CN113028303A

CN113028303A - Railway water supply pipe network leak detection robot

Info

Publication number: CN113028303A
Application number: CN202110281867.9A
Authority: CN
Inventors: 辛志远; 史义雄; 唐寅; 刘飞; 林亚楠; 熊易琰; 漆磊
Original assignee: China Railway Siyuan Survey and Design Group Co Ltd
Current assignee: China Railway Siyuan Survey and Design Group Co Ltd
Priority date: 2021-03-16
Filing date: 2021-03-16
Publication date: 2021-06-25

Abstract

The invention relates to the technical field of water supply pipe networks, in particular to a railway water supply pipe network leak detection robot which comprises a track robot, wherein the track robot comprises a body and telescopic folding mechanical arms, the body drives the telescopic folding mechanical arms to move along a rail, the telescopic folding mechanical arms extend out of two side edges of the body and are downwards hung on two sides of the rail, and the tail ends of the telescopic folding mechanical arms are provided with noise recorder records for detecting noise signals of monitoring points along the rail. 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

Technical Field

The invention relates to the technical field of water supply pipe networks, in particular to a railway water supply pipe network leak detection robot.

Background

The railway water supply pipe network is an important link in a railway production system, and the water supply pipe network is buried underground, so that the service life is long, the pipe network is corroded, or the pipe network is corroded by large water pressure in the pipe network, the shallow buried depth of the pipeline is too large to bear, 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 railway water supply pipe network reaches more than 20 percent, the average leakage rate of the water supply pipe network of the Longhai line, the coke branch line and the Ningxi line reaches 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 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 railway 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, the domestic patent library is mainly a railway inspection robot and is used for carrying out damage detection on a rail or cleaning a track foreign matter. Application No. 201821059825.0 provides a railway patrol robot, which detects a damaged part of a rail by an ultrasonic probe and controls a mechanical arm of a grinding machine to grind and repair the rail. Application No. 201711338446.5 proposes a railway track cleaning robot, which is provided with a robot moving carrier, a foreign matter discriminating mechanism, a sensing mechanism, a cleaning and recovering device and the like, and recovers foreign matters between tracks. At present, the domestic patent library does not have a patent specially suitable for a railway system water supply pipe network leakage detection robot temporarily, so that the railway system water supply pipe network leakage detection robot is urgently needed, and leakage points are identified with high efficiency and high precision.

Disclosure of Invention

The invention provides a railway water supply pipe network leak detection robot, which solves the technical problems of abundant experience of personnel, difficult implementation of sensors installed in old pipe networks, high investment cost, high false alarm rate of leakage point identification, low positioning precision, long time consumption and the like of the existing water supply pipe network leak detection.

The invention provides a railway water supply pipe network leak detection robot for solving the technical problems, which comprises a track robot, wherein the track robot comprises a body and a telescopic folding mechanical arm, the body drives the telescopic folding mechanical arm to move along a rail, the telescopic folding mechanical arm extends out of two side edges of the body and is downwards suspended on two sides of the rail, and the tail end of the telescopic folding mechanical arm is provided with a noise recorder for detecting noise signals of monitoring points along the rail.

Optionally, the bottom end of the body is provided with a roller which is in rolling connection with the top end of the rail, two sides of the body are provided with moving slide rails, the moving slide rails are in a door shape and wrap the rail, and the motor module drives the roller to move along the rail.

Optionally, one end of the moving slide rail is elastically connected with the body through a connecting spring.

Optionally, the railway water supply pipe network leak detection robot further comprises a sensor module, a battery module and a communication module, wherein the sensor module is used for positioning the position of the railway robot in real time and visually transmitting the field condition, the battery module is used for supplying power, and the sensor module is connected with the outside through the communication module.

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 further comprises an operation monitoring management platform, the operation monitoring management platform comprises a cloud storage module, the communication module stores the data acquired 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 further includes a signal processing module, 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, and use a noise database in normal pipe network operation as a preset range value, if the preset range value is exceeded, it is determined that the pipeline at the monitoring point is leaked, and corresponding suggestions are given for different degrees when the preset range value is exceeded.

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 invention provides a railway water supply pipe network leak detection robot which comprises a rail robot, wherein the rail robot comprises a body and telescopic folding mechanical arms, the body drives the telescopic folding mechanical arms to move along a rail, the telescopic folding mechanical arms extend out of two side edges of the body and are downwards hung on two sides of the rail, and the tail ends of the telescopic folding mechanical arms are provided with noise recorder records used for detecting noise signals of monitoring points along the rail. 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 foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail 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 limiting the invention. In the drawings:

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

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

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

fig. 4 is a structure diagram of the internal integration of the body of the railway water supply network leak detection robot.

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 this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming 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 to 4, an embodiment of the present invention provides a railway water supply pipe network leak detection robot, including a track robot, where the track robot includes a body 3 and a retractable folding mechanical arm 4, the body 3 drives the retractable folding mechanical arm 4 to move along a rail 1, the retractable folding mechanical arm 4 extends from two sides of the body 3 and hangs down on two sides of the rail 1, and a noise recorder record for detecting noise signals of monitoring points along the rail 1 is arranged at a tail end of the retractable folding mechanical arm 4.

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.

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.

The specific working process of the robot is shown in fig. 1:

with reference to fig. 1 to 2: 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. Background software or APP sets information such as a robot operation starting point, a robot operation terminal point, an automatic navigation point, an operation speed and a signal sampling frequency, the robot is placed on the track, the folding mechanical arm 4 is unfolded, the vision module sensor is started, and the obstacle avoidance function is started. And 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 transmits the data collected by the sensor to background software or APP through a wireless communication terminal, 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. Background software or APP filters the noise of a specific interference frequency band, signal processing is carried out, data are synchronously transmitted to the background software or APP, frequency domain and time domain conversion processing is carried out, or neural network algorithm processing is utilized, the noise signal is compared with the noise signal of the normal water supply pipe network running state, and an abnormal signal point is a leakage position and is fed back to a user. And finishing the detection.

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 further comprises 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 visually transmitting the 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.

Compared with the existing water supply network leak detection method, the method has the following main advantages:

aiming at the characteristics of a railway water supply pipe network, the automatic routing inspection is innovatively realized by adopting a rail robot to replace the traditional manual leak detection, the hardware and software combined technology is adopted, data are acquired through sensors such as noise and vision, the data are sent to a software platform to carry out cloud storage and recognition processing on signals to generate an operation report, and corresponding suggestions are given according to the reconstruction targets and funds of an owner unit to realize the full-flow service.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; the present invention may be readily implemented by those of ordinary skill in the art as illustrated in the accompanying drawings and described above; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A railway water supply pipe network leak detection robot, characterized in that it comprises a rail robot, and the rail robot comprises a body and a retractable and foldable mechanical arm, and the body drives the retractable and foldable mechanical arm to move along the rails, so that the The retractable and foldable mechanical arm protrudes from both sides of the main body and hangs downward on both sides of the rail, and the end of the retractable and foldable mechanical arm is provided with a noise signal for detecting the noise signal of each monitoring point along the rail. Noise recorder records.

2 . The leak detection robot for a railway water supply pipe network according to claim 1 , wherein the bottom end of the main body is provided with a roller that is rollingly connected with the top end of the rail, and both sides of the main body are provided with moving wheels. 3 . The sliding rail is in the shape of a door and covers the rail, and the motor module drives the roller to move along the rail.

3 . The leak detection robot for a railway water supply pipe network according to claim 2 , wherein one end of the moving slide rail is elastically connected to the body through a connecting spring. 4 .

4 . The railway water supply pipe network leak detection robot according to claim 1 , wherein the railway water supply pipe network leak detection robot further comprises a sensor module, a battery module and a communication module, and the sensor module is used to locate the track in real time. 5 . The position and vision of the robot are transmitted on-site, the battery module is used for power supply, and the sensor module communicates with the outside world through the communication module.

5. The leak detection robot for railway water supply pipe network according to claim 4, wherein the sensor module comprises a GIS positioning module and a visual transmission module, and the visual transmission module comprises an image transmission unit and an infrared sensor, and the image transmission The unit is used to monitor the environment of the orbital robot in real time and assist in generating operation reports. The infrared sensor includes infrared emitters and CCD detectors for automatic obstacle avoidance.

6 . The leak detection robot for railway water supply pipe network according to claim 4 , wherein 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 fast charging function and a battery replacement function. 7 . .

7 . The railway water supply pipeline network leak detection robot according to claim 4 , wherein the railway water supply pipeline network leak detection robot further comprises an operation monitoring and management platform, and the operation monitoring and management platform comprises a cloud storage module, a communication module The data collected by the sensor is stored in the memory system in real time, and the data is synchronously transmitted to the cloud storage module through the wireless communication terminal, GPRS, and Internet network, which is convenient for users to call in real time or in the future.

8 . The railway water supply pipeline network leak detection robot according to claim 4 , wherein the railway water supply pipeline network leak detection robot further comprises a signal processing module, and the signal processing module is used to detect the collected noise of the pipeline network. 9 . Signal, through time domain and frequency domain transformation, including but not limited to Fourier transform and other methods, compare the time domain and frequency domain, and use the noise database of normal pipe network operation as the preset range value, if it 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 exceeding the preset range value.

9 . The leak detection robot for a railway water supply pipe network according to claim 8 , wherein the signal processing module comprises a band-pass filter, and the whistle sound in the railway system and the vibration sound of trains entering and leaving the station are regarded as noise in a specific interference frequency band. 10 . , which is filtered by a band-pass filter before processing.

10 . The leakage detection robot of the railway water supply pipe network according to claim 8 , wherein the signal processing module obtains the flow of the water supply pipe network in real time as an auxiliary parameter to judge whether there is leakage. 11 .