CN215001012U - Railway water supply pipe network leak detection robot system - Google Patents

Abstract

The utility model relates to a water supply pipe network technical field for a railway water supply pipe network leak hunting robot system, including track robot, sensor module, battery module and communication module, sensor module is used for the position and the visual transmission site conditions of real-time location track robot, battery module is used for the power supply, sensor module passes through communication module and external contact, the track robot is used for the leakage loss condition of mobile monitoring water supply pipe network. The track robot moves along the track and drives the noise recorder to record and move along the water supply network so as to monitor whether leakage occurs or not. According to the characteristics of a railway water supply pipe network, data are acquired through sensors such as noise sensors, vision sensors and the like, are sent to a software platform for cloud storage and recognition processing signals to generate an operation report, corresponding suggestions are given according to modification targets and capital of an owner unit, the full-flow service is realized, the investment cost is low, the leakage point recognition precision is high, the positioning is accurate, and the consumed time is short.

Description

Railway water supply pipe network leak detection robot system

Technical Field

The utility model relates to a water supply pipe network technical field, concretely relates to railway water supply pipe network leak hunting robot system.

Background

The water supply network is an important link in a water supply system, and tap water treated by a water purification plant reaches the standard and is supplied to urban and rural residents, large-scale water units, railways, industrial areas and the like through the water supply network, so that the water supply network is an important component for ensuring normal operation of production and life.

Generally, a water supply pipe network is buried underground, so that the service life is long, the pipe network is corroded, or the pipe network is subjected to large water pressure in the pipe network, the shallow buried depth of the pipe is large, the load is large, the foundation is not uniformly settled, and the like, so that the pipe network leaks for a long time and is not easy to be found by maintenance personnel. The ratio of the water leakage amount of the pipe network to the total water supply amount of the pipe network is the leakage rate of the pipe network, and according to survey, the leakage rate of the urban water supply pipe network is over 15 percent, the leakage rate of the railway water supply pipe network is over 20 percent, for example, the average leakage rate of the water supply pipe network of the Ganhai line, the coke branch line and the Ningxi line is over 43 percent, the value of the leakage rate of the pipe network in the design specification of railway water supply and drainage is 10 to 12 percent, and the leakage rate of the pipe network in the actual production greatly exceeds the design range. In addition, the railway water supply network is usually laid along the track, and long-term leakage can influence the bearing capacity of the rail foundation, thereby becoming a potential safety hazard. Therefore, strict control on the leakage rate is necessary, the relatively stable operation of a railway water supply pipe network is realized, the normal order of railway production is ensured, railway property is protected from being damaged, a large amount of water resource waste is avoided, and the production operation cost is reduced.

At present, the pipe network leakage detection mainly adopts a manual mode, workers with abundant experience can patrol and listen to leakage, the aging is slow, and the investment cost is high.

At present, a patent specially suitable for leakage detection of a water supply pipe network of a railway system is temporarily absent, and a large number of sensors are mainly arranged at nodes of the pipe network to monitor signals such as pressure, flow and noise in a pipeline, establish a hydraulic model or a neural network deep learning model and identify leakage points of the pipe network. Application number 201911313009.7 provides a method of water supply pipe network leakage monitoring and location, through installing a large amount of sensors in the pipe network, utilize the water balance model discernment subregion of leaking, compare noise spectrum signal location leakage point again, the water balance model parameter that this method adopted relies on empirical value, the reliability is not high, install a large amount of sensors simultaneously in the water supply pipe network, frequently close the valve and do the test of closing water, influence daily production domestic water demand, investment cost is higher, reduce user satisfaction, it is great to implement the degree of difficulty. Application number 201810702647.7 provides a real-time leakage analysis method for a water supply network, which comprises the steps of establishing a simulation model through water quantity, pressure and pipeline parameters of the water supply network, matching the difference between a predicted value and an actual value, identifying the leakage condition, wherein the leakage condition is identified, but the quality of online monitoring data of the water supply network is uneven, a large amount of data cannot be accurately and rapidly processed on the premise of higher frequency, and the false alarm rate is higher. The initial leakage positioning method based on clustering and deep belief networks, which is proposed by application number 201810527186.4, identifies the leakage area by establishing and training a leakage area identification model, but the method cannot accurately identify the position of the leakage point. Application number 201811283725.0 proposes a leakage identification method based on a long-and-short-term memory neural network model, which trains the long-and-short-term memory neural network model after processing data obtained by a sensor, and identifies abnormal flow points. Application No. 201710998436.8 proposes a neural network model based on gated cyclic units, which identifies whether a leak has occurred by the cosine distance of the relative value of the model-calculated time-series column vector and the reference data. The neural network model identification process is too complicated, the problems of high false alarm rate, low reliability in actual operation and the like exist, and the manpower, material resources and financial resources of a water department are wasted. Therefore, a leakage detection method suitable for the characteristics of the railway water supply network is urgently needed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a railway water supply pipe network leak hunting robot system has solved above current water supply pipe network leak hunting require that personnel experience is abundant, old pipe network installation sensor implement the difficulty and the input cost is big, the technical problem that the leak point discernment misstatement rate is high, positioning accuracy is low, consuming time is more chronic etc.

The utility model provides a solve above-mentioned technical problem and provide a railway water supply pipe network leak hunting robot system, including track robot, sensor module, battery module and communication module, sensor module is used for the position and the visual transmission site conditions of real-time location track robot, battery module is used for the power supply, sensor module passes through communication module and external contact, the track robot is used for the leakage loss condition of mobile monitoring water supply pipe network.

Optionally, the sensor module includes GIS orientation module and vision transmission module, and vision transmission module includes image transmission unit and infrared inductor, image transmission unit is used for real-time supervision track robot to supplementary production operation report form, infrared inductor is including being used for keeping away infrared emitter and the CCD detector of barrier automatically.

Optionally, the battery module includes, but is not limited to, a ternary lithium battery and a lithium iron phosphate battery, and the battery module has a quick charging function and a battery replacement function.

Optionally, the railway water supply pipe network leak detection robot system further comprises an operation monitoring management platform, the operation monitoring management platform comprises a cloud storage module, the communication module stores the data collected by the sensor into the memory system in real time, and the data are synchronously transmitted to the cloud storage module through the wireless communication terminal, the GPRS and the Internet network, so that a user can call the data in real time or in the future conveniently.

Optionally, the railway water supply pipe network leak detection robot system further includes a signal processing module, where the signal processing module is configured to perform time domain and frequency domain comparison on the acquired noise signal of the pipe network through time domain and frequency domain transformation, including but not limited to methods such as fourier transformation, to use a noise database in normal pipe network operation as a preset range value, and if the noise signal exceeds the preset range value, it is determined that the pipeline at the monitoring point is leaking, and corresponding suggestions are given to different degrees when the noise signal exceeds the preset range value.

Optionally, the signal processing module includes a band-pass filter, and whistle sound in the railway system and vibration sound of rails entering and leaving the train station are used as noise in a specific interference frequency band, and the specific interference frequency band is processed after being filtered by the band-pass filter before being processed.

Optionally, the signal processing module acquires the flow of the water supply pipe network in real time as an auxiliary parameter to determine whether leakage occurs.

Has the advantages that: the utility model provides a railway water supply pipe network leak hunting robot system, including track robot, sensor module, battery module and communication module, sensor module is used for the position and the visual transmission site conditions of real-time location track robot, battery module is used for the power supply, sensor module passes through communication module and external contact, the track robot is used for the leakage loss condition of mobile monitoring water supply pipe network. The track robot moves along the track and drives the noise recorder to record and move along the water supply network so as to monitor whether leakage occurs or not. According to the characteristics of a railway water supply pipe network, data are acquired through sensors such as noise sensors, vision sensors and the like, are sent to a software platform for cloud storage and recognition processing signals to generate an operation report, corresponding suggestions are given according to modification targets and capital of an owner unit, the full-flow service is realized, the investment cost is low, the leakage point recognition precision is high, the positioning is accurate, and the consumed time is short.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings. The detailed description of the present invention is given by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:

FIG. 1 is a schematic diagram of the operation of the railway water supply pipe network leak detection robot system of the present invention;

FIG. 2 is a working schematic diagram of the railway water supply pipe network leak detection robot system of the present invention;

FIG. 3 is a diagram of a track robot structure of the railway water supply network leak detection robot system of the present invention;

fig. 4 is the utility model discloses railway water supply pipe network leak hunting robot system's the internal integrated structure chart of body.

Description of reference numerals: rail 1, moving slide rail 2, body 3, arm 4, the first joint of arm 5, coupling spring 6, arm second joint 7, arm telescopic link 8, sensor module 9, communication module 10, gyro wheel 11, base 12, power module 13, integrated module shell 14, module fixed column 15, signal input output interface 16.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more fully apparent from the following description and appended claims. It should be noted that the drawings are in simplified form and are not to precise scale, and are provided for convenience and clarity in order to facilitate the description of the embodiments of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1-2, the embodiment of the utility model provides a railway water supply pipe network leak hunting robot system, including track robot, sensor module 9, battery module and communication module, sensor module is used for the position and the visual transmission site conditions of real-time location track robot, battery module is used for the power supply, sensor module passes through communication module and external contact, the track robot is used for the leakage loss condition of mobile monitoring water supply pipe network.

Specifically, the sensor module 9 includes a noise recorder, a GIS positioning module, and a visual transmission module; the noise recorder records noise signals of monitoring points along the line, the GIS positioning module gives information to the monitoring points, and the vision transmission module comprises an image transmission and infrared inductor.

Alternative scheme, as shown in fig. 3 to 4, track robot includes body 3 and scalable folding arm 4, body 3 drives scalable folding arm 4 removes along rail 1, scalable folding arm 4 is followed the both sides limit of body 3 stretches out and hangs downwards in the both sides of rail 1, scalable folding arm 4's end is equipped with the noise recorder record that is used for detecting the noise signal of each monitoring point along the line of rail 1.

Track robot includes body 3 and scalable folding arm 4, scalable folding arm 4 is bilateral symmetry structure, wherein one side includes first joint 5 of arm and arm second joint 7, the one end of arm 4 is articulated with body 3 through two joints and is realized the free rotation, the other end is free flagging to hang in 1 side of rail, the free end of arm 4 is equipped with noise recorder record, along with track robot's removal, the noise recorder record just can detect the leakage condition of railway water supply pipe network.

In addition, arm 4 includes arm telescopic link 8, adjusts the height of noise record appearance through arm telescopic link 8, reaches better detection effect.

Optionally, the bottom end of the body 3 is provided with a roller 11 in rolling connection with the top end of the rail 1, two sides of the body 3 are provided with moving slide rails 2, the moving slide rails 2 are in a portal shape and wrap the rail 1, and the motor module drives the roller 11 to move along the rail 1. The moving slide rails 2 play a role in stabilizing the rail robot, and the rails 1 are completely coated by the two moving slide rails 2 to prevent the rail robot from sliding down. The moving slide rail 2 is positioned below the mechanical arm 4, and the two do not interfere with each other.

Optionally, one end of the moving slide rail 2 is elastically connected to the body 3 through a connecting spring 6. Through elastic connection, play buffering and flexible coupling's effect, on the one hand can stabilize the track robot on rail 1, on the other hand prevents to produce between motion slide rail 2 and the rail 1 and energetically rub.

Optionally, the railway water supply pipe network leak detection robot system further includes a sensor module 9, a battery module and a communication module 10, the sensor module 9 is used for positioning the position of the railway robot in real time and the visual transmission field condition, the battery module is used for supplying power, and the sensor module 9 is connected with the outside through the communication module 10.

Specifically, the track robot comprises a controller, a roller 11, a motor module and a telescopic folding mechanical arm 4; the controller executes the command of the robot control module and controls the operations of the motor module, the telescopic folding mechanical arm 4, the sensor module 9 and the like. The distance between the rollers 11 is matched with the track gauge of the railway, the standard track gauge of 1435 mm is mainly adopted for the railway in China, and the track gauge of the railway in China comprises 610 mm, 762 mm, 891 mm, 1000 mm, 1067 mm, 1372 mm and the like. The motor module provides robot running power, and the walking speed is controlled by controlling different output powers, wherein the walking speed is set within a range of 0-20 km/h. The telescopic folding mechanical arm 4 is folded in a non-working state, is convenient to carry and transport, is unfolded in working, can be unfolded in an axisymmetric manner by a robot according to actual needs, can also be unfolded with the single-side mechanical arm 4, and can be extended by the length of the telescopic mechanical arm 4 according to actual conditions on site, and the length setting range of the mechanical arm 4 is 0-20 m.

Wherein, there is integrated module shell 14 body 3 outward, the bottom is gyro wheel 11, be base 12 on the gyro wheel 11, base 12 and integrated module shell 14 fixed connection, and it has module fixed column 15 to peg graft on the base 12, the cover is equipped with communication module 10 on the module fixed column 15, power module 13, each module encapsulates through integrated module shell 14, prevent sand blown by the wind or rainwater entering, each module is worn out integrated module shell 14 through signal input output interface 16 at last and is realized contacting with external communication.

In particular, the robot arm 4 may be coupled with a connecting rod in addition to being telescopic.

Specifically, the material of the track robot includes but is not limited to high molecular polymer, such as PP, PA, PC \ ABS, etc.; including but not limited to metallic materials such as stainless steel, copper, titanium alloys, magnesium alloys, and the like; including but not limited to novel composite materials such as carbon fiber composites and the like.

In particular, the sensor itself may be located within the body 3, but may also be coupled to the main body, the robotic arm 4.

Specifically, the "coupling manner" is not limited to physical coupling such as guide rail and screw fixing, and may be coupling by cable, photoelectric coupling or electromagnetic coupling.

Specifically, the sampling frequency of the noise recorder is set by the robot control module according to the field requirement.

Specifically, the GIS position information is used for generating a job report feedback leakage position.

Specifically, the image transmission unit in the vision transmission module is used for monitoring the environment where the robot is located in real time and assisting in generating an operation report, the infrared inductor comprises an infrared emitter and a CCD detector, the robot is prevented from colliding with an obstacle, if the robot meets the obstacle, an alarm is given, and if the robot arm meets the obstacle, the mechanical arm 4 is contracted or lifted to avoid the obstacle.

Specifically, the battery module includes but is not limited to a ternary lithium battery and a lithium iron phosphate battery, and the battery module has a quick charging function and a battery replacement function.

Specifically, the communication module 10 stores the data acquired by the sensor in a memory system in real time, and synchronously transmits the data to the operation monitoring management platform and the cloud storage module through the wireless communication terminal, the GPRS and the Internet, so that a user can call the data in real time or in the future.

The operation monitoring and management platform is a platform integrating robot control, signal processing, report output and a software system, and runs in a computer software or mobile phone or tablet app mode according to different operating systems.

Specifically, the robot control module realizes the running management of the whole process of the robot, and comprises the steps of controlling the output power of a motor to drive the robot to walk on a rail 1, and controlling the robot to start, stop, advance, retreat and walk speed, wherein the walk speed is set within the range of 0-20 km/h; setting the position information or the running distance of a walking starting point and a walking end point of the robot, and establishing an automatic return point; setting a noise sampling frequency interval of the robot; and setting a robot self-checking module, carrying out program self-checking before operation, carrying out operation after the self-checking is qualified, and feeding back the operation to an operator if faults such as insufficient electric quantity, software updating, sensor failure, failure of the communication module 10 and the like exist.

Specifically, the signal processing module performs time domain and frequency domain comparison on the acquired pipe network noise data through time domain and frequency domain transformation, including but not limited to methods such as fourier transformation and the like, a noise database operated by a normal pipe network is used as a preset range value, if the noise database exceeds the preset range value, the pipeline leakage at the monitoring point is judged, and corresponding suggestions are given according to different degrees of exceeding the preset range value.

Specifically, whistle in the railway system, vibration sound of the rails 1 of the train entering and exiting the station, and the like are used as noise of a specific interference frequency band, and a band-pass filter is used for filtering before processing.

Specifically, pipe network flow is as optional parameter, to the water gauge installed, can acquire the water supply pipe network of real-time flow, puts into signal processing module with flow information, and through the water balance relation of water supply pipe network node, the inflow of certain point is water yield + user's water consumption usually, as the basis of supplementary judgement leakage point, also gives the foundation of suggestion as the report form.

Specifically, the operation report module is presented to a client as a result of leakage monitoring of the water supply network, and comprises an operation name, an operation mileage, an operation area, GPS (global positioning system) position information of a leakage point of the water supply network, a live-action video image of the leakage point position and a perfect pipe network suggestion.

Specifically, the cloud storage module is used for storing operation full-process information, and comprises contract information signed with an owner unit, an operation area, mileage, sensor collected data and operation report results, perfection suggestions are given through economic and technical comparison and selection, an auxiliary decision window is opened for the owner unit, information before pipe network modification, expense estimation and modification targets are allowed to be input, and full-process service is provided for the owner unit to select a pipe network modification scheme.

Specifically, the robot control module, the signal processing module, the operation report module and the cloud storage module in the operation monitoring management platform can be updated through a software system, and functions are continuously optimized and perfected.

The embodiment of the utility model provides a still provide a detection method that is used for railway water supply pipe network leak hunting robot system, include:

placing a track robot on a track, starting a vision module sensor, starting an obstacle avoidance function, starting a noise recorder and a GIS positioning module, recording noise signals of monitoring points along the track, and giving information of the positions of the monitoring points by the GIS positioning module;

the communication module stores the data acquired by the sensor into the memory system in real time and synchronously transmits the data to the operation monitoring management platform through the wireless communication terminal, the GPRS and the Internet.

With reference to fig. 1 to 2: the railway water supply network leak detection robot system is the same as the above, and is not described herein again, and the working process and principle are specifically described below. Before operation, the operation area and mileage information are recorded in the cloud storage module. The default value is 1435 mm according to the track pitch robot wheel 11 distance. The robot self-checking detects the functions of the telescopic arm and various sensors, keeps the software updated to the latest version, and the robot control module sets information such as an operation starting point, an operation terminal point, an automatic navigation point, an operation speed, a signal sampling frequency and the like. The robot is placed on the track, the vision module sensor is started, and the obstacle avoidance function is started. Unfolding the folding mechanical arm 4, starting the noise recorder and the GIS positioning module, recording noise signals of all monitoring points along the line, and giving information to all monitoring points by the GIS positioning module. The communication module 10 stores the data collected by the sensor in a memory system in real time, and synchronously transmits the data to the operation monitoring management platform through a wireless communication terminal, a GPRS and an Internet network. And alarming when the electric quantity is low, recording the current position information, automatically returning to the home to replace the battery, returning to the previous stop point to continue the operation, and finishing the signal collection step after all the operations are finished and automatically returning to the departure point. The operation monitoring management platform filters noise of a specific interference frequency band according to a use scene, performs signal processing, combines optional auxiliary input information such as node flow and the like, and the output report module comprises an operation name, operation mileage, an operation area, leakage point GPS position information and a live-action video image and gives a preliminary improvement pipe network suggestion. And opening an auxiliary decision window, allowing information before pipe network transformation, transformation cost estimation and transformation targets to be input, and providing full-flow service for comparing and selecting the pipe network transformation scheme by an owner unit.

Compare current water supply network leak hunting method, the utility model discloses main advantage as follows:

to railway water supply pipe network characteristics, the adoption track robot of novelty is automatic patrols and examines, replaces traditional artifical leak hunting, adopts hardware and software combination technique, acquires data through sensors such as noise, vision, sends and gives software platform cloud storage, discernment processing signal generation operation statement, reforms transform target, fund according to the owner's unit and gives corresponding suggestion, realizes the service of full flow, the utility model discloses an innovation in the railway water supply pipe network leak hunting field, the input cost is low, and leakage point discernment precision is high, and the location is accurate, consuming time very fast.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way; the present invention can be smoothly implemented by those skilled in the art according to the drawings and the above description; however, those skilled in the art should understand that changes, modifications and variations made by the above-described technology can be made without departing from the scope of the present invention, and all such changes, modifications and variations are equivalent embodiments of the present invention; meanwhile, any changes, modifications, evolutions, etc. of the above embodiments, which are equivalent to the actual techniques of the present invention, still belong to the protection scope of the technical solution of the present invention.

Claims (7)

1. The utility model provides a railway water-supply pipe network leak hunting robot system, its characterized in that, includes track robot, sensor module, battery module and communication module, sensor module is used for the position and the visual transmission site conditions of real-time location track robot, battery module is used for the power supply, sensor module passes through communication module and external contact, track robot is used for the leakage loss condition of mobile monitoring water-supply pipe network.

2. The railway water supply pipe network leak detection robot system as claimed in claim 1, wherein the sensor module comprises a GIS positioning module and a visual transmission module, the visual transmission module comprises an image transmission unit and an infrared sensor, the image transmission unit is used for monitoring the environment of the railway robot in real time and assisting in generating an operation report, and the infrared sensor comprises an infrared emitter and a CCD detector which are used for automatically avoiding obstacles.

3. The railway water supply pipe network leak detection robot system as claimed in claim 1, wherein the battery module comprises but is not limited to a ternary lithium battery and a lithium iron phosphate battery, and the battery module has a quick charge function and a battery replacement function.

4. The railway water supply pipe network leak detection robot system as claimed in claim 1, further comprising an operation monitoring management platform, wherein the operation monitoring management platform comprises a cloud storage module, the communication module stores data collected by the sensor into a memory system in real time, and the data are synchronously transmitted to the cloud storage module through a wireless communication terminal, a GPRS (general packet radio service) network and an Internet network, so that a user can call the data in real time or in the future.

5. The railway water supply pipe network leak detection robot system according to claim 1, further comprising a signal processing module, wherein the signal processing module is used for comparing a time domain with a frequency domain through time domain and frequency domain transformation, including but not limited to Fourier transformation and other methods, of the collected noise signals of the pipe network, taking a noise database of normal pipe network operation as a preset range value, if the noise signals exceed the preset range value, judging that the pipeline at the monitoring point is leaked, and giving corresponding suggestions to different degrees of exceeding the preset range value.

6. The railway water supply pipe network leak detection robot system as claimed in claim 5, wherein the signal processing module comprises a band-pass filter, and whistle sounds and vibration sounds of rails of trains entering and leaving stations in the railway system are used as noises in a specific interference frequency band, and are processed after being filtered by the band-pass filter before being processed.

7. The railway water supply pipe network leak detection robot system as claimed in claim 5, wherein the signal processing module obtains the flow of the water supply pipe network in real time as an auxiliary parameter to judge whether leakage occurs.

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