Development And Experimental Research Of 100mm Water Supply Pipeline Leak Detection Robot

The water supply pipeline is one of the indispensable infrastructures in the modern urban system,which provides an important guarantee for the normal operation of urban residents’ lives.With the development of the city,the scale of the water supply pipeline has gradually increased,and it is inevitable that leakage events occur more and more frequently,which brings serious waste of economy and resources.The leak detection robot developed in this paper can perform high-precision detection without interrupting the pipeline water supply,and has good economic and social benefits.This article has studied three aspects:(1)Investigated the common leak detection principles and methods at home and abroad and related detection equipment,and classified and briefly summarized the water supply pipeline leak detection technology and related equipment.The structure of the inspection robot in the pipeline is designed according to the working environment of the inspection robot and whether it can pass the bending pipe,and the structural strength of each component of the robot is checked and calculated.(2)The hardware part of the pipeline leak detection robot detection system is selected.According to the working principle of each sensor and the characteristics of the serial port,the acquisition and storage program is designed with the help of Arduino and MATLAB,and the data is displayed and processed in real time.Graphical User Interface(GUI)was designed using Lab VIEW.(3)The mathematical model of pipeline leakage was established using COMSOL software,and the relationship between the leakage aperture and the velocity distribution,pressure distribution and velocity distribution of the leakage port was explored.The idea and principle of the leak detection and location experiment are expounded,and the overall structure of the simulation test bench is designed.Field experiments were carried out on hydrophones,and data was processed using time-frequency domain analysis.Through the car movement experiment,the acceleration data output by it is integrated inversely,and the velocity,displacement and space displacement trajectory diagrams in the three directions of x,y and z are obtained respectively.