Pipeline leakage monitoring method, device, equipment and storage medium

Abstract

The application discloses a pipeline leakage monitoring method, device, equipment and storage medium, and belongs to the technical field of oil pipelines. The method comprises the following steps: collecting pressure data of each preset monitoring point on a conveying pipeline; determining a pipeline section with a leakage point based on the pressure data of each preset monitoring point; collecting multiple infrared images and multiple depth images of the ground surface around the pipeline section, wherein the center of the infrared image is located in the position range of the pipeline section, and the center of the depth image is the same as that of the infrared image associated therewith; and determining position information of the leakage point based on the infrared image and the depth image. The application aims to solve the problem that the existing conveying pipeline monitoring technology cannot obtain the accurate position of the leakage point on the conveying pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil pipeline, and particularly to a pipeline leakage monitoring method, device, equipment and storage medium. BACKGROUND

[0002] In the process of oil transportation, when the pipeline in the transportation pipeline is naturally damaged or artificially damaged to cause pipeline perforation or rupture, if it cannot be found and handled in time, it will cause a series of adverse consequences such as large oil leakage and environmental pollution. Therefore, it is necessary to monitor whether the oil transportation pipeline has leakage.

[0003] The current transportation pipeline monitoring technology is to provide flow meters or pressure sensors at both ends of the transportation pipeline. When leakage occurs in a certain section of the transportation pipeline between the two ends, the flow meters or pressure sensors at both ends of the transportation pipeline detect the change of flow or pressure value and send an alarm information of pipeline leakage. However, the above-mentioned transportation pipeline monitoring technology cannot know the accurate position of the leakage point on the transportation pipeline.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide a pipeline leakage monitoring method, device, equipment and storage medium, which aims to solve the problem that the existing transportation pipeline monitoring technology cannot know the accurate position of the leakage point on the transportation pipeline.

[0006] To achieve the above-mentioned purpose, the present application provides a pipeline leakage monitoring method, comprising the following steps:

[0007] Collecting pressure data of each preset monitoring point on the transportation pipeline;

[0008] Determining a pipeline section with a leakage point based on the pressure data of each preset monitoring point;

[0009] Collecting multiple infrared images and multiple depth images of the ground surface around the pipeline section, wherein the center of the infrared image is located in the position range of the pipeline section, and the center of the depth image is the same as that of the infrared image associated therewith;

[0010] Determining the position information of the leakage point based on the infrared image and the depth image.

[0011] Optionally, the step of determining the pipeline section with a leakage point based on the pressure data of each preset monitoring point comprises:

[0012] Filtering the pressure data of each preset monitoring point to obtain filtered pressure data;

[0013] Based on the filtered pressure data, a pressure difference between adjacent preset monitoring points is calculated.

[0014] If the pressure difference is greater than or equal to a preset difference threshold, it is determined that there is a leakage point in the pipeline section between the adjacent preset monitoring points.

[0015] Optionally, the step of filtering the pressure data of each preset monitoring point to obtain filtered pressure data comprises:

[0016] Based on a first-order low-pass filtering algorithm, the pressure data of each preset monitoring point is filtered once to obtain first filtered pressure data;

[0017] Based on a median average filtering method, the first filtered pressure data is filtered twice to obtain filtered pressure data;

[0018] Alternatively, based on a median average filtering method, the pressure data of each preset monitoring point is filtered once to obtain first filtered pressure data;

[0019] Based on a first-order low-pass filtering algorithm, the first filtered pressure data is filtered twice to obtain filtered pressure data.

[0020] Optionally, the step of determining the position information of the leakage point based on the infrared image and the depth image comprises:

[0021] For each infrared image, the area ratio of the area in the infrared image where the temperature is greater than or equal to a preset temperature threshold in the infrared image is calculated;

[0022] The infrared images with an area ratio greater than or equal to a set threshold are screened out;

[0023] Based on the center of the screened infrared images, the screened infrared images are spliced and / or merged to obtain a first infrared image;

[0024] Based on the center of the depth images associated with the screened infrared images, the depth images associated with the screened infrared images are spliced and / or merged to obtain a first depth image;

[0025] According to the first depth image, the first infrared image is temperature-corrected to obtain an analysis infrared image;

[0026] Based on the analysis infrared image, the position information of the leakage point is determined.

[0027] Optionally, the step of correcting the first infrared image according to the first depth image to obtain an analysis infrared image comprises:

[0028] The first depth image and the first infrared image are both divided into m×n grids, wherein the depth corresponding to each grid in the first depth image is F mn , and the temperature corresponding to each grid in the first infrared image is T mn ;

[0029] Based on a correction function T´ mn =f(F mn , T mn ), a corrected temperature is obtained, and the temperature T mn corresponding to each grid in the first infrared image is replaced by the corrected temperature T´ mn to obtain an analysis infrared image; wherein the correction function is established by using a quadratic linear equation fitting.

[0030] Optionally, the step of determining the position information of the leakage point based on the analysis infrared image comprises:

[0031] The analysis infrared image is divided into m×n grids, wherein the temperature corresponding to each grid in the analysis infrared image is T´ mn ;

[0032] The temperature corresponding to each grid in the analysis infrared image is subjected to mean clustering to obtain a plurality of clustering centers c;

[0033] Based on the formula s=2 c , the number of isotherms s is calculated;

[0034] Based on the formula =(T max -T min ) / s, the temperature interval between adjacent isotherms is calculated, wherein T max is the maximum value in T´ mn , and T min is the minimum value in T´ mn ;

[0035] In the analysis infrared image, for the ith isotherm, the steps of querying all grids whose temperatures are located between (T min +(i-1) )~(T min +i ), and using the nearest neighbor interpolation rule to smoothly connect the center points of all queried grids to draw the ith isotherm are performed to obtain an analysis infrared isotherm image.

[0036] According to the isotherm map, an interval with the highest temperature value is determined as a region where the leakage point is located, and a center position of the region where the leakage point is located is taken as the position information of the leakage point.

[0037] Optionally, the step of determining, according to the isotherm map, an interval with the highest temperature value as a region where the leakage point is located, and taking a center position of the region where the leakage point is located as the position information of the leakage point, comprises:

[0038] According to the isotherm map, an interval with the highest temperature value is determined as a region where the leakage point is located.

[0039] A minimum circumscribed rectangle of the region where the leakage point is located is obtained.

[0040] A center position of the minimum circumscribed rectangle is taken as the position information of the leakage point.

[0041] In addition, to achieve the above object, the present application also provides a pipeline leakage monitoring device, which comprises:

[0042] A first acquisition module is configured to acquire pressure data of each preset monitoring point on a pipeline.

[0043] A first positioning module is configured to determine a pipeline section where a leakage point exists based on the pressure data of each preset monitoring point.

[0044] A second acquisition module is configured to acquire a plurality of infrared images and a plurality of depth images of the ground surface around the pipeline section, wherein a center of the infrared image is located in a position range of the pipeline section, and a center of the depth image is the same as that of the infrared image associated therewith.

[0045] A second positioning module is configured to determine position information of the leakage point based on the infrared images and the depth images.

[0046] In addition, to achieve the above object, the present application also provides a pipeline leakage monitoring device, which comprises a processor, a memory, and a pipeline leakage monitoring program stored in the memory and executable on the processor, and the pipeline leakage monitoring program, when executed by the processor, implements the steps of the pipeline leakage monitoring method as described above.

[0047] In addition, to achieve the above object, the present application also provides a storage medium, which stores a pipeline leakage monitoring program, and the pipeline leakage monitoring program, when executed by a processor, implements the steps of the pipeline leakage monitoring method as described above.

[0048] This application provides a pipeline leakage monitoring method, apparatus, equipment, and storage medium. Compared with existing pipeline monitoring technologies, which can only determine whether a leakage exists in the pipeline but cannot pinpoint the exact location of the leak, this application collects pressure data from various preset monitoring points along the pipeline; based on the pressure data from these points, it identifies the pipeline section with the leak; it then collects multiple infrared and depth images of the surrounding surface of the pipeline section, wherein the center of the infrared images is located within the area of ​​the pipeline section, and the center of the depth images coincides with the center of their associated infrared images; and finally, based on the infrared and depth images, it determines the location of the leak. Therefore, in this application, the pipeline section with the leak is initially located based on the pressure data from each preset detection point; and then, based on the petroleum heat treatment transportation process, the location of the leak is precisely determined using multiple infrared and depth images of the surrounding surface of the pipeline section with the leak. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0050] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic flowchart of an embodiment of the pipeline leakage monitoring method of this application;

[0052] Figure 2 for Figure 1 Detailed steps of step S40;

[0053] Figure 3 This is a functional module diagram of the first embodiment of the pipeline leakage monitoring device of this application;

[0054] Figure 4 This is a schematic diagram of the hardware operating environment of the pipeline leakage monitoring equipment in this application.

[0055] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0056] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0057] The application provides a pipeline leakage monitoring method, referring to Figure 1 , Figure 1 FIG. 1 is a flowchart of a first embodiment of the pipeline leakage monitoring method of the application.

[0058] In the embodiment, the pipeline leakage monitoring method comprises the following steps:

[0059] Step S10, collecting pressure data of each preset monitoring point on the conveying pipeline;

[0060] Step S20, determining a pipeline section with a leakage point based on the pressure data of each preset monitoring point;

[0061] Step S30, collecting multiple infrared images and multiple depth images of the ground surface around the pipeline section, wherein the center of the infrared image is located in the position range of the pipeline section, and the center of the depth image is the same as that of the infrared image associated therewith;

[0062] Step S40, determining position information of the leakage point based on the infrared images and the depth images.

[0063] Compared with the prior art, in which the conveying pipeline monitoring technology can only know whether the conveying pipeline has a leakage, but cannot know the accurate position of the leakage point on the conveying pipeline, in the application, firstly, the pipeline section with the leakage point is preliminarily positioned according to the pressure data of each preset monitoring point, and secondly, the position of the leakage point is accurately positioned based on the multiple infrared images and multiple depth images of the ground surface around the pipeline section with the leakage point according to the petroleum heat treatment conveying process.

[0064] The specific steps are as follows:

[0065] Step S10, collecting pressure data of each preset monitoring point on the conveying pipeline.

[0066] As an example, the conveying pipeline is welded by multiple pipeline sections, and each preset monitoring point can be arranged at the welding position between the multiple pipeline sections, and the pressure data at each preset monitoring point can be collected by the pressure sensor arranged at the position.

[0067] As an example, the pressure data of each preset monitoring point on the conveying pipeline is collected periodically, and the length of each period can be set according to actual application requirements, which is not specifically limited in the embodiment.

[0068] Step S20, determining a pipeline section with a leakage point based on the pressure data of each preset monitoring point;

[0069] As an example, the step of determining a pipeline section with a leakage point based on the pressure data of each preset monitoring point comprises:

[0070] Step S21, filtering the pressure data of each preset monitoring point to obtain filtered pressure data.

[0071] As an example, the step of filtering the pressure data of each preset monitoring point to obtain filtered pressure data includes:

[0072] Based on a first-order low-pass filtering algorithm, the pressure data of each preset monitoring point is filtered once to obtain first-order filtered pressure data.

[0073] Based on the median average filtering method, the first-order filtered pressure data is filtered twice to obtain filtered pressure data.

[0074] Alternatively, based on the median average filtering method, the pressure data of each preset monitoring point is filtered once to obtain first-order filtered pressure data.

[0075] Based on a first-order low-pass filtering algorithm, the first-order filtered pressure data is filtered twice to obtain filtered pressure data.

[0076] Specifically, the algorithm formula of the first-order low-pass filtering algorithm is:

[0077] Y(k) = (1-a) * X(k) + a * Y(k-1);

[0078] Wherein, a is the filter coefficient; X(k) is the current sampling value of the pressure data of each preset monitoring point; Y(k-1) is the last filtered output value of the pressure data of each preset monitoring point; Y(k) is the output value of the pressure data of each preset monitoring point after filtering this time.

[0079] Specifically, the filtering process of the median average filtering method includes:

[0080] Based on the ascending order, the to-be-filtered data is arranged to obtain a to-be-filtered data queue.

[0081] The first X to-be-filtered data in the queue and the last X to-be-filtered data in the queue are removed.

[0082] The remaining to-be-filtered data in the to-be-filtered data queue is averaged to obtain filtered data.

[0083] Step S22, based on the filtered pressure data, calculate the pressure difference between adjacent preset monitoring points.

[0084] Specifically, the pressure difference between adjacent preset monitoring points is the absolute value of the difference between the filtered pressure data of adjacent preset monitoring points.

[0085] Step S23, if the pressure difference is greater than or equal to the preset difference threshold, it is determined that there is a leakage point in the pipeline section between the adjacent preset monitoring points.

[0086] As an example, the pipeline section between the adjacent preset monitoring points each corresponds to a preset difference threshold. Wherein, the preset difference threshold corresponding to the pipeline section between the adjacent preset monitoring points is calculated by the following formula:

[0087] =Q (2-m) βu m L / D (5-m) +|Z z -Z q |;

[0088] Wherein, is the preset difference threshold corresponding to the pipeline section between the adjacent preset monitoring points, Q is the volume flow of the oil, β and m are the flow parameters of the oil, u is the kinematic viscosity of the oil at the conveying temperature, L is the length of the pipeline section between the adjacent preset monitoring points, D is the inner diameter of the pipeline between the adjacent preset monitoring points, Z z , Z q are the elevations of the adjacent preset monitoring points respectively.

[0089] Step S30, a plurality of infrared images and a plurality of depth images of the ground surface around the pipeline section are collected, wherein the center of the infrared image is located in the position range of the pipeline section, and the center of the depth image is the same as that of the infrared image associated therewith.

[0090] As an example, the position range of the pipeline section between the adjacent preset monitoring points refers to the area on the ground surface where the pipeline section is mapped, and there are a plurality of preset feature points in the position range of the pipeline section, and the plurality of preset feature points are the centers of the plurality of infrared images and the plurality of depth images.

[0091] As an example, the infrared image can be collected by an infrared camera arranged on the unmanned aerial vehicle, and the depth image can be collected by a TOF camera arranged on the unmanned aerial vehicle. Wherein, the principle of TOF camera acquiring depth image is: by emitting continuous near-infrared pulses to the target scene, and then receiving the light pulses reflected by the object with a sensor. By comparing the phase difference between the emitted light pulses and the light pulses reflected by the object, the transmission delay between the light pulses can be calculated to obtain the distance of the object relative to the transmitter, and finally a depth image is obtained.

[0092] Step S40, based on the infrared image and the depth image, the position information of the leakage point is determined.

[0093] Referring to Figure 2As an example, the step of determining the position information of the leakage point based on the infrared image and the depth image comprises:

[0094] Step S41, for each infrared image, calculating the area proportion of the region in the infrared image with temperature greater than or equal to a preset temperature threshold in the infrared image.

[0095] As an example, for each infrared image, the infrared image is divided into m x n grids, the average temperature of each grid is taken as the temperature of the grid, the grids with temperature greater than or equal to the preset temperature threshold are filtered from all the grids, and the sum of the areas of the filtered grids is calculated. The ratio of the sum of the areas of the filtered grids to the area of the infrared image is the area proportion of the region in the infrared image with temperature greater than or equal to the preset temperature threshold.

[0096] Step S42, filtering out the infrared images with area proportion greater than or equal to a set threshold.

[0097] Step S43, based on the center of the filtered infrared images, the filtered infrared images are spliced and / or merged to obtain a first infrared image.

[0098] As an example, the center of the infrared image is a plurality of preset feature points existing in the position range of the pipeline section. Since the center is a preset feature point, the position information of the center of each infrared image is known. Taking the map of the area where the pipeline section is located as a reference page, the filtered infrared images are sorted and placed according to the position information of the center, the adjacent infrared images after sorting and placing are spliced, and the overlapping parts between the infrared images after sorting and placing are merged to obtain the first infrared image.

[0099] Step S44, based on the center of the depth image associated with the filtered infrared image, the depth image associated with the filtered infrared image is spliced and / or merged to obtain a first depth image.

[0100] It should be noted that the specific implementation process of splicing and / or merging the depth image associated with the filtered infrared image to obtain the first depth image is the same as that of splicing and / or merging the filtered infrared image to obtain the first infrared image, which will not be described here.

[0101] Step S45, according to the first depth image, the first infrared image is temperature corrected to obtain an analysis infrared image.

[0102] As an example, the step of correcting the temperature of the first infrared image according to the first depth image to obtain an analysis infrared image comprises:

[0103] Step S451, dividing the first depth image and the first infrared image into m*n grids, wherein the depth corresponding to each grid in the first depth image is F mn , and the temperature corresponding to each grid in the first infrared image is T mn .

[0104] Step S452, obtaining a corrected temperature based on a correction function T´ mn =f(F mn , T mn ), and replacing the temperature T mn corresponding to each grid in the first infrared image with the corrected temperature T´ mn to obtain an analysis infrared image; wherein the correction function is established by using a quadratic linear equation fitting.

[0105] It should be noted that the depth corresponding to each grid in the first depth image is the average depth of the grid, and the temperature corresponding to each grid in the first infrared image is the average temperature of the grid.

[0106] It can be understood that when the conveying pipeline is buried underground, it is often at the same horizontal position, but the ground surface is undulating. Therefore, based on the above geographical position, if the damaged part of the conveying pipeline corresponds to a higher ground surface, the oil leaked from the damaged part has overflowed to the lower ground surface, but it may not have overflowed to the ground surface corresponding to the damaged part. At this time, in the infrared image, the temperature of the ground surface corresponding to the damaged part is lower than that of the lower ground surface, which leads to inaccurate position information of the leakage point determined based on the temperature. Therefore, it is necessary to correct the temperature of the infrared image based on the depth image to accurately locate the leakage point.

[0107] Step S46, determining the position information of the leakage point based on the analysis infrared image.

[0108] As an example, the step of determining the position information of the leakage point based on the analysis infrared image includes:

[0109] Step S461, dividing the analysis infrared image into m*n grids, wherein the temperature corresponding to each grid in the analysis infrared image is T´ mn .

[0110] Step S462, performing mean value clustering on the temperature corresponding to each grid in the analysis infrared image to obtain a plurality of cluster centers c.

[0111] Specifically, the step of performing mean value clustering on the temperature corresponding to each grid in the analysis infrared image to obtain a plurality of cluster centers c includes:

[0112] 1) initialize K cluster centers, K cluster centers are U1, U2, …, Uk respectively;

[0113] 2) analyze the temperature corresponding to all grids in the infrared image, and distribute them to the nearest cluster set according to the principle of minimum distance, wherein the distance is calculated by using Euclidean distance;

[0114] 3) take the mean value of all temperatures in each cluster set as the new cluster center;

[0115] 4) repeat steps 1) ~ 3) until the cluster center no longer changes;

[0116] 5) end, get multiple cluster centers c.

[0117] Step S463, based on the formula s = 2 c , the number of isotherals s is calculated.

[0118] Step S463, based on the formula = (T max -T min ) / s, the temperature interval between adjacent isotherals is calculated, wherein T max is the maximum value in T´ mn , and T min is the minimum value in T´ mn .

[0119] Step S464, in the analysis infrared image, for the ith isothermal, perform the following steps: query all grids whose temperature is between (T min + (i-1) ) ~ (T min +i ), and use the nearest neighbor interpolation rule to smoothly connect the center points of all queried grids to draw the ith isothermal, and obtain the isothermal graph of the analysis infrared image.

[0120] Step S465, according to the isothermal graph, determine the interval with the highest temperature value as the region where the leakage point is located, and take the center position of the region where the leakage point is located as the position information of the leakage point.

[0121] As an example, according to the isothermal graph, the interval with the highest temperature value is determined as the region where the leakage point is located, and the center position of the region where the leakage point is located is taken as the position information of the leakage point. The step of, comprising:

[0122] According to the isothermal graph, the interval with the highest temperature value is determined as the region where the leakage point is located;

[0123] Obtain the minimum circumscribed rectangle of the region where the leakage point is located;

[0124] a center position of the minimum circumscribed rectangle as position information of the leakage point.

[0125] In addition, the embodiment of the present application also provides a pipeline leakage monitoring device. Referring to Figure 3 , Figure 3 FIG. 1 is a schematic diagram of functional modules of a pipeline leakage monitoring device according to an embodiment of the present application.

[0126] In the embodiment, the pipeline leakage monitoring device comprises:

[0127] a first acquisition module 10 configured to acquire pressure data of each preset monitoring point on a pipeline;

[0128] a first positioning module 20 configured to determine a pipeline section in which a leakage point exists based on the pressure data of each preset monitoring point;

[0129] a second acquisition module 30 configured to acquire a plurality of infrared images and a plurality of depth images of a ground surface around the pipeline section, wherein a center of the infrared image is located in a position range in which the pipeline section is located, and a center of the depth image is the same as a center of an infrared image associated therewith;

[0130] a second positioning module 40 configured to determine position information of the leakage point based on the infrared images and the depth images.

[0131] Optionally, the first positioning module comprises:

[0132] a filtering processing unit configured to perform filtering processing on the pressure data of each preset monitoring point to obtain filtered pressure data;

[0133] a pressure difference calculation unit configured to calculate a pressure difference between adjacent preset monitoring points based on the filtered pressure data;

[0134] a first positioning unit configured to determine that a pipeline section between the adjacent preset monitoring points has the leakage point if the pressure difference is greater than or equal to a preset difference threshold.

[0135] Optionally, the filtering processing unit is specifically configured to implement:

[0136] performing first filtering processing on the pressure data of each preset monitoring point based on a first-order low-pass filtering algorithm to obtain first filtered pressure data;

[0137] performing second filtering processing on the first filtered pressure data based on a median value average filtering method to obtain the filtered pressure data;

[0138] Alternatively, based on a median average filtering method, the pressure data of each preset monitoring point is filtered once to obtain the pressure data after first filtering;

[0139] Based on a first-order low-pass filtering algorithm, the pressure data after first filtering is filtered twice to obtain the pressure data after filtering.

[0140] Optionally, the second positioning module comprises:

[0141] The first calculation unit is configured to calculate, for each infrared image, an area ratio of a region with a temperature greater than or equal to a preset temperature threshold in the infrared image in the infrared image;

[0142] The screening unit is configured to screen out infrared images with an area ratio greater than or equal to a set threshold;

[0143] The first synthesis unit is configured to splice and / or merge the screened infrared images based on the centers of the screened infrared images to obtain a first infrared image;

[0144] The second synthesis unit is configured to splice and / or merge the depth images associated with the screened infrared images based on the centers of the depth images to obtain a first depth image;

[0145] The correction unit is configured to correct the first infrared image based on the first depth image to obtain an analysis infrared image;

[0146] The second positioning unit is configured to determine the position information of the leakage point based on the analysis infrared image.

[0147] Optionally, the correction unit is specifically configured to implement:

[0148] The first depth image and the first infrared image are both divided into m*n grids, wherein the depth corresponding to each grid in the first depth image is F mn , and the temperature corresponding to each grid in the first infrared image is T mn ;

[0149] Based on a correction function T´ mn =f(F mn , T mn ), a corrected temperature is obtained, and the temperature T mn corresponding to each grid in the first infrared image is replaced by the corrected temperature T´ mn to obtain an analysis infrared image; wherein the correction function is established by using a quadratic linear equation fitting.

[0150] Optionally, the second positioning unit is specifically configured to implement:

[0151] divide the analysis infrared image into m x n grids, wherein a temperature corresponding to each grid in the analysis infrared image is T´ mn ;

[0152] perform mean clustering on the temperature corresponding to each grid in the analysis infrared image to obtain a plurality of clustering centers c;

[0153] calculate the number of isotherals s based on the formula s = 2 c ;

[0154] calculate the temperature interval between adjacent isotherals based on the formula = (T max -T min ) / s, wherein T max is the maximum value in T´ mn , and T min is the minimum value in T´ mn ;

[0155] in the analysis infrared image, for the ith isothermal, perform the following steps: query all grids whose temperatures are located between (T min + (i-1) ) ~ (T min +i ), and use the nearest neighbor interpolation rule to smoothly connect the center points of all queried grids to draw the ith isothermal, thereby obtaining an isothermal graph of the analysis infrared image;

[0156] determine, according to the isothermal graph, a region with the highest temperature value as a region where the leakage point is located, and take the center position of the region where the leakage point is located as the position information of the leakage point.

[0157] Optionally, the determining, according to the isothermal graph, a region with the highest temperature value as a region where the leakage point is located, and taking the center position of the region where the leakage point is located as the position information of the leakage point, comprises:

[0158] determining, according to the isothermal graph, a region with the highest temperature value as a region where the leakage point is located;

[0159] obtaining a minimum circumscribed rectangle of the region where the leakage point is located;

[0160] taking the center position of the minimum circumscribed rectangle as the position information of the leakage point.

[0161] The specific implementation of the pipeline leakage monitoring device of the present application is basically the same as that of each embodiment of the above-mentioned pipeline leakage monitoring method, and will not be repeated here.

[0162] In addition, the embodiment of the present application further provides a pipeline leakage monitoring device. As shown in Figure 4 Figure 4 FIG. 1 is a structural schematic diagram of a hardware running environment of the pipeline leakage monitoring device according to the embodiment of the present application.

[0163] As shown in Figure 4 FIG. 1, the structural schematic diagram of the hardware running environment of the pipeline leakage monitoring device can include a processor 1001, for example, a CPU, a memory 1005, a user interface 1003, a network interface 1004, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication among the components. The user interface 1003 can include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 can further include a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory) such as a disk memory. Optionally, the memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0164] Optionally, the pipeline leakage monitoring device can further include an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like.

[0165] Those skilled in the art can understand that Figure 4 the structure of the pipeline leakage monitoring device shown in FIG. 1 does not constitute a limitation on the pipeline leakage monitoring device, and can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements.

[0166] As shown in Figure 4 FIG. 1, the memory 1005 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a pipeline leakage monitoring program. The operating system is a program that manages and controls the hardware and software resources of the pipeline leakage monitoring device, and supports the running of the pipeline leakage monitoring program and other software or programs.

[0167] In the pipeline leakage monitoring device shown in Figure 4 FIG. 1, the user interface 1003 is mainly used to connect a terminal and perform data communication with the terminal, such as receiving a request sent by the terminal; the network interface 1004 is mainly used for a background server and performs data communication with the background server; and the processor 1001 can be used to call the pipeline leakage monitoring program stored in the memory 1005 and execute the steps of the pipeline leakage monitoring method as described above.

[0168] ​The specific implementation of the pipeline leakage monitoring device of the present application is basically the same as each embodiment of the pipeline leakage monitoring method described above, and will not be repeated here.

[0169] In addition, the embodiments of the present application also propose a storage medium, wherein the storage medium stores a pipeline leakage monitoring program, and the pipeline leakage monitoring program, when executed by a processor, implements the steps of the pipeline leakage monitoring method described above.

[0170] The specific implementation of the storage medium of the present application is basically the same as each embodiment of the pipeline leakage monitoring method described above, and will not be repeated here.

[0171] It should be noted that in this paper, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the sentence "includes a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0172] The serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0173] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, device, or network device, etc.) execute the method described in each embodiment of the present application.

[0174] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method of monitoring a pipe for leaks, the method comprising: The pipeline leakage monitoring method comprises the following steps: Collecting pressure data of each preset monitoring point on the conveying pipeline; Based on the pressure data of each preset monitoring point, determining the pipeline section where the leakage point exists; Collecting multiple infrared images and multiple depth images of the ground surface around the pipeline section, wherein the center of the infrared image is located within the position range of the pipeline section, and the center of the depth image is the same as that of the infrared image associated therewith; For each infrared image, calculating the area ratio of the region in the infrared image where the temperature is greater than or equal to a preset temperature threshold in the infrared image; Screening out infrared images with an area ratio greater than or equal to a set threshold; Based on the center of the screened infrared image, splicing and / or merging the screened infrared images to obtain a first infrared image; Based on the center of the depth image associated with the screened infrared image, splicing and / or merging the depth images associated with the screened infrared images to obtain a first depth image; According to the first depth image, correcting the temperature of the first infrared image to obtain an analysis infrared image; dividing the analysis infrared image into mxn grids, wherein the temperature corresponding to each grid in the analysis infrared image is T´ mn ; Performing mean clustering on the temperature corresponding to each grid in the analysis infrared image to obtain multiple cluster centers c; Based on the formula s = 2 c , the number of isotherms s is calculated; Based on the formula (T max -T min ) / s, the temperature interval between adjacent isotherms is calculated, where T max is the maximum value in T´ mn and T min is the minimum value in T´ mn ; In the analysis infrared image, for the ith isotherm, the step of querying all grids with temperature between (T min + (i-1) ) ~ (T min + i ) is performed, all center points of the queried grids are smoothly connected using a nearest neighbor interpolation rule, the ith isotherm is drawn, and an isotherm graph of the analysis infrared image is obtained. According to the isotherm map, determining the interval with the highest temperature value as the region where the leakage point is located, and taking the center position of the region where the leakage point is located as the position information of the leakage point.

2. The method of claim 1, wherein, The step of determining the pipeline section where the leakage point exists based on the pressure data of each preset monitoring point comprises: Filtering the pressure data of each preset monitoring point to obtain filtered pressure data; Based on the filtered pressure data, calculating the pressure difference between adjacent preset monitoring points; If the pressure difference is greater than or equal to a preset difference threshold, it is determined that the pipeline section between the adjacent preset monitoring points has a leakage point.

3. The method of claim 2, wherein, The step of filtering the pressure data of each preset monitoring point to obtain filtered pressure data comprises: Based on a first-order low-pass filtering algorithm, performing first filtering on the pressure data of each preset monitoring point to obtain first filtered pressure data; Based on the median average filtering method, performing second filtering on the first filtered pressure data to obtain filtered pressure data; Alternatively, based on the median average filtering method, performing first filtering on the pressure data of each preset monitoring point to obtain first filtered pressure data; Based on a first-order low-pass filtering algorithm, performing second filtering on the first filtered pressure data to obtain filtered pressure data.

4. The method of claim 1, wherein, The step of correcting the temperature of the first infrared image according to the first depth image to obtain an analysis infrared image comprises: dividing the first depth image and the first infrared image into m x n grids, wherein a depth corresponding to each grid in the first depth image is F mn , and a temperature corresponding to each grid in the first infrared image is T mn ; Based on the correction function T' mn = f (F mn , T mn ), to obtain the corrected temperature, and replace the temperature T mn corresponding to each grid in the first infrared image with the corrected temperature T´ mn to obtain the analysis infrared image; wherein the correction function is established by using a quadratic linear equation fitting.

5. The method of claim 1, wherein, The step of determining the interval with the highest temperature value as the region where the leakage point is located according to the isotherm map, and taking the center position of the region where the leakage point is located as the position information of the leakage point comprises: According to the isotherm map, determining the interval with the highest temperature value as the region where the leakage point is located; Obtaining the minimum bounding rectangle of the region where the leakage point is located; Taking the center position of the minimum bounding rectangle as the position information of the leakage point.

6. A pipeline leak monitoring apparatus characterized by, The device comprises: A first acquisition module for acquiring pressure data of each preset monitoring point on the conveying pipeline; A first positioning module for determining a pipeline section with a leakage point based on the pressure data of each preset monitoring point; A second acquisition module for acquiring a plurality of infrared images and a plurality of depth images of the ground surface around the pipeline section, wherein the center of the infrared image is located within the position range of the pipeline section, and the center of the depth image is the same as that of the infrared image associated therewith; A second positioning module, comprising: A first calculation unit for calculating, for each infrared image, an area ratio of a region with a temperature greater than or equal to a preset temperature threshold in the infrared image in the infrared image; A screening unit for screening infrared images with an area ratio greater than or equal to a set threshold; A first synthesis unit for stitching and / or merging the screened infrared images based on the centers of the screened infrared images to obtain a first infrared image; A second synthesis unit for stitching and / or merging the depth images associated with the screened infrared images based on the centers of the depth images associated with the screened infrared images to obtain a first depth image; A correction unit for performing temperature correction on the first infrared image based on the first depth image to obtain an analysis infrared image; A second positioning unit, specifically for: dividing the analysis infrared image into mxn grids, wherein the temperature corresponding to each grid in the analysis infrared image is T´ mn ; Performing mean value clustering on the temperature corresponding to each grid in the analysis infrared image to obtain a plurality of cluster centers c; Based on the formula s = 2 c , the number of isotherms s is calculated; Based on the formula = (T max -T min ) / s, the temperature interval between adjacent isotherms is calculated, where T max is the maximum value in T´ mn and T min is the minimum value in T´ mn ; In the analysis infrared image, for the ith isotherm, the step of querying all grids with temperature between (T min + (i-1) ) ~ (T min + i ) is performed, all center points of the queried grids are smoothly connected using a nearest neighbor interpolation rule, the ith isotherm is drawn, and an isotherm graph of the analysis infrared image is obtained. According to the isotherm map, determining the interval with the highest temperature value as the region where the leakage point is located, and taking the center position of the region where the leakage point is located as the position information of the leakage point.

7. A pipeline leak monitoring apparatus characterized by, The pipeline leakage monitoring device comprises a processor, a memory, and a pipeline leakage monitoring program stored on the memory and executable on the processor. When the pipeline leakage monitoring program is executed by the processor, the steps of the pipeline leakage monitoring method according to any one of claims 1 to 5 are implemented.

8. A storage medium, characterized by The storage medium stores a pipeline leakage monitoring program. When the pipeline leakage monitoring program is executed by the processor, the steps of the pipeline leakage monitoring method according to any one of claims 1 to 5 are implemented.

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