on the other hand, the pipelines are seriously aged and corroded, and leakage accidents occur. Once the pipeline leaks, serious environmental pollution, economic loss and casualties are caused. It is therefore necessary to detect and locate pipe leaks, especially small early leaks.
Acoustic leak detection is currently the most widely used method for pipeline leak detection. Early detection and localization of leaks by negative pressure waves caused by sudden large leaks. But the negative pressure wave-based method cannot detect continuous leakage and small leakage. The acoustic leak detection method of non-negative pressure waves has the advantages that continuous leak can be detected, and the disadvantage that the pipeline which can be effectively monitored is short, because the acoustic wave decays very fast and the propagation distance is very short in the process of propagating in the pipeline. It is impractical to densely install sound sensors along a pipeline, which is too costly and inconvenient to construct.
The spherical inner detector of the pipeline can stably roll [1] in the inner axis of the pipeline by adding the counterweight, record leakage sound when approaching to the leakage point of the pipeline wall, take out the movable sensor from the pipeline after the detection is finished, download data, analyze data and identify the leakage sound, and can realize the leakage detection. During detection, the sensor is very close to the leakage point, so that the leakage detection sensitivity of the method is relatively high, the pipe is not easy to block, and the ball receiving and sending are convenient.
In recent years, domestic scholars find that the sensitivity of detection can be improved by utilizing the spherical air cavity resonance principle, and a novel hydrophone [2] based on a resonance air cavity is researched, but the novel hydrophone is not applied to a spherical inner detector to improve the sensitivity of urban water supply and drainage pipeline leakage detection. Existing spherical internal detectors place various detection devices inside the spherical cavity of the spherical internal detector without the presence of air cavity resonance [3]. The spherical inner detector for detecting leakage of urban water supply and drainage pipelines still has the following two problems: firstly, the detection sensitivity is not high enough, and the micro leakage detection requirement cannot be met. Secondly, the positioning of the leakage points is inaccurate, including the positioning of pipe network intervals is inaccurate, the axial positioning of single pipeline is inaccurate, the positioning of the circumferential angular position of a certain section is inaccurate, and the cost of on-site excavation maintenance is increased. Therefore, the patent provides a low-cost high-sensitivity pipeline leakage detector and a positioning device, which can be used for detecting the tiny leakage of the pipeline.
Reference to the literature
[1] Huang Xinjing, li Zan, sealing, li Jian, guo Lin. A submarine pipeline vertical bending detection method [ P ]. China: CN111060058B,2021-04-13.
[2] Huang Xinjing, li Zan, li Jian, sealing, chen Shili, wang Xin. A novel hydrophone based on a resonance air cavity [ P ]. China: CN110657880A,2020-01-07.
[3] Chen Shili, guo Shixu, shijiu, li Yibo, li Jian. Spherical inner detector [ P ]. Chinese: CN202361085U,2012-08-01.
Disclosure of Invention
The invention provides a low-cost high-sensitivity pipeline leakage inner detector and a positioning system, which can be used for accurately detecting and positioning leakage points of pipelines and pipe networks. The technical proposal is as follows:
a spherical inner detector for detecting and positioning pipeline leakage comprises a watertight spherical shell, at least two microphones, a microphone bracket 7, a functional circuit board, a power module 11 and a signal transmitting device, wherein,
An air ball cavity 2 is arranged in the watertight ball shell, and a counterweight is arranged on the equatorial plane or near the equatorial plane of the watertight ball shell, so that the contact point of the spherical inner detector and the inner wall of the pipeline is positioned on the equatorial plane after the spherical inner detector rolls and stands still in the pipeline;
A microphone having one center at or near the equator of the watertight hull, referred to as the center microphone, and the other centers at or near the equator of the watertight hull;
a microphone holder 7 for holding a microphone;
The functional circuit board comprises a main MCU, a data acquisition module, a wireless transmission module, an accelerometer and a magnetometer;
The signal transmitting device comprises a transmitting piezoelectric ceramic sensor 12 and a signal generating and driving circuit.
Further, the elastic porous spherical wrapping shell 23 is wrapped on the outer layer of the watertight spherical shell, and is made of TPU elastic rubber or rubber materials. Evenly distributed small ball cavities 17 communicated with the outside are distributed on the outer surface of the elastic porous spherical wrapping shell 23 and are used for increasing the sound permeability of the structure while damping vibration.
Further, holes or grooves for placing the metal blocks 5 as weights are distributed in the water-tight spherical shell at or near the equatorial plane.
Further, an annular groove 20 is provided at or near the equatorial plane of the watertight hull, and a metal ring 21 for use as a counterweight is provided in the annular groove 20.
Further, the whole spherical inner detector is an ellipsoid, the ellipsoid is formed by rotating an arc line around a long axis, the radius of the arc is equal to the inner radius of the pipeline, the long axis is a rotating axis when the ellipsoid rolls in the pipeline, the equatorial plane is positioned on a short axis of the ellipsoid, and the spherical inner detector is attached to the pipeline wall, so that the spherical inner detector can roll along the long axis of the ellipsoid.
Further, two ends perpendicular to the equatorial plane of the spherical inner detector are provided with two cylindrical cavity bosses, and a circuit board bracket 28 is designed at the inner cavity of the first cylindrical cavity boss 9 and is used for fixing the functional circuit board 10 and the power module 11; the second cylindrical cavity boss 8 is used for placing a signal transmitting device.
Further, the microphone stand 7 comprises three mutually orthogonal and co-terminal strips, the common ends of the three strips being located at or near the centre of the watertight hull, the other end of each strip being distributed on or near the equatorial plane; microphones are provided at the common end of the strips and at the other end of each strip, i.e. one microphone is placed at or near the centre of the sphere-shaped inner detector and at each end of the x, y, z axes, the four microphones being in turn referred to as the centre microphone, the second, the third and the fourth microphone.
The invention also provides a pipeline leakage detection and positioning system realized by adopting the spherical inner detector, which comprises the spherical inner detector, a GPS module, a signal receiving device and an upper computer, wherein,
The spherical inner detector transmits voltage signals acquired by each microphone, pipeline magnetic signals measured by the magnetometer and acceleration signals of the spherical inner detector measured by the accelerometer to the upper computer through the wireless transmission module;
And the GPS module is used for carrying out time calibration on the signal transmitting device and the signal receiving device so as to keep the clocks of the signal transmitting device and the signal receiving device synchronous with the GPS time.
The signal receiving device is arranged on the outer wall of the leakage pipeline section and is connected with the upper computer in a wired or wireless communication mode, the signal receiving device comprises a receiving piezoelectric ceramic sensor and a signal acquisition conditioning circuit, after time calibration of the GPS module, a signal generation and driving circuit of the signal transmitting device generates a signal source, the signal source is connected with the transmitting piezoelectric ceramic sensor after the signal amplitude is amplified by the driving circuit, and the transmitting piezoelectric ceramic sensor transmits a string of ultrasonic pulse signals at intervals to realize the function of sound signal transmission; the receiving piezoelectric ceramic sensor converts the received sound signal from the transmitting piezoelectric ceramic sensor into an electric signal, and the electric signal is amplified, filtered and re-amplified by the signal acquisition conditioning circuit and then transmitted to the upper computer.
Further, the upper computer carries out waveform analysis on the voltage signal of the central microphone to judge whether leakage exists or not; if leakage exists, the upper computer compares the received pipeline magnetic signal of the magnetometer with a pre-calculated pipeline section magnetic signal of the pipeline, and positions the pipeline section from the pipeline to the leakage; the upper computer takes the starting point moment or a certain characteristic moment of the signal as the signal arrival moment according to the received signal from the transmitting piezoelectric ceramic sensor, so that the axial position of the leakage point in the pipe section is positioned.
Further, besides the central microphone, the device also comprises a second microphone, a third microphone and a fourth microphone which are positioned at different positions near the equator, wherein the upper computer processes voltage signals acquired by the second microphone, the third microphone and the fourth microphone, extracts the amplitude of leakage signals, and calculates the position of the leakage point relative to the spherical inner detector; and the upper computer processes acceleration signals of the accelerometer of the spherical inner detector, and the acceleration signals are calculated and positioned to the circumferential position of the leakage point relative to the pipeline.
Drawings
FIG. 1 is a schematic view of the internal structure of a watertight spherical shell according to embodiment 1 of the present invention, which has a complete internal spherical cavity and an external metal block
FIG. 2 is a schematic view showing the appearance of a watertight spherical shell according to embodiment 1 of the present invention
FIG. 3 is a schematic view of a water-tight spherical shell and microphone stand according to the present invention
FIG. 4 is a schematic view of the elastic porous spherical wrapping shell structure of the present invention
FIG. 5 is a diagram of a GPS synchronous transmitting and receiving clock according to the present invention
FIG. 6 is a schematic diagram of the principle of tracking and positioning of the spherical inner detector according to the present invention
FIG. 7 is a schematic view showing the axial rolling of the spherical inner detector in the pipeline
FIG. 8 is a schematic diagram showing the coordinate definition of the pipeline and the spherical inner detector according to the present invention
FIG. 9 is a schematic diagram of the internal sound field of the spherical internal detector of the present invention
FIG. 10 is a schematic view of a watertight spherical shell according to embodiment 2 of the present invention, wherein the internal spherical cavity is complete and the metal ring is externally arranged
FIG. 11 is a schematic view of a watertight spherical shell according to embodiment 3 of the present invention, in which the spherical cavity is irregular and metal blocks are built in
Figure 12 is a schematic view of the watertight hull construction according to example 4 of the present invention,
FIG. 13 is a schematic view of a watertight spherical shell according to embodiment 5 of the present invention
In the figure: 1-watertight spherical shell structure I, 2-watertight spherical shell structure I inner air balloon cavity, 3-watertight spherical shell II, 4-watertight spherical shell one counterweight square hole, 5-counterweight metal block, 6-equatorial plane groove, 7-microphone bracket, 8-second cylindrical cavity boss (for placing acoustic beacon), 9-first cylindrical cavity boss (for placing functional circuit board and power module), 10-functional circuit board, 11-power module, 12-acoustic beacon module emission piezoelectric ceramic sensor, 13-hemispherical boss, 14-O-shaped ring groove, 15-signal generation and driving circuit, 16-boss end cover, 17-elastic porous spherical shell inner spherical cavity, 18-watertight spherical shell III, 19-watertight spherical shell two counterweight square hole, 20-annular groove, 21-metal ring, 22-incomplete air balloon cavity, 23-elastic porous spherical shell, 24-ellipsoidal structure, 25-pipeline, 26-ellipsoidal shell inner spherical shell, 27-spherical shell wall, 28-circuit board bracket, 29-end cover, 30-watertight structure, 32-ellipsoidal structure, 32-second microphone, 31-third microphone, fourth microphone and fourth microphone
Detailed description of the preferred embodiments
The invention will be further described with reference to the accompanying drawings, in which:
Example 1
1. Spherical inner detector design and element layout method
1 In FIG. 1 is a watertight spherical shell one of the spherical inner detector, which is made of 3D printed resin or nylon semi-spherical shell butted in grooves and glued and formed by UV. A plurality of square holes 4 are symmetrically distributed at a distance from the equatorial plane of the watertight spherical shell and are used for placing a weight metal block 5, and the weight metal block can be made of copper, steel, tungsten, lead and the like. The metal block is placed for weighting the spherical inner detector so that the average density of the whole spherical inner detector is greater than that of water, and the metal block can be sunk at the bottom of the pipeline in the rolling process; and secondly, in order to improve the moment of inertia of the spherical inner detector around the normal direction of the equatorial plane, the rotating shaft for enabling the spherical inner detector to stably roll in the pipeline is along the normal direction of the equatorial plane, and no sliding relative to the pipe wall exists.
The watertight ball shell is internally provided with an air ball cavity 2, and four evenly-distributed grooves 6 are formed at the equator of the air ball cavity and are used for fixing a microphone bracket 7. Because the spherical inner detector has directivity, when the sound source frequency is the first-order resonance frequency of the air cavity, the sound pressure of two poles of the spherical inner detector is strongest, and the sound pressure of the spherical center is weakest. When the sound source frequency is the third-order resonance frequency of the air cavity, the spherical inner detector has no directivity, the sound fields of the points on the same spherical surface are the same in size, the sound pressure at the spherical center is strongest, and the sound pressure is weakest when the spherical inner detector is closer to the spherical shell. The layout of the microphone needs to be considered when designing the microphone stand. The microphone holder 7 comprises three strips at right angles to each other and sharing the ends, which in this embodiment are directly constituted by a circuit board, the sharing ends of the three strips being located at or near the centre of the watertight spherical shell, the other end of each strip being distributed on or near the equatorial plane, at the sharing ends of the strips, the other end of each strip being provided with a microphone, i.e. one microphone being placed at the centre of the sphere of the spherical inner detector and at each end of the x, y, z axes, the four microphones being in turn referred to as centre microphone, second, third and fourth microphone. The microphone may be a single silicon microphone 31, and the silicon microphone 31 is used in this embodiment, but in order to improve the detection accuracy, a microphone array may be disposed at each of four positions.
Two ends perpendicular to the equatorial plane of the spherical inner detector are provided with two cylindrical cavity bosses, and a circuit board bracket 28 is designed at the inner cavity of the first cylindrical cavity boss 9 and is used for fixing the functional circuit board 10 and the power module 11. The functional circuit board is round in shape and is fixed at the outer end part of the spherical inner detector or in the spherical shell wall. The functional circuit board comprises a main MCU, a data acquisition module, a wireless transmission module, an accelerometer and a magnetometer. The first cylindrical cavity boss is sealed by an end cap 29.
The second cylindrical cavity boss 8 is used for placing the transmitting piezoelectric ceramic sensor 12 and the signal generating and driving circuit board 15 of the acoustic beacon module signal transmitting device. The acoustic beacon module comprises a GPS module, a signal transmitting device and a signal receiving device. The GPS module outputs a second pulse signal after receiving at least four pieces of satellite information, and the rising edge of the second pulse signal corresponds to the whole second moment in GPS time. The signal transmitting device and the signal receiving device of the spherical inner detector acoustic beacon module are reserved with an interrupt communication interface, and before the spherical inner detector is put into a pipeline, a second pulse signal output by the GPS module is connected with the interrupt communication interface reserved by the signal transmitting device and the signal receiving device of the spherical inner detector acoustic beacon module in a wired mode to perform time calibration, so that clocks of the spherical inner detector acoustic beacon module and the signal receiving device are kept synchronous with GPS time. The signal transmitting device is arranged in a second cylindrical cavity boss of the spherical inner detector and comprises a transmitting piezoelectric ceramic sensor and a signal generating and driving circuit board. The signal receiving device is arranged on the outer wall of the pipeline and consists of a receiving piezoelectric ceramic sensor, a signal acquisition conditioning circuit and an upper computer. The receiving piezoelectric ceramic sensor has the same dimensions, polarization direction and performance parameters as the transmitting piezoelectric ceramic sensor. And finally sealed with boss end caps 16.
The elastic porous spherical wrapping shell 23 is wrapped on the outer layer of the watertight spherical shell and is made of TPU elastic rubber or rubber materials. The elastic porous spherical wrapping shell 23 is provided with a plurality of evenly distributed small spherical cavities 17 communicated with the outside on the whole spherical shell, and the sound permeability of the structure is increased while vibration is damped.
2. Leakage detection and positioning method
The present embodiment can realize the following three positioning: the spherical inner detector is used for positioning the running pipe section in the pipe network, the leakage point is axially positioned on a single-section pipe section of the pipe network, and the leakage point is annularly positioned on the pipe wall.
The spherical inner detector transmits voltage signals acquired by each microphone, pipeline magnetic signals measured by the magnetometer and acceleration signals of the spherical inner detector measured by the accelerometer to the upper computer through the wireless transmission module;
And the GPS module is used for carrying out time calibration on the signal transmitting device and the signal receiving device so as to keep the clocks of the signal transmitting device and the signal receiving device synchronous with the GPS time.
The signal receiving device is arranged on the outer wall of the pipeline section and is connected with the upper computer in a wired or wireless communication mode, the signal receiving device comprises a receiving piezoelectric ceramic sensor and a signal acquisition conditioning circuit, after time calibration of the GPS module, a signal generation and driving circuit of the signal transmitting device generates a signal source, the signal source is connected with the transmitting piezoelectric ceramic sensor after the signal amplitude is amplified by the driving circuit, and the transmitting piezoelectric ceramic sensor transmits a string of ultrasonic pulse signals at intervals to realize the function of sound signal transmission; the receiving piezoelectric ceramic sensor converts the received sound signal from the transmitting piezoelectric ceramic sensor into an electric signal, and the electric signal is amplified, filtered and re-amplified by the signal acquisition conditioning circuit and then transmitted to the upper computer.
The upper computer carries out waveform analysis on the voltage signal of the central microphone and judges whether leakage exists or not; if leakage exists, the upper computer compares the received pipeline magnetic signal of the magnetometer with a pre-calculated pipeline section magnetic signal of the pipeline, and positions the pipeline section from the pipeline to the leakage; the upper computer takes the starting point moment or a certain characteristic moment of the signal as the signal arrival moment according to the received signal from the transmitting piezoelectric ceramic sensor, so that the axial position of the leakage point in the pipe section is positioned.
The upper computer processes the voltage signals acquired by the second, third and fourth microphones, extracts the amplitude of the leakage signal, and calculates the position of the leakage point relative to the spherical inner detector; and the upper computer processes acceleration signals of the accelerometer of the spherical inner detector, and the acceleration signals are calculated and positioned to the circumferential position of the leakage point relative to the pipeline.
Example two
As shown in fig. 10, the watertight spherical shell two 3 changes the square hole on the watertight spherical shell of the first embodiment into an annular groove 20, changes the counterweight metal block into a metal ring 21, and forms a complete watertight spherical shell after the metal ring and the watertight spherical shell are assembled. Other structures and leak detection and localization methods are unchanged from the first embodiment.
Example III
As shown in fig. 11, the watertight spherical shell of the watertight spherical shell three 18 is designed with a square hole 19 near the equatorial plane inside the spherical wall, and the spherical inner detector rolls on the inner axis of the pipeline by placing metal blocks inside. The two hemispheric shells are assembled by placing rubber O-rings in O-ring grooves 14 on hemispheric bosses 13. While the inner air-balloon lumen 22 of this construction is not a complete balloon lumen, it does not have a significant effect on sensitivity. Other structures and leak detection and localization methods are unchanged from example one.
Example IV
As shown in fig. 12, the spherical inner detector of the fourth embodiment has an ellipsoidal structure 24 as a whole, an ellipsoidal elastic porous spherical wrapping case as an outside, and the inner watertight spherical case 26 has the same structure as that of the first embodiment, but the weight metal block 30 is greatly reduced. And because the outer diameter of the ellipsoidal structure is identical with the inner diameter of the pipeline 25, the spherical inner detector can be perfectly attached to the pipeline without considering the density of the spherical inner detector, and the fixed-axis rolling of the spherical inner detector is realized. A functional circuit board, a power module, and an acoustic beacon module may be placed in the spherical shell wall 27. The leak detection and localization method is the same as in example one.
Example five
As shown in fig. 13, the fifth watertight ball cover 37 may be implemented by any of the first, second and third embodiments, as compared with the first embodiment without the first and second cylindrical cavity bosses. The functional circuit board, acoustic beacon module signal emitting device, power module are packaged in a cuboid packaging box 36 which can be fixed to the equatorial plane edge of the spherical inner detector by UV glue. Research shows that when the sealing box is placed at the edge of the spherical cavity of the spherical inner detector, the sound pressure at the sealing box is maximum under the first resonance frequency of the spherical inner detector. When the sound source frequency is the third-order resonance frequency of the air cavity, the sound pressure at the spherical center is strongest. Unlike the embodiment-microphone arrangement, this embodiment uses only two silicon microphones (two microphone arrays are also possible). Compared with the first embodiment, the functional circuit board of the embodiment is additionally provided with a microphone (also can be a microphone array), and the packaging box is reserved with a microphone hole, and the microphone on the functional circuit board can be exposed in the ball cavity through the microphone hole, so that the acquisition of microphone signals is not influenced. A strip is arranged on the connecting line of the packaging box and the sphere center of the spherical inner detector, and the strip in the embodiment is composed of a circuit board. A microphone is arranged at the sphere center of the strip edge. The other structure is the same as that of the first embodiment.
Structurally, embodiment 5 is simplified, and embodiment 5 still enables the first two types of positioning, namely, positioning of the running pipe section of the spherical inner detector in the pipe network and positioning of the leakage point in the axial direction of the single-section pipe section of the pipe network. Because of the lack of two microphones, the present embodiment can no longer implement the function of circumferential positioning.
The technical scheme provided by the invention has the beneficial effects that:
(1) The spherical inner detector provided by the invention has high sensitivity. First, having a closed air cavity with hard acoustic boundary conditions inside the sphere-shaped inner detector will produce different modes of acoustic resonance under excitation of external leaking sound, each with its unique characteristic frequency and acoustic field distribution, which will focus most of the acoustic energy into one or several small areas to form acoustic spots, thereby amplifying the leaking sound. Since only the microphone is placed in the ball cavity, the acoustic resonance mode of the ball cavity is very stable. Microphones are placed in these areas of high sound pressure, so that a high sensitivity is obtained.
In the design of the spherical shell, the inner watertight spherical shell is made of 3D printed photosensitive resin or nylon materials, and the detection sensitivity of the watertight spherical shell made of the materials is greatly improved compared with that of materials such as aluminum, iron and the like. Experimental study shows that the sensitivity of the photosensitive resin watertight ball can be improved by ten times compared with that of the photosensitive resin watertight ball. Because of the economy of 3D printing, the cost for processing the watertight ball made of photosensitive resin or nylon materials is far less than that for processing watertight balls made of materials such as aluminum, iron and the like, and the cost is far less than that of materials such as aluminum, iron and the like. The outer layer of the watertight spherical shell is wrapped with the damping spherical shell, so that rolling noise generated by rolling of the spherical inner detector can be greatly reduced, and the sensitivity of the whole spherical inner detector is further improved.
Besides improving the sensitivity of the spherical inner detector on the spherical shell design, the single microphone can be changed into a microphone array plate by increasing the number of the microphones on the microphone bracket in the spherical inner detector, and the sensitivity of the spherical inner detector can be further improved.
(2) The spherical inner detector provided by the invention has high positioning precision. The balancing weight is added near the equatorial plane of the watertight spherical shell, so that the spherical inner detector can roll on the inner axis of the pipeline, and the watertight spherical shell has strong disturbance rejection capability. And no matter what attitude the spherical inner detector finally emits, the spherical inner detector finally rolls around the normal direction of the equatorial plane of the sphere in a fixed axis manner, and the final positioning result is not affected. In terms of single-joint pipeline spherical inner detector position location, the acoustic beacon module in the spherical inner detector calculates the position of the spherical inner detector in the pipeline by calculating the time taken for an ultrasonic pulse emitted by the emitting piezoelectric ceramic to reach the receiver. In addition, the spherical inner detector is provided with an accelerometer, and the rolling distance of the spherical inner detector in the pipeline can be obtained through the accelerometer, and the rolling distance are compared, so that the positioning accuracy of the spherical inner detector in the pipeline can be further improved.
In the positioning of the net pipe section of the spherical internal detection organ, a magnetometer is adopted to measure the magnetic field component at the fixed axis of the pipeline, and the magnetic field component of each section of pipeline measured in advance is sequentially compared with the magnetic field component of each section of pipeline, and the group with the smallest difference is the track pipeline of the spherical internal detector. Since the geomagnetic field is used as a reference, the method does not have the risk of long-time and long-distance divergence, and therefore the positioning accuracy is not reduced with the increase of the running time and the distance.
In the aspect of positioning the leakage point, the microphone is arranged at the position with the maximum sound pressure of the specific frequency of the air cavity inside the spherical inner detector by utilizing the special sound field distribution generated by the resonance of the inner cavity of the spherical inner detector, so that the position of the leakage point is judged, and the positioning precision is greatly improved.
Claims (6)
1. The pipeline leakage detection and positioning system based on the spherical inner detector comprises the spherical inner detector, a signal receiving device and an upper computer, wherein the spherical inner detector comprises a watertight spherical shell, at least two microphones, a microphone bracket (7), a functional circuit board, a power module (11) and a signal transmitting device;
an air ball cavity (2) is arranged in the watertight ball shell, an annular groove (20) is formed in the watertight ball shell at or near the equatorial plane, and a metal ring (21) serving as a counterweight is arranged in the annular groove (20), so that the contact point of the spherical inner detector and the inner wall of the pipeline is positioned on the equatorial plane after the spherical inner detector rolls and is static in the pipeline;
The spherical inner detector is integrally formed by rotating an arc line around a long axis, the radius of the arc is equal to the inner radius of the pipeline, the long axis is a rotating shaft when the ellipsoid rolls in the pipeline, the equatorial plane is positioned on a short axis of the ellipsoid, and the spherical inner detector is attached to the pipeline wall, so that the spherical inner detector can roll along the long axis of the ellipsoid;
A microphone stand (7) for fixing a microphone, the microphone stand comprising three strips at right angles to each other and having common ends, the common ends of the three strips being located at or near the center of the watertight spherical shell, the other end of each strip being distributed on or near the equatorial plane; microphones are arranged at the common end part of the long strips, and microphones are arranged at the other end part of each long strip, namely one microphone is arranged at the center or near the center of the spherical inner detector and at each end of x, y and z axes, and the four microphones are sequentially called a center microphone, a second microphone, a third microphone and a fourth microphone; the functional circuit board comprises a main MCU, a data acquisition module, a wireless transmission module, an accelerometer and a magnetometer; the signal transmitting device comprises a transmitting piezoelectric ceramic sensor (12) and a signal generating and driving circuit;
the spherical inner detector transmits voltage signals acquired by each microphone, pipeline magnetic signals measured by the magnetometer and acceleration signals of the spherical inner detector measured by the accelerometer to the upper computer through the wireless transmission module;
The signal receiving device is arranged on the outer wall of the leakage pipeline section and is connected with the upper computer in a wired or wireless communication mode, the signal receiving device comprises a receiving piezoelectric ceramic sensor and a signal acquisition conditioning circuit, after time calibration, a signal generation and driving circuit of the signal transmitting device generates a signal source, the signal source is connected with the transmitting piezoelectric ceramic sensor after the signal amplitude is amplified by the driving circuit, and the transmitting piezoelectric ceramic sensor transmits a string of ultrasonic pulse signals at intervals to realize the function of sound signal transmission; the receiving piezoelectric ceramic sensor converts the received sound signal from the transmitting piezoelectric ceramic sensor into an electric signal, and the electric signal is amplified, filtered and re-amplified by the signal acquisition conditioning circuit and then transmitted to the upper computer.
2. The system for detecting and locating a pipe leakage according to claim 1, wherein the upper computer performs a waveform analysis of the voltage signal of the central microphone to determine whether a leakage exists; if leakage exists, the upper computer compares the received pipeline magnetic signal of the magnetometer with a pre-calculated pipeline section magnetic signal of the pipeline, and positions the pipeline section from the pipeline to the leakage; the upper computer takes the starting point moment or a certain characteristic moment of the signal as the signal arrival moment according to the received signal from the transmitting piezoelectric ceramic sensor, so that the axial position of the leakage point in the pipe section is positioned.
3. The system for detecting and locating pipeline leakage according to claim 1, wherein the upper computer processes the voltage signals collected by the second, third and fourth microphones, extracts the amplitude of the leakage signals, and calculates the position of the leakage point relative to the spherical inner detector; and the upper computer processes acceleration signals of the accelerometer of the spherical inner detector, and the acceleration signals are calculated and positioned to the circumferential position of the leakage point relative to the pipeline.
4. The pipeline leakage detection and positioning system according to claim 1, wherein the elastic porous spherical wrapping shell (23) is wrapped on the outer layer of the watertight spherical shell, the watertight spherical wrapping shell is made of rubber materials, and small spherical cavities (17) which are communicated with the outside and are uniformly distributed are distributed on the outer surface of the elastic porous spherical wrapping shell (23) and are used for increasing the sound permeability of the structure while reducing vibration.
5. The system for detecting and locating the leakage of the pipeline according to claim 1, wherein two cylindrical cavity bosses are arranged at two ends perpendicular to the equatorial plane of the spherical inner detector, and a circuit board bracket (28) is designed at the inner cavity of the first cylindrical cavity boss (9) and used for fixing the functional circuit board (10) and the power module (11); the second cylindrical cavity boss (8) is used for placing a signal transmitting device.
6. The pipe leak detection and location system of claim 1, further comprising a GPS module for time calibrating the signal transmitting device and the signal receiving device such that their clocks are synchronized with GPS time.
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| ES2588214B1 (en) * | 2015-04-28 | 2017-09-05 | Aganova S.L. | DETECTOR DEVICE OF WATER LEAKS IN PIPES AND PROCEDURE FOR DETECTION OF LEAKS |
| CN117589385B (en) * | 2024-01-17 | 2024-04-05 | 天津大学 | Fluid pipeline leakage inner detector, detection system and detection method |
| CN117870586A (en) * | 2024-01-17 | 2024-04-12 | 天津大学 | Detection device and method for pipeline suspension span or settlement bending |
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