Gas pipeline leakage detecting and positioning algorithm based on acoustic precise imaging

Abstract

The invention discloses a gas pipeline leakage detection positioning algorithm based on acoustic precise imaging, and the algorithm comprises the following steps: building a basic three-dimensional space model, marking the position of a pipeline and the positions of sensors in the basic three-dimensional space model, and enabling the number of the sensors to be three; establishing a three-dimensional space model of the pipeline in the established basic three-dimensional space model according to the position of the pipeline and the position of the sensor; and establishing a three-dimensional space coordinate system in the basic three-dimensional space model based on the positions of the pipeline and the sensor. During implementation, gas conveying is monitored through an acoustic imaging method, and the monitoring can be carried out regularly, so that a pipeline is monitored in real time; a large amount of labor cost is reduced, the defect of omission possibly caused by manual inspection is avoided, and safe use of the pipeline is guaranteed; in the form of acoustic imaging, the influence caused by terrain, weather and the like can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline leakage detection, and in particular to a gas pipeline leakage detection and positioning algorithm based on acoustic precision imaging. Background Art

[0002] In the field of gas transportation, especially for long-distance pipeline transportation of high-pressure, flammable, explosive or toxic and harmful gases such as natural gas, petroleum gas and chemical raw material gas, its safety and efficiency are of vital importance. Such gas pipelines not only span a vast area and cross various complex terrains such as mountains, rivers, cities and farmlands, but also need to withstand the test of harsh weather conditions such as extreme temperatures, wind, rain, snow and fog, so their monitoring and maintenance work is particularly complex and critical.

[0003] Traditional monitoring methods often rely on manual inspections and fixed-point sensor monitoring, but this method has obvious limitations. First, long-distance pipelines mean long inspection cycles and high difficulty, making it difficult to ensure all-weather, all-angle monitoring; second, although fixed-point sensors can detect changes in gas concentration or pressure at specific locations, they are limited by the number of points and location selection, and may not be able to detect all potential leaks in time; third, when a leak occurs, if it is not quickly located and emergency measures are not taken, it will not only cause resource losses, but may also cause serious consequences such as environmental pollution, fires, and even explosions, threatening public safety.

[0004] To overcome these challenges, this application proposes a gas pipeline leak detection and positioning algorithm based on acoustic precision imaging. Summary of the invention

[0005] To this end, the present application provides a gas pipeline leak detection and positioning algorithm based on acoustic precision imaging to solve the problems existing in the prior art, such as long pipeline inspection cycles, high difficulty, and difficulty in ensuring all-weather, all-angle monitoring; although fixed-point sensors can detect gas concentration or pressure changes at specific locations, they are limited by the number of points and location selection and may not be able to detect all potential leakage points in time; when a leak occurs, if it is not quickly located and emergency measures are not taken, it will not only cause resource loss, but may also cause serious consequences such as environmental pollution, fire, and even explosions, threatening public safety.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] First, the gas pipeline leak detection and positioning algorithm based on acoustic precision imaging includes the following steps:

[0008] Establish a basic three-dimensional space model, mark the pipeline positions and sensor positions in the basic three-dimensional space model, and there are three sensors;

[0009] According to the pipeline position and the sensor position, a three-dimensional space model of the pipeline is established in the established basic three-dimensional space model;

[0010] Based on the positions of pipelines and sensors, a three-dimensional space coordinate system is established in the basic three-dimensional space model, and the positions of multiple sensors and pipelines are established in the three-dimensional space coordinate system.

[0011] Input Function

[0012]

[0013] ra is the distance from sensor a to the leak point, rb is the distance from sensor b to the leak point, and rc is the distance from sensor c to the leak point;

[0014] x1, y1, z1 are the spherical coordinates with sensor a as the center and ra as the radius, xa, ya, za are the coordinates of sensor a;

[0015] x2, y2, z2 are the coordinates of the spherical surface with sensor b as the center and rb as the radius, and xb, yb, zb are the coordinates of sensor b;

[0016] x3, y3, z3 are the coordinates of the spherical surface with sensor c as the center and rc as the radius, and xc, yc, zc are the coordinates of sensor c;

[0017] x0, y0, z0 are the spatial coordinates of the leakage point;

[0018] According to the above function and the parameters recorded by the sensor, the pipeline leakage position is calculated.

[0019] Preferably, the method further comprises the following steps:

[0020] According to ra=v0×t1 / 2,

[0021] rb=v0×t2 / 2,

[0022] rc=v0×t3 / 2,

[0023] t1, t2, and t3 are the propagation times of the vibration sound wave in the medium.

[0024] v0 is the speed at which vibration sound waves propagate in the medium.

[0025] Preferably, the method further comprises the following steps:

[0026] After the sensor sends out the vibration sound wave, it records the time from the occurrence of the vibration sound wave to the receipt of the vibration sound wave reflected back, and marks it as t0.

[0027] Set the detection position and record the distance between the detection position and the sensor, the distance is recorded as l.

[0028] Input t0 and l into the following function

[0029] v0=l / t0,

[0030] v0 is the speed at which vibration sound waves propagate in the medium.

[0031] Preferably, the derivation formula of f(x0, y0, z0) is:

[0032]

[0033] Preferably, the distances between the three sensors and the detection position are respectively recorded as la, lb, lc. When the sound wave propagates in the air, the propagation speed of the sound wave in the air is:

[0034] va=la / ta,

[0035] vb=lb / tb,

[0036] vc=lc / tc,

[0037] la is the distance between sensor a and the detection position, ta is the time taken for the vibration sound wave emitted by the detection position to reach sensor a, va is the speed at which the vibration sound wave propagates from the detection position to sensor a,

[0038] lb is the distance between sensor b and the detection position, tb is the time taken for the vibration sound wave emitted by the detection position to reach sensor b, vb is the speed of the vibration sound wave self-propagating from the detection position to sensor b,

[0039] lc is the distance between sensor c and the detection position, tc is the time taken for the vibration sound wave emitted by the detection position to reach sensor c, vc is the speed at which the vibration sound wave propagates from the detection position to sensor c,

[0040] va=vb=vc=v0.

[0041] Preferably, the sensor can filter the sound waves reflected by the pipe wall when recording the reflected sound waves.

[0042] The present invention has the following advantages:

[0043] 1. The gas delivery can be monitored by acoustic imaging, which can be carried out regularly so as to monitor the pipeline in real time;

[0044] 2. Reduce a lot of labor costs, avoid the drawbacks of omissions that may be caused by manual inspection, and ensure the safe use of pipelines;

[0045] 3. Through acoustic imaging, the impact caused by terrain, weather and other factors can be effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more intuitively illustrate the prior art and the present application, exemplary drawings are given below. It should be understood that the specific shapes and structures shown in the drawings should not generally be regarded as limiting conditions for implementing the present application; for example, those skilled in the art are capable of easily making conventional adjustments or further optimizations to the addition / reduction / attribution division, specific shapes, positional relationships, connection methods, dimensional ratios, etc. of certain units (components) based on the technical concepts and exemplary drawings disclosed in the present application.

[0047] Figure 1 It is a schematic diagram of the pipeline and sensor located in the three-dimensional space coordinate system. DETAILED DESCRIPTION

[0048] The present application is further described below in detail through specific embodiments in conjunction with the accompanying drawings.

[0049] Embodiment 1

[0050] The gas pipeline leak detection and positioning algorithm based on acoustic precision imaging in the first aspect of the present invention comprises the following steps:

[0051] Establish a basic three-dimensional space model, mark the pipeline positions and sensor positions in the basic three-dimensional space model, and there are three sensors;

[0052] According to the pipeline position and the sensor position, a three-dimensional space model of the pipeline is established in the established basic three-dimensional space model;

[0053] Based on the positions of pipelines and sensors, a three-dimensional space coordinate system is established in the basic three-dimensional space model, and the positions of multiple sensors and the positions and shapes of pipelines are established in the three-dimensional space coordinate system.

[0054] Input function,

[0055]

[0056] ra is the distance from sensor a to the leak point, rb is the distance from sensor b to the leak point, and rc is the distance from sensor c to the leak point;

[0057] x1, y1, z1 are the spherical coordinates with sensor a as the center and ra as the radius, xa, ya, za are the coordinates of sensor a;

[0058] x2, y2, z2 are the coordinates of the spherical surface with sensor b as the center and rb as the radius, and xb, yb, zb are the coordinates of sensor b;

[0059] x3, y3, z3 are the coordinates of the spherical surface with sensor c as the center and rc as the radius, and xc, yc, zc are the coordinates of sensor c;

[0060] x0, y0, z0 are the spatial coordinates of the leakage point;

[0061] According to the above function and the parameters recorded by the sensor, the pipeline leakage position is calculated.

[0062] For the determination of ra, rb, and rc: in the specific implementation, the three sensors are a, b, and c. Taking sensor a as an example, it has two monomers, a1 and a2. The two monomers are arranged together, and the distance between them is recorded as S0. When a1 and a2 detect the leakage sound, the detected time is marked at the same time. There is a time difference for the sound wave at the leakage point to be transmitted to a1 and a2, and the time difference is recorded as t0.

[0063] According to the formula for the speed of sound in the air: distance S = speed of sound wave in the air V × time t, V is a constant.

[0064] The time taken for the sound wave from the leak point to reach a1 is t1 = V / S1, where S1 is the distance from the leak point to a1.

[0065] The time taken for the sound wave from the leak point to reach a2 is t2 = V / S2, where S2 is the distance from the leak point to a2.

[0066] Then the absolute value of V / S1-V / S2 is equal to t0,

[0067] The absolute value of S1-S2 is S0.

[0068] Since the distance between a1 and a2 is smaller than the distance from the leakage point, assuming that the leakage point, a1, and a2 are on the same straight line,

[0069] Then calculate the values ​​of S1 and S2, and take any S1 or S2 as ra.

[0070] Obtain rb and rc in the same way.

[0071] The model of the sensor may be a SY-A1 sound sensor, or of course other sound sensors.

[0072] When implementing this solution, when establishing the three-dimensional space coordinate system, the coordinates of the three sensors are arranged on the origin, the x-axis and the y-axis, and the simple form of the above function is obtained:

[0073]

[0074] The simplified function is used to calculate the location of the leakage point, and the leakage position is calibrated through spatial coordinates, which can quickly guide users to grasp the leakage point, reduce the amount of calculation, increase the calculation speed, and facilitate rapid confirmation of the leakage point.

[0075] When two sensors are used, the two sensors need to cooperate with the trajectory of the pipeline to locate the pipeline leakage point, and the trajectory of the pipeline will be more complicated when it is established. When this solution is implemented, it can be simplified by setting up three sensors.

[0076] In the above function, the values ​​of ra, rb, and rc are unknown. Only by obtaining them can the spherical trajectory be calibrated. Therefore, the following implementation method is used to calculate them, which also includes the following steps:

[0077] According to ra=v0×t1 / 2,

[0078] rb=v0×t2 / 2,

[0079] rc=v0×t3 / 2,

[0080] t1, t2, and t3 are the propagation times of the vibration sound wave in the medium.

[0081] v0 is the speed at which vibration sound waves propagate in the medium.

[0082] The following steps are also included:

[0083] After the detection position sends out the vibration sound wave, it records the time from the occurrence of the vibration sound wave to the receipt of the vibration sound wave reflection, and marks it as t0.

[0084] Set the detection position and record the distance between the detection position and the sensor, the distance is recorded as l.

[0085] Input t0 and l into the following function

[0086] v0=l / t0,

[0087] v0 is the speed at which vibration sound waves propagate in the medium.

[0088] The derivation formula of f(x0, y0, z0) is:

[0089]

[0090] The distances between the three sensors and the detection position are recorded as la, lb, and lc respectively. When the sound wave propagates in the air, the propagation speed of the sound wave in the air is:

[0091] va=la / ta,

[0092] vb=lb / tb,

[0093] vc=lc / tc,

[0094] la is the distance between sensor a and the detection position, ta is the time taken for the vibration sound wave emitted by the detection position to reach sensor a, va is the speed at which the sound wave propagates from sensor a to the detection position,

[0095] lb is the distance between sensor b and the detection position, tb is the time taken for the vibration sound wave emitted by the detection position to reach sensor b, vb is the speed at which the sound wave propagates from sensor b to the detection position,

[0096] lc is the distance between sensor c and the detection position, tc is the time taken for the vibration sound wave emitted by the detection position to reach sensor c, and vc is the speed at which the sound wave propagates from sensor c to the detection position.

[0097] va=vb=vc=v0.

[0098] The sensor is able to filter the sound waves reflected by the pipe wall while recording the reflected sound waves.

[0099] The technical features of the above embodiments may be arbitrarily combined (as long as there is no contradiction in the combination of these technical features). To make the description concise, not all possible combinations of the technical features in the above embodiments are described; these embodiments that are not explicitly written should also be considered to be within the scope of this specification.

Claims

1. Gas pipeline leak detection and positioning algorithm based on acoustic precision imaging, characterized by: The following steps are involved: Establish a basic three-dimensional space model, mark the pipeline positions and sensor positions in the basic three-dimensional space model, and there are three sensors; According to the pipeline position and the sensor position, a three-dimensional space model of the pipeline is established in the established basic three-dimensional space model; Based on the positions of the pipeline and the sensor, a three-dimensional space coordinate system is established in the basic three-dimensional space model, and the positions of multiple sensors and the positions and shapes of the pipelines are established in the three-dimensional space coordinate system; Input Function ra is the distance from sensor a to the leak point, rb is the distance from sensor b to the leak point, and rc is the distance from sensor c to the leak point; x1, y1, z1 are the spherical coordinates with sensor a as the center and ra as the radius, xa, ya, za are the coordinates of sensor a; x2, y2, z2 are the coordinates of the spherical surface with sensor b as the center and rb as the radius, and xb, yb, zb are the coordinates of sensor b; x3, y3, z3 are the coordinates of the spherical surface with sensor c as the center and rc as the radius, and xc, yc, zc are the coordinates of sensor c; x0, y0, z0 are the spatial coordinates of the leakage point; According to the above function and the parameters recorded by the sensor, the pipeline leakage position is calculated.

2. According to claim 1, the gas pipeline leakage detection and positioning algorithm based on acoustic precision imaging is characterized in that: The following steps are also included: According to ra = v0 × t1 / 2; rb=v0×t2 / 2; rc=v0×t3 / 2, t1, t2, and t3 are the propagation times of the vibration sound wave in the medium; v0 is the speed at which the vibration sound wave propagates in the medium.

3. The gas pipeline leak detection and positioning algorithm based on acoustic precision imaging according to claim 2 is characterized in that: The following steps are also included: After the sensor sends out the vibration sound wave, it records the time from the occurrence of the vibration sound wave to the receipt of the vibration sound wave reflected back, and marks it as t0; Set the detection position and record the distance between the detection position and the sensor, the distance is recorded as l; Input t0 and l into the following function v0=l / t0; v0 is the speed at which sound wave vibration propagates in the medium.

4. The gas pipeline leak detection and positioning algorithm based on acoustic precision imaging according to claim 3 is characterized in that: The derivation formula of f(x0, y0, z0) is:

5. The gas pipeline leak detection and positioning algorithm based on acoustic precision imaging according to claim 3 is characterized in that: The distances between the three sensors and the detection position are recorded as la, lb, and lc respectively. When the sound wave propagates in the air, the propagation speed of the sound wave in the air is: va=la / ta; vb = lb / tb; vc = lc / tc; la is the distance between sensor a and the detection position, ta is the time taken for the vibration sound wave emitted by the detection position to reach sensor a, and va is the speed at which the sound wave propagates from the detection position to sensor a; lb is the distance between sensor b and the detection position, tb is the time taken for the vibration sound wave emitted by the detection position to reach sensor b, and vb is the speed at which the sound wave propagates from the detection position to sensor b; lc is the distance between sensor c and the detection position, tc is the time taken for the sound wave emitted by the detection position to reach sensor c, and vc is the speed at which the sound wave propagates from the detection position to sensor c; va=vb=vc=v0.

6. The gas pipeline leak detection and positioning algorithm based on acoustic precision imaging according to claim 3 is characterized in that: The sensor is able to filter the sound waves reflected by the pipe wall while recording the reflected sound waves.

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