CN113958882B - Method for marking leakage position of water supply pipeline based on intelligent ball and external magnetic field - Google Patents
Method for marking leakage position of water supply pipeline based on intelligent ball and external magnetic field Download PDFInfo
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 135
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 238000005096 rolling process Methods 0.000 claims abstract description 11
- 238000007789 sealing Methods 0.000 claims abstract description 3
- 230000005358 geomagnetic field Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000005294 ferromagnetic effect Effects 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000008030 elimination Effects 0.000 claims description 6
- 238000003379 elimination reaction Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 2
- 230000005415 magnetization Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000008188 pellet Substances 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000035699 permeability Effects 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
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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
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
-
- 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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Examining Or Testing Airtightness (AREA)
Abstract
The invention discloses a method for marking leakage position of a water supply pipeline based on an intelligent ball and an external magnetic field, wherein the external magnetic field is additionally arranged at a set position outside the water supply pipeline, and the distance between the external magnetic field and a detection starting point is L; opening a control switch of the intelligent ball, sealing, and putting the intelligent ball into a water supply pipeline to enable the intelligent ball to flow along with water at the bottom of the water supply pipeline; collecting sound wave data of a water supply pipeline by an intelligent ball, collecting acceleration data of the intelligent ball in the rolling process of the water supply pipeline by an accelerometer, collecting magnetic force data of the water supply pipeline by a magnetometer, and storing the collected sound wave, acceleration and magnetic force data into an SD card in the intelligent ball; and (3) taking out the intelligent ball at the tail end of the detected water supply pipeline by using a ball collecting net, reading and analyzing the sound wave, acceleration and magnetic force data in the SD card in the intelligent ball, and marking the position of the leakage point in the water supply pipeline. According to the method, the related data are comprehensively analyzed according to the data such as sound waves, acceleration, magnetic force and the like, so that the positioning accuracy of the leakage point is improved.
Description
Technical Field
The invention relates to the technical field of detection of water supply pipelines, in particular to a method for marking leakage positions of water supply pipelines based on intelligent balls and an external magnetic field.
Background
For water supply pipe leakage, pipe inspection robots are widely used. The problem of positioning the pipeline robot is solved first.
The positioning of the pipeline detection robot is divided into two types of passive positioning outside the pipeline and autonomous positioning inside the pipeline. For passive positioning outside the pipe, the existing method mainly adopts an extremely low electromagnetic wave positioning technology and an acoustic wave positioning technology. The extremely low electromagnetic wave positioning technology can avoid the shielding effect of the metal pipeline on electromagnetic waves, but the positioning method adopts a mode of establishing a receiving base station to acquire extremely low electromagnetic wave signals sent by the pipeline robot. The receiving base station adopts a sensor array which is arranged completely, and the single arrangement mode leads to single type of signals received by the sensors, which is not beneficial to positioning under the condition of changeable pipeline trend. The acoustic wave positioning technology also has no electromagnetic shielding problem, but the acoustic wave sensor needs to be fixed on the outer wall of the pipeline, and the method has poor applicability and low positioning precision when detecting the buried pipeline.
The tube is internally and autonomously positioned with an inertial navigation system positioning method and radioactive ray positioning. By adopting the positioning method of the inertial navigation system, high-precision azimuth angle reference equipment is required to be introduced, and the cost is high. For water supply pipeline detection, radioactive ray positioning can pollute the water body, and the use process can also cause health damage to operators.
The Chinese patent application with publication number CN109723979A discloses a water supply pipeline leakage positioning detection system, which rubs with a leakage port according to water leaked from a pipeline, surrounding media generate friction sounds along with water flow, the collision or friction can generate vibration with different frequencies so as to generate water leakage sounds, two sensors are used for collecting water leakage sound signals at two ends of the pipeline, and then correlation operation is carried out on the collected two paths of signals to determine the leakage point. However, the positioning method still has the problem of low positioning accuracy.
Disclosure of Invention
The invention is based on the technical problems to be solved: a method for marking a leakage position of a water supply pipe at low cost with a small positioning error of a leakage point.
In order to solve the technical problems, the invention provides the following technical scheme:
a method for marking leakage positions of water supply pipelines based on intelligent balls and external magnetic fields comprises the following steps:
s1, before the intelligent ball is put in, ensuring that the electric quantity of the intelligent ball is full, and simultaneously testing that an accelerometer and a magnetometer in the intelligent ball can work normally;
S2, adding an external magnetic field at a set position outside the water supply pipeline, wherein the distance between the external magnetic field and the detection starting point is L;
s3, opening a control switch of the intelligent ball, sealing, and putting the intelligent ball into a water supply pipeline to enable the intelligent ball to flow along with water at the bottom of the water supply pipeline; collecting sound wave data of a water supply pipeline by an intelligent ball, collecting acceleration data of the intelligent ball in the rolling process of the water supply pipeline by an accelerometer, collecting magnetic force data of the water supply pipeline by a magnetometer, and storing the collected sound wave, acceleration and magnetic force data into an SD card in the intelligent ball;
S4, taking out the intelligent ball at the tail end of the detected water supply pipeline by using a ball collecting net, reading and analyzing the sound wave, acceleration and magnetic force data in the SD card in the intelligent ball, and marking the position of the leakage point in the water supply pipeline.
The advantages are that: the invention only needs to set the intelligent ball and the external magnetic field, has simple equipment and low cost; meanwhile, the intelligent ball can collect data such as sound waves, acceleration and magnetic force, and the like, and comprehensively analyze related data to improve the positioning accuracy of the leakage point, so that the condition of large error caused by single data detection is avoided.
Preferably, in step S1, the test magnetometer further comprises the following operations:
s11, in order to eliminate the influence of the geomagnetic field on a magnetometer, moving the intelligent ball outdoors by an 8-shaped movement or plane cross movement method, and obtaining magnetic force data by the magnetometer;
S12, sending magnetometer data to an upper computer through a serial port; the upper computer processes the stored magnetometer data to obtain a magnetic bias value; calculating magnetic bias values of x, y and z axes to obtain a hard magnetic elimination value, and writing the hard magnetic elimination value into a magnetometer chip;
S13, re-reading magnetometer data after geomagnetic field magnetic force data correction, and observing that the magnetometer vector sum after free rotation at the same position is stabilized near a fixed value through an upper computer, wherein the magnetometer is free from the influence of the geomagnetic field on magnetic force data induced by an external magnetic field.
Preferably, in step S12, the upper computer obtains the data of the magnetic bias value by importing the magnetometer data into AntMag software.
Preferably, the analysis of the acoustic data in step S4 is as follows:
s41, analyzing the sound wave data of the intelligent ball, obtaining the relation between the sound wave amplitude and time, and determining the position of the intelligent ball in the water supply pipeline corresponding to the time t1 according to the variation of the sound wave amplitude at the time t1, and primarily judging the position of the leakage point of the water supply pipeline.
Preferably, the analysis of the acceleration data in step S4 is as follows:
s42, analyzing the acceleration data of the accelerometer, it is known that when a leakage signal occurs at time t1, a calculation formula of a distance X1 of the leakage point from the detection start point is as follows:
X1＝N1*C (1)
Where N1 is the number of cycles the smart ball rolls in time t1 in the acceleration data and C is the maximum cross-sectional perimeter of the measured smart ball.
Preferably, if the water supply pipe is a ferromagnetic pipe, the analysis of the magnetic force data in step S4 is as follows:
S43, analyzing magnetic force data of the magnetometer to obtain a relation between magnetization intensity and time, determining the position of a leakage point according to a data peak point of the magnetic force intensity, and obtaining time t2 corresponding to the data peak point, thereby obtaining a calculation formula of a distance X2 of the leakage point from a detection starting point, wherein the calculation formula is as follows:
X2＝N2*C (2)
wherein N2 is the number of cycles of the intelligent ball rolling in time t2 in the acceleration data, and C is the maximum section perimeter of the measured intelligent ball;
and then, mutually correcting the X1 and the X2 to obtain the estimated position of the leakage point.
Preferably, if the water supply pipe is a non-ferromagnetic pipe, the analysis of the magnetic force data in step S4 is as follows:
S44, recording the strength of the magnetic field signal by the magnetometer, analyzing the magnetic force data of the magnetometer to obtain the relationship between the magnetic force signal and time, and obtaining the calculation formula of the distance X3 between the leakage point and the external magnetic field as follows:
X3＝(t1-t3)*V Flow rate (3)
Wherein the time t3 is the time point corresponding to the maximum amplitude of the magnetic force signal, and V Flow rate is the water flow speed in the water supply pipeline;
thereby determining the position of the leakage point from the detection start point as L-X3.
Preferably, the outer cover of intelligent ball is equipped with the sponge ball.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, the intelligent ball is used for collecting data such as sound waves, acceleration, magnetic force and the like, and comprehensively analyzing related data to improve the positioning accuracy of the leakage point, so that the situation of larger error caused by single data detection is avoided. The invention only needs to add an external magnetic field on the basis of the intelligent ball, does not need to be provided with an expensive receiving base station or high-precision azimuth angle reference equipment, and has simple equipment and lower cost.
(2) For a ferromagnetic pipeline, the external magnetic field and the principle of a leakage magnetic field are utilized, so that the difference of magnetic force signals at the leakage points can be clearly obtained, the points with the difference of the magnetic force signals are the leakage points, and the leakage points determined by combining an acoustic wave method are comprehensively analyzed, so that the positioning error of the leakage points can be further reduced. For a non-ferromagnetic pipeline, the intelligent ball moves in the water supply pipeline, when the intelligent ball is close to the position of the external magnetic field, the amplitude of the magnetic force signal can generate larger fluctuation, the distance between the intelligent ball and the external magnetic field can be estimated through fluctuation, and then the position of the pipeline leakage point can be determined. Therefore, the invention can meet the requirements of different types of water supply pipelines and has strong practicability.
(3) The magnetic force signal caused by the external magnetic field is not influenced by the buried pipeline, the magnetic force signal is received by the magnetometer in the intelligent ball, a sensor is not required to be fixed on the pipe wall, and convenience is brought to the leakage detection of the buried water supply pipeline.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of magnetic bias values of a magnetometer affected by the geomagnetic field according to an embodiment of the invention;
FIG. 3 is a schematic diagram of the magnetic bias values of a magnetometer after demagnetizing according to an embodiment of the invention;
FIG. 4 is a graph showing the magnetic field variation of the positive S-pole pair according to the embodiment of the present invention;
FIG. 5 is a graph showing the magnetic field variation of the positive N-pole pair according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of acoustic data according to an embodiment of the present invention
FIG. 7 is a schematic diagram of a leakage magnetic field according to an embodiment of the present invention;
FIG. 8 is a graph of the magnetic force of a defective section of a magnetometer in a ferromagnetic conduit according to an embodiment of the invention.
Detailed Description
In order to facilitate the understanding of the technical scheme of the present invention by those skilled in the art, the technical scheme of the present invention will be further described with reference to the accompanying drawings.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1, the embodiment discloses a method for marking a leakage position of a water supply pipeline based on an intelligent ball and an external magnetic field, which comprises the following steps:
before the intelligent ball 1 is put in, the electric quantity of the intelligent ball 1 is ensured to be full. Meanwhile, measuring devices such as an accelerometer (not shown) and a magnetometer (not shown) are arranged in the intelligent ball 1, and the accelerometer and the magnetometer in the intelligent ball 1 can work normally.
Then, the detection starting point of the intelligent ball 1 is determined, an external magnetic field 3 is additionally arranged at a set position outside the water supply pipeline 2, and the distance between the external magnetic field 3 and the detection starting point is set to be L in the embodiment.
Then the control switch of the intelligent ball 1 is turned on and sealed, and meanwhile, a sponge ball is sleeved outside the intelligent ball 1 to prevent the intelligent ball 1 from being damaged due to collision with a pipeline.
The intelligent ball 1 flows along with water at the bottom of the water supply pipeline 2; collecting sound wave data of the water supply pipeline 2 by the intelligent ball 1, collecting acceleration data of the intelligent ball 1 in the rolling process of the water supply pipeline 2 by an accelerometer, collecting magnetic force data of the water supply pipeline 2 by a magnetometer, and storing the collected sound wave, acceleration and magnetic force data into an SD card (not shown) in the intelligent ball 1;
Finally, the intelligent ball 1 is taken out from the tail end of the detected water supply pipeline 2 by using a ball collecting net, and the sound wave, acceleration and magnetic force data in the SD card in the intelligent ball 1 are read and analyzed to mark the position of the leakage point in the water supply pipeline 2.
The magnetometer obtains a magnetic signal other than 0 without the influence of other magnetic fields due to the influence of the geomagnetic field. Therefore, to identify the influence of the external magnetic field 3 on the magnetometer, it is necessary to cancel the influence of the geomagnetic field.
Outside, the intelligent ball 1 is moved by 8-shaped movement or plane cross and the like, so that the maximum and minimum values of the triaxial components of the magnetometer are ensured.
And sending the magnetometer data to an upper computer through a serial port. And importing the stored magnetometer data into AntMag software to obtain a magnetic bias value. And calculating magnetic bias values of x, y and z axes to obtain a hard magnetic elimination value, and writing the hard magnetic elimination value into a magnetometer chip.
And re-reading the demagnetized magnetometer data (corrected by geomagnetic field magnetic force data), and observing whether the magnetometer vector sum at the same position after free rotation is stable near a fixed value or not through an upper computer.
As shown in fig. 2 and 3, the magnetometric data is basically stabilized near 340 by observing the movement and rotation of the sphere within a certain range by the upper computer software, so that it can be verified that: after the geomagnetic field influence in the environment is eliminated, the vector sum of the magnetometers approaches a fixed value in the absence of other magnetic field interference. At this time, the magnetic force data induced by the external magnetic field by the magnetometer is not affected by the geomagnetic field.
After demagnetizing the geomagnetic field offset, adding a magnetic field around the intelligent ball 1 to fix the position and direction of the intelligent ball; at this time, the intelligent ball 1 is moved, and the three-axis data vector sum change of the upper computer magnetometer is observed.
The magnet positions are opposite to each other according to the S poles, the magnet positions are rotated 90 degrees and 270 degrees clockwise, and the N poles are opposite to four angles for 4 groups of experiments. The intelligent ball 1 is far from the external magnetic field generating point by 4 meters and far from the external magnetic field generating point by 1 meter. The change of the vector sum of the upper computer magnetometer is recorded in real time.
As shown in fig. 4 and 5, the magnetic field intensity overall showed a stepwise jump change as the pellets were closer to the magnet, with jump changes at 3 meters, 2 meters, and 1 meter, as observed by the host computer software. The fluctuation at 3 meters is 10%, the fluctuation at 2 meters is 30%, and the amplitude at 1 meter is 2 times. In contrast to fig. 4 and 5, the absolute value of the change in the magnitude of the magnetic field strength remains substantially the same when the magnets are displaced in the north-south direction. So it can be presumed that the magnetic field intensity change value will show an exponential change in the course of gradually decreasing the distance between the pellet and the external magnetic field emission point. The data changes of 90 ° and 270 ° are similar to those of fig. 4 and 5, and thus are not described in detail.
From the above experiment, the closer the smart ball 1 is to the external magnetic field 3, the larger the magnitude of the magnetic force signal is. The change value of the magnetic field intensity and the distance show an exponential change, so that the distance between the intelligent ball 1 and the external magnetic field 3 can be determined through the property.
In the specific detection process, the intelligent ball 1 records sound wave signals in the moving process of the water supply pipeline 2, and the leakage point can be judged through the difference between the sound wave generated when the pipeline leaks and the sound wave generated when the normal pipeline operates.
Therefore, by analyzing the acoustic data, the relationship between the acoustic amplitude and time can be obtained, and as shown in fig. 6, the horizontal axis represents time, the vertical axis represents the acoustic change amplitude, and the acoustic signal at time t1 can be recognized as a leakage signal according to fig. 6, and at this time, the position of the pipe leakage can be determined by determining the position of the intelligent ball 1 corresponding to t1 in the pipe.
And an accelerometer is further loaded in the intelligent ball 1, and the advancing distance of the intelligent ball 1 in the pipeline is determined by recording the acceleration change of the intelligent ball 1 in the rolling process in the pipeline, so that the positioning of the pipeline leakage point is realized.
Specifically, during the detection process, the intelligent ball 1 rolls along the bottom of the water supply pipe 2, and the rolling process can be approximately performed around a certain fixed shaft. Thus, the gravitational acceleration changes recorded by the accelerometer will exhibit a more pronounced periodic change in one of the three axes of the accelerometer. One period obtained in the accelerometer data is the time of the intelligent ball 1 rolling one circle in the pipeline; the number of cycles is obtained, and the number of cycles of the intelligent ball 1 rolling in the pipeline can be known. The product of the number of turns and the maximum cross-section circumference of the sphere can be approximated as the distance the sphere advances along the pipe.
It is therefore known that in the case of a leak signal occurring at time t1, the calculation formula for obtaining the distance X1 of the leak point from the detection start point by the accelerometer is as follows:
X1＝N1*C (1)
Where N1 is the number of cycles the smart ball 1 rolls in time t1 in the acceleration data, and C is the maximum cross-sectional perimeter of the measured smart ball 1.
In order to improve the positioning accuracy of the leakage point, the embodiment is additionally provided with an external magnetic field 3.
If the detected water supply pipe 2 is a ferromagnetic pipe, the external magnetic field 3 can magnetize the pipe due to the high permeability of the ferromagnetic pipe. If the material is continuously uniform, the magnetic induction lines are confined in the pipeline. At this time, if the water supply pipe 2 has a defect, a crack, or the like, a leakage magnetic field is formed, a schematic diagram of which is shown in fig. 7.
The magnetometer records magnetic force data as the smart ball 1 passes through the leak point as shown in fig. 8. From time t2 corresponding to the peak point of the magnetic force data in fig. 8, the time point at which the leakage magnetic field is detected is determined to be time t2, so that the calculation formula of the distance X2 of the leakage point from the detection start point can be obtained by the magnetometer as follows:
X2＝N2*C (2)
Where N2 is the number of cycles the smart ball 1 rolls in time t2 in the acceleration data, and C is the maximum cross-sectional perimeter of the measured smart ball 1.
And then, correcting the X1 measured by the accelerometer and the X2 measured by the magnetometer to obtain the estimated position of the leakage point. According to the method, the leakage points determined by the detection method are ensured to be more accurate by combining the acceleration data with the magnetic force data.
If the water supply pipeline 2 is a nonferromagnetic pipeline, such as a PVC pipe, a stainless steel pipe and the like, the water supply pipeline is not influenced by a magnetic field, and when the external magnetic field 3 is added, the magnetometer in the intelligent ball 1 can record the magnetic force signal intensity of the external magnetic field 3. Therefore, the magnetic force data of the magnetometer is analyzed to obtain the relationship between the magnetic force signal and time, and the calculation formula of the distance X3 between the leakage point and the external magnetic field 3 is obtained as follows:
X3＝(t1-t3)*V Flow rate (3)
wherein the time t3 is the time point corresponding to the maximum amplitude of the magnetic force signal, and V Flow rate is the water flow speed in the water supply pipeline 2.
The position of the leak point from the detection start point can be determined as L-X3 from the set position of the external magnetic field 3.
The detection method only needs to arrange the intelligent ball 1 and increase the external magnetic field 3. And an expensive receiving base station or high-precision azimuth angle reference equipment is not required to be assembled, the equipment is simple, and the cost is low. Meanwhile, the magnetic force signal caused by the external magnetic field 3 is not influenced by the buried pipeline, the magnetic force signal is received through the magnetometer in the intelligent ball 1, a sensor is not required to be fixed on the pipe wall, and convenience is brought to the leakage detection of the buried pipeline.
Meanwhile, the detection method can be suitable for pipelines of different types, and has extremely strong practicability:
For non-ferromagnetic pipelines which are long in age and lack design drawings, the positioning of the intelligent ball 1 in the pipeline can be completed. When the intelligent ball 1 moves in the pipe and approaches to the position of the external magnetic field 3, the amplitude of the magnetic force signal can generate larger fluctuation, and the distance between the intelligent ball 1 and the external magnetic field 3 can be estimated through fluctuation change, so that the position of the pipeline leakage point can be determined.
For a ferromagnetic pipeline, an external magnetic field 3 is added, the principle of a leakage magnetic field is utilized, the difference of magnetic force signals at the leakage points can be clearly obtained, the points with the difference of the magnetic force signals are the leakage points, and the leakage points determined by combining an acoustic wave method are comprehensively analyzed, so that the positioning error of the leakage points can be further reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
The above-described embodiments merely represent embodiments of the invention, the scope of the invention is not limited to the above-described embodiments, and it is obvious to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (2)
1. A method for marking leakage positions of water supply pipelines based on intelligent balls and external magnetic fields is characterized in that: the method comprises the following steps:
s1, before the intelligent ball (1) is put in, ensuring that the electric quantity of the intelligent ball (1) is full, and simultaneously testing that an accelerometer and a magnetometer in the intelligent ball (1) can work normally;
in step S1, the test magnetometer further comprises the following operations:
S11, in order to eliminate the influence of the geomagnetic field on a magnetometer, moving the intelligent ball (1) outdoors by an 8-shaped movement or plane cross movement method, and obtaining magnetic force data by the magnetometer;
S12, sending magnetometer data to an upper computer through a serial port; the upper computer processes the stored magnetometer data to obtain a magnetic bias value; calculating magnetic bias values of x, y and z axes to obtain a hard magnetic elimination value, and writing the hard magnetic elimination value into a magnetometer chip; in step S12, the upper computer obtains the data of the magnetic bias value by importing magnetometer data into AntMag software;
S13, re-reading magnetometer data after geomagnetic field magnetic force data correction, and observing that the magnetometer vector sum after free rotation at the same position is stabilized near a fixed value through an upper computer, wherein the magnetometer is free from the influence of the geomagnetic field on the magnetic force data induced by the external magnetic field (3);
s2, adding an external magnetic field (3) at a set position outside the water supply pipeline (2), wherein the distance between the external magnetic field (3) and the detection starting point is L;
S3, opening a control switch of the intelligent ball (1) and sealing the intelligent ball, and putting the intelligent ball into the water supply pipeline (2) to enable the intelligent ball to flow along with water at the bottom of the water supply pipeline (2); collecting sound wave data of a water supply pipeline (2) by an intelligent ball (1), collecting acceleration data of the intelligent ball (1) in the rolling process in the water supply pipeline (2) by an accelerometer, collecting magnetic force data of the water supply pipeline (2) by a magnetometer, and storing the collected sound wave, acceleration and magnetic force data into an SD card in the intelligent ball (1);
S4, taking out the intelligent ball (1) at the tail end of the detected water supply pipeline (2) by using a ball collecting net, reading and analyzing sound wave, acceleration and magnetic force data in an SD card in the intelligent ball (1), and marking the position of a leakage point in the water supply pipeline (2);
the analysis of the acoustic data in step S4 is as follows:
s41, analyzing the sound wave data of the intelligent ball (1) to obtain the relation between the sound wave amplitude and time, and determining the position of the intelligent ball (1) corresponding to the time t1 in the water supply pipeline (2) according to the variation of the sound wave amplitude at the time t1, so as to preliminarily judge the position of the leakage point of the water supply pipeline (2);
the analysis of the acceleration data in step S4 is as follows:
s42, analyzing the acceleration data of the accelerometer, it is known that when a leakage signal occurs at time t1, a calculation formula of a distance X1 of the leakage point from the detection start point is as follows:
X1=N1*C（1）
wherein N1 is the number of cycles of the intelligent ball (1) rolling in time t1 in the acceleration data, and C is the maximum section perimeter of the intelligent ball (1) to be measured;
if the water supply pipe (2) is a ferromagnetic pipe, the magnetic force data in step S4 is analyzed as follows:
S43, analyzing magnetic force data of the magnetometer to obtain a relation between magnetization intensity and time, determining the position of a leakage point according to a data peak point of the magnetic force intensity, and obtaining time t2 corresponding to the data peak point, thereby obtaining a calculation formula of a distance X2 of the leakage point from a detection starting point, wherein the calculation formula is as follows:
X2=N2*C（2）
Wherein N2 is the number of cycles of the intelligent ball (1) rolling in time t2 in the acceleration data, and C is the maximum section perimeter of the intelligent ball (1) to be measured;
Then, X1 and X2 are mutually corrected to obtain the estimated position of the leakage point;
If the water supply pipe (2) is a non-ferromagnetic pipe, the magnetic force data in step S4 is analyzed as follows:
S44, recording the signal intensity of the external magnetic field (3) by using the magnetometer, analyzing magnetic force data of the magnetometer to obtain the relationship between the magnetic force signal and time, and obtaining a calculation formula of the distance X3 between the leakage point and the external magnetic field (3) as follows:
X3=（t1-t3）*V Flow rate （3）
Wherein the time t3 is the time point corresponding to the maximum amplitude of the magnetic force signal, and V Flow rate is the water flow speed in the water supply pipeline (2);
thereby determining the position of the leakage point from the detection start point as L-X3.
2. The method for marking the leakage position of the water supply pipeline based on the intelligent ball and the external magnetic field according to claim 1, wherein the method comprises the following steps: the outside of the intelligent ball (1) is sleeved with a sponge ball.
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