WO2023035290A1 - 一种地下污水管线环境隐患排查方法及系统 - Google Patents

一种地下污水管线环境隐患排查方法及系统 Download PDF

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WO2023035290A1
WO2023035290A1 PCT/CN2021/118387 CN2021118387W WO2023035290A1 WO 2023035290 A1 WO2023035290 A1 WO 2023035290A1 CN 2021118387 W CN2021118387 W CN 2021118387W WO 2023035290 A1 WO2023035290 A1 WO 2023035290A1
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pipeline
robot
fault point
monitoring
environment
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PCT/CN2021/118387
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English (en)
French (fr)
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张琛琛
杜益振
庄云飞
赵杰
王菁
李超
李玉涵
姜云鹏
周梅超
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山东省环境保护科学研究设计院有限公司
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Publication of WO2023035290A1 publication Critical patent/WO2023035290A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18—Water
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F2201/00—Details, devices or methods not otherwise provided for
    • E03F2201/20—Measuring flow in sewer systems

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  • the invention belongs to the technical field of pipeline safety monitoring, and in particular relates to a method and system for checking hidden dangers in the environment of underground sewage pipelines.
  • underground pipeline detection technologies mainly include CCTV (Closed C1rcu1t Telev1s1on) pipeline detection robot detection, sonar detector detection and pipeline periscope detection.
  • CCTV Camera
  • underwater robots also known as underwater unmanned vehicles (ROV)
  • ROV underwater unmanned vehicles
  • the underwater unmanned submersible vehicle system mainly includes four parts: ROV submersible unit, ground control unit, power supply unit and hoisting system.
  • Sonar is an electronic device that uses sound waves in water to detect, locate and communicate underwater targets.
  • Environmental monitoring refers to the activities of environmental monitoring agencies to monitor and measure the environmental quality to determine the environmental pollution and environmental quality.
  • the present invention provides a method for troubleshooting the environmental hidden dangers of underground sewage pipelines, the method comprising:
  • the pipeline endoscopy includes: the robot takes a camera in the pipeline and stores the image of the pipeline environment;
  • the image is analyzed through the back transmission of the screen.
  • the external soil monitoring specifically includes:
  • the soil around the pipeline section with the fault point is densely distributed and monitored
  • the point layout monitoring is to arrange points according to the longitudinal spacing of the columnar point arrangement, and then perform layered sampling according to the position of the point distribution.
  • the first layer of stratified sampling is the soil layer corresponding to the surface layer to the liquid level in the pipe
  • the second layer is the soil layer corresponding to the pipe liquid level to the bottom of the pipe
  • the third layer is the corresponding soil layer from the bottom of the pipe to the bottom 1m.
  • monitoring points are arranged for the upstream and downstream directions of the groundwater around the pipeline section with the fault point.
  • the robot takes pictures in the pipeline and stores the images of the pipeline environment, including the images of the pipeline environment in the downstream pipeline for downstream investigation and the images of the pipeline environment in the reverse pipeline for reverse investigation at the opening.
  • the adjustment of the angle of the robot to shoot is to control the lifting rod on the robot, thereby controlling the angle of the camera, zooming in and shooting, and saving the screenshot from the computer screen;
  • the screenshots are taken on site by capturing the best angle and clearest pictures or by watching videos and capturing pictures.
  • the location of the fault point is located according to the robot's distance from the wellhead cable scale and the relative positioning of GPS;
  • GPS is equipped on the endoscopic robot, which can transmit the longitude and latitude coordinates of the fault point in real time.
  • the crawler-type underwater detection robot uses a dual-drive crawler chassis to walk, and is used in the working conditions of upstream water and high water velocity. conduct a comprehensive survey;
  • the suspended underwater detection robot adopts an underwater suspended propeller and can move in water.
  • the present invention also provides an underground sewage pipeline environmental hazard investigation system, the system includes:
  • the pipeline endoscopic unit includes a camera module and an analysis and positioning module
  • the camera module is used for the robot to take pictures in the pipeline and store the images of the pipeline environment
  • the analysis and positioning module is used to analyze the image through the screen return, and when a fault point is found, adjust the angle of the robot to take pictures and locate the fault point.
  • the soil monitoring unit is used to monitor the dense distribution of soil around the pipe section where there is a fault point according to the detection result of the pipeline endoscopy;
  • the point layout monitoring is to arrange points according to the longitudinal spacing of the columnar point arrangement, and then perform layered sampling according to the position of the point distribution.
  • the groundwater monitoring unit is used for arranging monitoring points for the downstream direction of the groundwater around the pipe section with the fault point according to the detection result of the pipeline endoscopy.
  • the present invention has the following beneficial effects:
  • Fig. 1 shows a flow chart of a method for troubleshooting underground sewage pipeline environmental hazards according to an embodiment of the present invention
  • Fig. 2 shows a schematic structural diagram of an underground sewer pipeline environmental hidden danger investigation system according to an embodiment of the present invention.
  • the present invention adopts the pipeline endoscopic detection as the main method, and assists the external soil monitoring and groundwater monitoring technology to check the hidden dangers of the underground sewage pipeline environment, clarify the current situation of the pipeline, and analyze the impact on the surrounding environment. Provide basis for pipeline maintenance, repair and management.
  • the present invention provides a method for checking hidden dangers in the environment of underground sewage pipelines, as shown in FIG. 1 , which shows a flowchart of a method for checking hidden dangers in the environment of underground sewage pipelines according to an embodiment of the present invention.
  • the method includes: while peeking inside the pipeline, assisting external soil monitoring and groundwater monitoring technology to troubleshoot the environmental hazards of underground sewage pipelines;
  • Pipeline endoscopy includes: the robot takes a camera in the pipeline and stores the image of the pipeline environment;
  • the image is analyzed through the image returned by the screen. When a fault point is found, adjust the angle of the robot to shoot and locate the fault point.
  • the present invention takes the sea discharge pipeline as an example to illustrate the method for troubleshooting the environmental hazards of underground sewage pipelines, but it is not limited to the sea discharge pipeline, and any environmental hazards investigation and analysis involving pipeline construction can be applied to the present invention.
  • the sea discharge pipeline passes through 54 natural villages and crosses several roads along the way. Except some sections are higher than the existing ground, the rest are all lower than the existing ground, and part of the covering soil reaches 11-12 meters, generally 4-6 meters.
  • the total height difference of the sea discharge pipeline is 63.49 meters, the average ground slope along the line is 1.06%, and the 9 kilometers downstream is 0.06%, and the discharge is by gravity flow.
  • the design maximum flow rate of the sea discharge pipeline is 8000m 3 /h, the design average flow rate is 6619m 3 /h, and the flow velocity in the pipe is 0.8m/s.
  • the sea discharge pipeline collects wastewater from various industries such as the surrounding chemical industry and petrochemical industry. The types of pollutants are complex and turbid.
  • a crawler underwater detection robot model VVL-LDGJ-510
  • a suspended underwater detection robot model VVL- XFGJ-500
  • robots are equipped with sonar pan-tilt to detect the interior of the pipeline
  • the environmental status monitoring mainly conducts sampling analysis of soil and groundwater pollutants along the pipeline.
  • the crawler-type underwater inspection robot uses a dual-drive crawler chassis to walk, which is suitable for the working conditions of upstream water and high water velocity. It is equipped with an above-water camera system and an underwater sonar system, which can realize surface camera and underwater sonar imaging, and comprehensively monitor the situation inside the pipeline. Detection: Suspended underwater detection robots use underwater suspended propellers, which can move in water. Camera inspection of pipelines on the water surface and sonar scanning inspection under the water surface, with fast movement and high efficiency. Water camera system combined with underwater sonar.
  • the specific investigation method of pipeline endoscopy includes the site preparation stage, commissioning and inspection steps and interpretation of inspection results.
  • the on-site preparation stage is mainly to fully understand the buried depth of the pipeline and the size of the nozzle before the inspection of each pipe section, and place the equipment near the inspection wellhead, open the inspection well cover in advance, prepare for on-site video image recording, and record in detail the inspection of the pipe section.
  • Safety protection measures shall be taken in the construction area, and construction personnel shall take personal protection measures.
  • the debugging and testing steps are:
  • the robot when traveling in the pipeline, it is connected to the computer screen on the ground and the remote control handle through the cable.
  • the computer screen displays the real-time video of the high-definition camera and the video of the sonar implementation. If the fault point (that is, the location of the suspected defect) is found, the robot will be controlled
  • the lifting lever on the camera can control the angle of the camera, zoom in to shoot, and save the screenshot from the computer screen.
  • the staff watched the operation in real time on the ground. Find problems at any time and record them at any time.
  • the robot in this process is a crawler underwater detection robot, because the crawler underwater detection robot can operate upstream and return.
  • the crawler-type underwater inspection robot checks the downstream pipe section along the water, and then returns to the lower wellhead in countercurrent flow, and can continue to check the upstream pipe section upstream. In this way, the number of well covers can be reduced, that is, only one wellhead is opened, and the pipe sections at both ends can be inspected.
  • test results is mainly as follows:
  • the underwater robot should stop and stop for more than 10s to take images to ensure the clarity and integrity of the image and provide reliable information for future interpretation and research.
  • the inspectors can check the entire inspection process one by one through the special software and record it as a digital image file and store it in the computer hard disk. , The types of abnormal phenomena such as rupture, disjoint, corrosion, etc. are recorded, and the photos can be captured and stored in the computer. In order to facilitate the analysis and interpretation of the inspection results in the later stage, the abnormal points will stay for a while during the detection to obtain a clear image.
  • the geometric size of the defect should be determined by comparing the diameter of the pipe or the size of related objects.
  • Defect pictures should be taken on-site to capture the best angle and clearest pictures. In special cases, the way of watching video can also be used to capture pictures.
  • the soil around the pipe section with the fault point is densely distributed and monitored, that is, the external soil monitoring is performed around the pipe section with the fault point.
  • the specific dense point distribution monitoring is to arrange the longitudinal spacing of the columnar points to arrange the points, and then perform stratified sampling according to the position of the points.
  • the first layer of layered sampling is the soil layer corresponding to the surface layer to the liquid level in the pipe
  • the second layer is the soil layer corresponding to the pipe liquid level to the bottom of the pipe
  • the third layer is the corresponding soil layer from the bottom of the pipe to the bottom 1m.
  • the main monitoring factors include K+, Na+, Ca 2+ , Mg 2+ , CO 3 2- , HCO 3- , Cl - , SO 4 2- , color, smell and taste, turbidity degree, visible matter, pH, total hardness, total dissolved solids, permanganate index, ammonia nitrogen, sulfide, nitrate, nitrite, sulfate, chloride, volatile phenols, anionic surfactant, Cyanide, Fluoride, Total Coliforms, Total Bacteria, Lead, Mercury, Cadmium, Hexavalent Chromium, Arsenic, Copper, Iron, Zinc, Manganese, Copper, Nickel, Antimony, Selenium, Aluminum, Benzene, Toluene, Xylene , Ethylbenzene; Simultaneously measure water temperature, water level, well depth, groundwater depth.
  • monitoring points are arranged in the downstream direction of the groundwater around the pipeline section with the fault point, that is, the groundwater monitoring is carried out around the pipeline section with the fault point.
  • the main monitoring factors include K+, Na+, Ca 2+ , Mg 2+ , CO 3 2- , HCO 3- , Cl - , SO 4 2- , color, smell and taste, turbidity, visible matter, pH, total Hardness, Total Dissolved Solids, Permanganate Index, Ammonia Nitrogen, Sulfide, Nitrate, Nitrite, Sulfate, Chloride, Volatile Phenols, Anionic Surfactants, Cyanide, Fluoride, Total Coliforms Group, total number of bacteria, lead, mercury, cadmium, hexavalent chromium, arsenic, copper, iron, zinc, manganese, copper, nickel, antimony, selenium, aluminum, benzene,
  • the present invention also provides an underground sewage pipeline environmental hidden danger investigation system, as shown in Figure 2, the system includes: a pipeline endoscopic unit, a soil monitoring unit, and a groundwater monitoring unit; the pipeline endoscopic unit includes a camera module and analysis and positioning module; the camera module is used for the robot to take pictures in the pipeline and store the image of the pipeline environment; the analysis and positioning module is used for the image to be analyzed through the back transmission of the screen, and when a fault point is found, adjust the angle of the robot to take pictures and locate the fault point location.

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Abstract

一种地下污水管线环境隐患排查方法及系统，所述方法包括：对管道内窥的同时，辅助外部土壤监测和地下水监测技术进而排查地下污水管线环境隐患；所述管道内窥包括：机器人在管道内进行摄像并存储管线环境的图像；所述图像通过屏幕回传进行分析，当发现故障点时，调整机器人角度拍摄并定位故障点所在的位置。采用履带式水下检测机器人和悬浮类检测机器人针对不同流速的管段分别进行探测的方式，避免悬浮类机器人由于水流过速无法对缺陷部位定位的问题。

Description

一种地下污水管线环境隐患排查方法及系统 技术领域
本发明属于管道安全监测技术领域，特别涉及一种地下污水管线环境隐患排查方法及系统。
背景技术
随着工业企业的发展，环保问题日益突出，尤其是作为工业废水排放的地下污水管道，由于管道埋于地下，工业污水成分复杂、能见度低，随着使用年限增长，可能会造成管道的结构性和功能性缺陷，会影响周边土壤和地下水环境质量。例如，地下钢筋混凝土结构的排海管线在长期使用过程中，污水长期冲刷腐蚀及软土地基变形会造成排海管线存在结构性和功能性缺陷。为了提高排海管线的运行和管理水平，在对排海管线勘察探测的基础上，进行环境现状评估，分析排海管线运行对周围环境的影响具有重要意义。
目前，地下管道探测技术主要有CCTV(Closed C1rcu1t Telev1s1on)管道检测机器人检测、声呐检测仪检测和管道潜望镜检测等方式。其中，水下机器人也称为水下无人潜航器(ROV)，是能够在水下环境中长时间作业的高科技装备，可在潜水员无法承担的高强度水下作业，对于潜水员不能到达的深度和危险环境，其技术优势尤其明显；水下无人潜航器系统主要包括ROV潜器单元、地面控制单元、供电单元和吊放系统四部分。声呐是利用水中声波对水下目标进行探测、定位和通信的电子设备。环境监测是指环境监测机构对环境质量状况进行监视和测定的活动，以确定环境污染状况和环境质量的高低。
针对复杂的地下工业污水管网，上述现有地下管道探测技术无法准确、快速进行隐患排查，进而导致管线出现故障。周边环境因此受到影响。因此，亟需一种地下污水管线环境隐患排查的方法用以排查杂的地下工业污水管网。
发明内容
针对上述问题，本发明提供一种地下污水管线环境隐患排查方法，所述方法包括：
对管道内窥的同时，辅助外部土壤监测和地下水监测技术进而排查地下污水管线环境隐患；
所述管道内窥包括：机器人在管道内进行摄像并存储管线环境的图像；
所述图像通过屏幕回传进行分析，当发现故障点时，调整机器人角度拍摄并定位故障点所在的位置。
进一步地，所述外部土壤监测具体包括：
根据管道内窥的检测结果，对存在故障点的管段周围土壤进行加密布点监测；
所述布点监测是按柱状点位排布纵向间距进行布点，再根据所述布点的位置进行分层取样。
进一步地，所述分层取样的第一层为表层至管内液面对应土层，第二层为管道液面至管底对应土层，第三层为管底至下方1m对应土层。
进一步地，所述地下水监测根据管道内窥的检测结果，对存在故障点的管段周边地下水上下游方位布设监测点位。
进一步地，所述机器人在管道内进行摄像并存储管线环境的图像包括顺水排查下游管道内管线环境的图像和逆向排查开口处反方向管道内管线环境的图像。
进一步地，当发现故障点时，所述调整机器人角度拍摄为控制机器人上的升降杆，从而控制摄像头角度，拉近拍摄，并从电脑屏上截图保存；
所述截图采用现场抓取最佳角度和最清晰图片的方式或者采用观看录像抓取图片方式。
进一步地，当发现故障点时，所述定位故障点所在的位置是根据机器人距离井口缆线刻度和GPS相对定位；
其中，缆线刻度上有刻度标记，能够记录缆线进入管道内的长度；
GPS配备在内窥机器人上，能够实时传输故障点所在的经纬度坐标。
进一步地，所述机器人采用的是履带式水下检测机器人和悬浮类水中 检测机器人；
所述履带式水下检测机器人采用双驱动履带底盘行走，用于逆水和水流速高的工况，搭载水上摄像系统、水下声呐系统，实现水面上摄像和水下声呐成像，对管线内情况进行全面探测；
所述悬浮类水中检测机器人采用水中悬浮推进器，可实现水中移动。
本发明还提供一种地下污水管线环境隐患排查系统，所述系统包括：
管道内窥单元、土壤监测单元和地下水监测单元；
所述管道内窥单元包括摄像模块和分析定位模块；
所述摄像模块用于机器人在管道内进行摄像并存储管线环境的图像；
所述分析定位模块用于图像通过屏幕回传进行分析，当发现故障点时，调整机器人角度拍摄并定位故障点所在的位置。
进一步地，所述土壤监测单元用于根据管道内窥的检测结果，对存在故障点的管段周围土壤进行加密布点监测；
所述布点监测是按柱状点位排布纵向间距进行布点，再根据所述布点的位置进行分层取样。
进一步地，所述地下水监测单元用于根据管道内窥的检测结果，对存在故障点的管段周边地下水下游方位布设监测点位。
与现有技术相比，本发明具有以下有益效果：
(1)针对长距离污水管道无法断流一直有水的情况下，采用履带式水下检测机器人和悬浮类检测机器人针对不同流速的管段分别进行探测的方式，避免悬浮类机器人由于水流过速无法对缺陷部位定位的问题；
(2)跟城镇污水相比，工业废水具有成分复杂和能见度低的特点，因此水上采用搭载高清摄像头的方式，水下采用搭配声呐云台设备，实现水上水下同时探测的功能，便捷省力，节约时间；
(3)对管道内窥的同时，辅助外部土壤和地下水的环境监测技术，能够进一步对管道渗漏情况提供依据。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其 他优点可通过在说明书、权利要求书以及附图中所指出的结构来实现和获得。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了根据本发明实施例的一种地下污水管线环境隐患排查方法流程图；
图2示出了根据本发明实施例的一种地下污水管线环境隐患排查系统结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地说明，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
针对复杂的地下工业污水管网，本发明采用的是以管道内窥探测为主，辅助外部土壤监测和地下水监测技术进而排查地下污水管线环境隐患，明确管线现状情况，分析对周围环境的影响，为管线养护、维修和管理工作提供依据。
本发明提供一种地下污水管线环境隐患排查方法，如图1所示，图1示出了根据本发明实施例的一种地下污水管线环境隐患排查方法流程图。方法包括：对管道内窥的同时，辅助外部土壤监测和地下水监测技术进而排查地下污水管线环境隐患；
管道内窥包括：机器人在管道内进行摄像并存储管线环境的图像；
图像通过屏幕回传图像进行分析，当发现故障点时，调整机器人角度拍摄并定位故障点所在的位置。
本发明以排海管线为例进行地下污水管线环境隐患排查方法的示例性说明，但并非仅仅限于排海管线，任意含有管线建设的环境隐患排查分析，均可适用于本发明。
其中，排海管线途径54个自然村、沿途穿越数条道路。除局部地段高于现况地面外，其余全部低于现况地面，部分覆土达11-12米，一般为4-6米。排海管线总高差63.49米，沿线平均地面坡度1.06％，下游9公里地面坡度0.06％，靠重力流排放。排海管线设计最大流量为8000m 3/h，设计平均流量为6619m 3/h，管内流速都在0.8m/s。排海管线收集周边化工、石化等各类行业企业废水，污染物种类复杂，浑浊。
根据排海管线内水流量大、流速快，连续排放，探测期间不能停排的特点，采用履带式水下检测机器人(型号为VVL-LDGJ-510)和悬浮类水中检测机器人(型号为VVL-XFGJ-500)，在浑水状态下搭配声呐云台设备(机器人均安装搭载有声呐云台)对管线内部进行探测，环境现状监测主要对管道沿线土壤和地下水污染物进行布点取样分析。
履带式水下检测机器人采用双驱动履带底盘行走，适合逆水和水流速高的工况，搭载水上摄像系统、水下声呐系统，可实现水面上摄像和水下声呐成像，对管线内情况进行全面探测；悬浮类水中检测机器人采用水中悬浮推进器，可实现水中移动。水面上管道摄像检查，水面下声呐扫描检查，移动快，效率高。水上摄像系统，水下声呐结合。
管道内窥的具体排查方法包括现场准备阶段、调试及检测步骤和检测结果的判读。
其中现场准备阶段主要是在每一管段检测之前，充分了解管道埋深和管口尺寸，并且安置设备于检测井口附近，提前开启检测井盖，准备进行现场视频图像记录，同时详细记录对被检测管段的位置信息、检测时间、检测时水流方向、检测单位和记录人员等相关信息。施工区域做好安全防护措施，施工人员做好个人防护。
调试及检测步骤为：
1)机器人到现场首先进行发电机工作然后接通机器人，提供电源动力。
2)控制屏开机调试。进行各功能演示，然后关机等待设备投放。
3)打开设备投放口，进行设备投放，采用脐带缆吊放形式投放入管道内。
4)机器人投放管道内后，进行开机，打开摄像系统，灯源系统，行走系统，连接GPS进行校准，计数器清零。
5)操作遥控手柄让机器人进行行走，行走过程中进行摄像并进行存储。
6)通过屏幕回传图像进行分析，故障点发现后，机器人调整角度，摄像系统拉近进行图片拍摄保存，根据距离井口缆线刻度和GPS相对定位。
具体的，机器人在管道内行进时，通过缆线连接地面上的电脑屏幕和遥控手柄，电脑屏幕显示高清摄像头实时录像和声呐实施录像，如果发现故障点(即疑似缺陷位置)，就会控制机器人上的升降杆，从而控制摄像头角度，拉近拍摄，并从电脑屏上截图保存。整个操作过程均有工作人员在地面实时观看操作。随时发现问题，随时记录。
7)机器人行走下井口处进行返回，然后逆向检查开口处反方向管道；
这一过程的机器人为履带式水下检测机器人，因为履带式水下检测机器人可以操作逆流返回。在实际操作中从某两根管道中间的井口履带式水下检测机器人下井后，顺水检查下游管段后，逆流回到下井口处，可以继续逆流进行上游管段的检查。这样可以减少了开井盖的数量，即仅打开一个井口，就可以检查两端管段。
8)检查后退回投放口，机器人关机，然后通过脐带缆进行回收。
9)脐带缆通过卷线盘进行排盘，关掉发电机组，检查完成。
检测结果的判读主要为：
1)检测过程中发现缺陷时，水下机器人应停止行进，停留10s以上拍摄图像，以确保图像的清晰和完整，为以后的判读和研究提供可靠资料。
2)检测人员通过专用软件可将整个检测过程逐一检查并录制成数字影像文件存储在电脑硬盘内，如在检测的过程中有异常现象发生时，检测人员可通过专用软件将异常点位置、方位、异常现象的种类如破裂、脱节、腐蚀等等数据记录下来，并可抓拍照片存入电脑内。为便于后期对检视结 果分析和判读，在检测时，异常点将停留片刻，以获得清晰的影像。
3)在检测结束后，所有的检测过程中产生的文件(影像文件)将转化成可在客户电脑上浏览和播放的文件格式。
4)缺陷的情况宜在现场确认并记录。现场检测完毕后，由第二者根据录像复核。
5)缺陷的几何尺寸应比照管径或相关物体的尺寸判定。
6)对无法确定的缺陷类型在报告中加以说明。
7)缺陷图片应采用现场抓取最佳角度和最清晰图片的方式，特殊情况下也可采用观看录像抓取图片方式。
排查出管段腐蚀、渗漏、钢筋裸露和支管暗接等问题，并对地下水和土壤的环境监测数据进行分析，形成评估报告。管段内窥排查的问题进行定位，并结合周边环境分析，均及时反馈企业，对企业开展下一步管线养护、维修和管理工作提供第一手宝贵资料，为环保治污、环境管理、环保隐患排查等提供重要依据。
进一步地，根据上述管道内窥的检测结果，对存在故障点的管段周围土壤进行加密布点监测，即对存在故障点的管段周围进行外部土壤监测。具体加密布点监测是柱状点位排布纵向间距进行布点，再根据布点的位置进行分层取样。分层取样的第一层为表层至管内液面对应土层，第二层为管道液面至管底对应土层，第三层为管底至下方1m对应土层。对上述三层进行外部土壤监测，主要监测因子包括K+、Na+、Ca 2+、Mg 2+、CO 3 2-、HCO 3-、Cl -、SO 4 2-、色度、嗅和味、浑浊度、肉眼可见物、pH、总硬度、溶解性总固体、高锰酸盐指数、氨氮、硫化物、硝酸盐、亚硝酸盐、硫酸盐、氯化物、挥发性酚类、阴离子表面活性剂、氰化物、氟化物、总大肠菌群、细菌总数、铅、汞、镉、六价铬、砷、铜、铁、锌、锰、铜、镍、锑、硒、铝、苯、甲苯、二甲苯、乙苯；同时测量水温、水位、井深、地下水埋深。
此外，根据上述管道内窥的检测结果，对存在故障点的管段周边地下水下游方位布设监测点位，即对存在故障点的管段周围进行地下水监测。主要监测因子包括K+、Na+、Ca 2+、Mg 2+、CO 3 2-、HCO 3-、Cl -、SO 4 2-、色 度、嗅和味、浑浊度、肉眼可见物、pH、总硬度、溶解性总固体、高锰酸盐指数、氨氮、硫化物、硝酸盐、亚硝酸盐、硫酸盐、氯化物、挥发性酚类、阴离子表面活性剂、氰化物、氟化物、总大肠菌群、细菌总数、铅、汞、镉、六价铬、砷、铜、铁、锌、锰、铜、镍、锑、硒、铝、苯、甲苯、二甲苯、乙苯；同时测量水温、水位、井深、地下水埋深。
本发明还提供一种地下污水管线环境隐患排查系统，如图2所示，所述系统包括：管道内窥单元、土壤监测单元和地下水监测单元；所述管道内窥单元包括摄像模块和分析定位模块；所述摄像模块用于机器人在管道内进行摄像并存储管线环境的图像；所述分析定位模块用于图像通过屏幕回传进行分析，当发现故障点时，调整机器人角度拍摄并定位故障点所在的位置。
尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (11)

  1. 一种地下污水管线环境隐患排查方法，其特征在于，所述方法包括：
    管道内窥，辅助外部土壤监测和地下水监测技术进而排查地下污水管线环境隐患；
    所述管道内窥包括：机器人在管道内进行摄像并存储管线环境的图像；
    所述图像通过屏幕回传进行分析，当发现故障点时，调整机器人角度拍摄并定位故障点所在的位置。
  2. 根据权利要求1所述的地下污水管线环境隐患排查方法，其特征在于，
    所述外部土壤监测具体包括：
    根据管道内窥的检测结果，对存在故障点的管段周围土壤进行加密布点监测；
    所述布点监测是按柱状点位排布纵向间距进行布点，再根据所述布点的位置进行分层取样。
  3. 根据权利要求2所述的地下污水管线环境隐患排查方法，其特征在于，
    所述分层取样的第一层为表层至管内液面对应土层，第二层为管道液面至管底对应土层，第三层为管底至下方1m对应土层。
  4. 根据权利要求1所述的地下污水管线环境隐患排查方法，其特征在于，
    所述地下水监测根据管道内窥的检测结果，对存在故障点的管段周边地下水上下游方位布设监测点位。
  5. 根据权利要求1所述的地下污水管线环境隐患排查方法，其特征在于，
    所述机器人在管道内进行摄像并存储管线环境的图像包括顺水排查下游管道内管线环境的图像和逆向排查开口处反方向管道内管线环境的图像。
  6. 根据权利要求1所述的地下污水管线环境隐患排查方法，其特征在 于，
    当发现故障点时，所述调整机器人角度拍摄为控制机器人上的升降杆，从而控制摄像头角度，拉近拍摄，并从电脑屏上截图保存；
    所述截图采用现场抓取最佳角度和最清晰图片的方式或者采用观看录像抓取图片方式。
  7. 根据权利要求1所述的地下污水管线环境隐患排查方法，其特征在于，
    当发现故障点时，所述定位故障点所在的位置是根据机器人距离井口缆线刻度和GPS相对定位；
    其中，缆线刻度上有刻度标记，能够记录缆线进入管道内的长度；
    GPS配备在内窥机器人上，能够实时传输故障点所在的经纬度坐标。
  8. 根据权利要求1-7所述的地下污水管线环境隐患排查方法，其特征在于，
    所述机器人采用的是履带式水下检测机器人和悬浮类水中检测机器人；
    所述履带式水下检测机器人采用双驱动履带底盘行走，用于逆水和水流速高的工况，搭载水上摄像系统、水下声呐系统，能够实现水面上摄像和水下声呐成像，对管线内情况进行全面探测；
    所述悬浮类水中检测机器人采用水中悬浮推进器，实现水中移动。
  9. 一种地下污水管线环境隐患排查系统，其特征在于，所述系统包括：
    管道内窥单元、土壤监测单元和地下水监测单元；
    所述管道内窥单元包括摄像模块和分析定位模块；
    所述摄像模块用于机器人在管道内进行摄像并存储管线环境的图像；
    所述分析定位模块用于图像通过屏幕回传进行分析，当发现故障点时，调整机器人角度拍摄并定位故障点所在的位置。
  10. 根据权利要求9所述的地下污水管线环境隐患排查系统，其特征在于，
    所述土壤监测单元用于根据管道内窥的检测结果，对存在故障点的管 段周围土壤进行加密布点监测；
    所述布点监测是按柱状点位排布纵向间距进行布点，再根据所述布点的位置进行分层取样。
  11. 根据权利要求9所述的地下污水管线环境隐患排查系统，其特征在于，
    所述地下水监测单元用于根据管道内窥的检测结果，对存在故障点的管段周边地下水下游方位布设监测点位。
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