Ship pipeline leakage thermal imaging monitoring system based on digital twin

Abstract

The present invention provides a ship pipeline leakage thermal imaging monitoring system based on digital twin, including a ship pipeline digital model construction system, a pipeline thermal imaging monitoring system, a model interactive update system, a pipeline leakage fault monitoring system and a pipeline leakage early warning system. By combining infrared thermal imaging technology with digital twin technology, advanced image processing technology and machine learning algorithms, it aims to achieve early identification, accurate positioning and early warning of high temperature anomalies in ship pipeline systems, so as to take appropriate measures to ensure the safe operation of the ship. It can be used for status monitoring and fault diagnosis of any pipeline of the ship, improves the efficiency and accuracy of detection, and reduces operating costs and safety risks.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a ship pipeline leakage thermal imaging monitoring system based on digital twins. Background Art

[0002] In recent years, the rapid development of ship intelligence has also led to higher requirements for the safety and reliability of ship equipment. The ship pipeline system plays a key role in ship operation, covering the transportation of various media such as oil, water and gas. Since most ship oil and gas pipelines operate in an environment of strong vibration, high humidity and high salinity, they are prone to damage and leakage, causing fuel to splash onto high-temperature pipelines or equipment surfaces, causing serious safety hazards and even fires. Therefore, real-time monitoring and identification of high temperature anomalies on the pipeline surface is crucial to maintaining ship safety and reducing operational risks.

[0003] However, the installation inspection of oil, water and gas pipelines such as the exhaust pipes of the main engine and generator is generally completed by visual inspection during the ship construction stage, and it is difficult to check whether there are high-temperature leaks or exposed points after the actual equipment is put into operation. Especially when the ship has been in operation for a long time, it is difficult to find out the reasons such as aging of some insulation materials or loose connections in time.

[0004] Manual patrol detection technology is a common external environment detection method with low implementation cost, which is mainly judged by the experience of the crew. This solution has problems such as low efficiency, slow speed and low accuracy, which is easy to cause misjudgment.

[0005] In traditional ship pipeline monitoring, temperature sensors are generally used to monitor the temperature of the pipeline. The temperature sensors measure the temperature through physical contact. However, this point measurement method has some limitations. First, the deployment of temperature sensors is usually limited, so it may not cover the entire pipeline system. Second, temperature sensors require regular maintenance and calibration, which may lead to increased operating costs. Most importantly, temperature sensors can only provide point measurements because the pipeline system is usually large and complex, and it is difficult to cover all key points. Therefore, it is impossible to provide global information on temperature distribution and it is difficult to capture local high temperature problems that may exist in the entire pipeline system.

[0006] As a technology for high-temperature identification, infrared thermal imaging technology uses detectors to detect the thermal radiation of target objects and environmental thermal radiation, and then converts them into electrical signals through a series of electronic components, and then outputs infrared images to determine their surface temperature. It can be used to check for hidden dangers and detect abnormal surface temperatures of pipelines. However, the hull environment, measurement distance, and atmospheric temperature differences cause noise, and because some pipelines are inside the hull, it is impossible to perform all-round infrared thermal imaging and accurately identify leakage areas, resulting in errors and misjudgments when analyzing thermal images of ship pipelines. For example, when there are many stray heat sources on the surface of the pipeline, traditional infrared thermal imaging methods may produce false alarms or missed alarms, and it is difficult to locate and warn high-temperature leakage points, which affects accuracy and safety. Therefore, there are still some challenges in accurately detecting and identifying high-temperature anomalies using only this technology. Summary of the invention

[0007] The present invention provides a ship pipeline leakage thermal imaging monitoring system based on digital twin, which is used to solve the defects of low efficiency, low accuracy, limitations and high cost in the prior art of high-temperature detection of ship pipelines, and can be used for status monitoring and fault diagnosis of any pipeline in the ship, thereby improving the efficiency and accuracy of detection and reducing operating costs and safety risks.

[0008] The present invention provides a ship pipeline leakage thermal imaging monitoring system based on digital twin, comprising:

[0009] A ship pipeline digital model building system is used to perform three-dimensional modeling of the ship pipeline according to the ship pipeline data, and perform thermodynamics and fluid mechanics simulation to obtain a digital twin model of the ship pipeline;

[0010] A pipeline thermal imaging monitoring system, used to collect infrared thermal images of the surface of the ship's pipelines through an infrared thermal imager, and to collect sensory data of the ship's pipelines through sensors;

[0011] A model interactive update system, used to compare and analyze the collected perception data and infrared thermal images with the corresponding simulation data generated by the digital twin model, and adjust the digital twin model according to the analysis results;

[0012] A pipeline leakage fault monitoring system, used to obtain the adjusted temperature distribution of the digital twin model, and determine the leakage location and leakage degree of the ship pipeline based on the temperature distribution and the machine learning algorithm;

[0013] The pipeline leakage fault early warning system is used to use the adjusted digital twin model to preview the degradation trend of the ship pipeline, predict the leakage degree and leakage time point of the ship pipeline according to the degradation trend, and issue an early warning according to the leakage degree and leakage time point of the ship pipeline.

[0014] According to a digital twin-based ship pipeline leakage thermal imaging monitoring system provided by the present invention, the data of the ship pipeline includes one or more of dimension data, structure data, material property data and spatial position.

[0015] According to a ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention, the dimension data includes one or more of the length, diameter and bending angle of the ship pipeline;

[0016] The structural data includes one or more of the connection mode, supporting structure and welding point position of the ship pipeline;

[0017] The material property data includes one or more of density, thermal conductivity, thermal expansion coefficient and corrosion resistance of the ship pipeline;

[0018] The spatial position includes one or more of the spatial position of the ship pipeline inside the ship and the relative position relationship with surrounding equipment and structural parts.

[0019] According to a ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention, the digital twin model includes a geometric model, a physical model, a behavior model and a rule model;

[0020] The geometric model is a model obtained by three-dimensional modeling based on the physical entity data of the ship pipeline, and the geometric model includes one or more of the pipe wall, pipe inlet and outlet, pipe thickness and pipe shape of the ship pipeline;

[0021] The physical model is simulated according to different pipeline transportation conditions of the ship pipeline to construct a model of pressure distribution, temperature distribution and flow velocity distribution reflecting the real state of the ship pipeline;

[0022] The behavior model includes pressure change behavior, temperature change behavior, flow velocity change and pipe wall degradation behavior of the ship pipeline under different degrees of pipe wall degradation;

[0023] The rule model includes historical experience rules, pipe wall degradation mechanism, failure law and parameter adjustment and updating rules.

[0024] According to a digital twin-based ship pipeline leakage thermal imaging monitoring system provided by the present invention, the pipeline thermal imaging monitoring system is specifically used for:

[0025] The pressure corresponding to the inlet and outlet of the ship pipeline is collected by a pressure sensor installed on the inlet and outlet of the ship pipeline;

[0026] The speed sensors installed on the inlet and outlet of the ship pipeline collect the speed corresponding to the inlet and outlet;

[0027] The collected pressures and velocities corresponding to the inlets and outlets, as well as the types and properties of the transmission medium are input into the digital twin model of the ship pipeline for simulation. During the simulation process, the internal fluid flow, pressure distribution and temperature field changes of the ship pipeline are simulated to generate the temperature distribution field of the ship pipeline.

[0028] According to a ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention, the model interactive update system is specifically used for:

[0029] Extracting a temperature distribution field from the infrared thermal image;

[0030] When the temperature difference in the same area between the temperature distribution field corresponding to the infrared thermal image and the temperature distribution field generated by the digital twin model is greater than a preset threshold, the heat exchange coefficient between the digital twin model and the outside world, the temperature and velocity of the fluid inlet are adjusted, and the geometric structure of the digital twin model is optimized.

[0031] According to a ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention, the model interactive update system specifically optimizes the geometric structure of the digital twin model through the following steps:

[0032] Identifying an abnormal temperature area from the infrared thermal image;

[0033] The geometric structure of the temperature abnormality area in the digital twin model is adjusted, and the failure of the ship pipeline is simulated by destroying the pipe wall of the geometric model in the digital twin model.

[0034] According to a digital twin-based thermal imaging monitoring system for ship pipeline leakage provided by the present invention, the failure of the ship pipeline includes one or more of corrosion, wear, erosion, cracks and holes;

[0035] For the corrosion of the ship pipeline, the thickness of the geometric model corresponding to the temperature abnormal area is reduced to simulate the situation that the ship pipeline is gradually thinned due to corrosion during long-term use. The corrosion will change the thermal conductivity and fluid flow characteristics of the ship pipeline, resulting in local temperature and pressure abnormalities. The material thermal conductivity coefficient and heat exchange conditions of the temperature abnormal area are adjusted to simulate the state of the ship pipeline after corrosion;

[0036] For cracks or holes in the ship pipeline, cracks or holes are introduced into the geometric model corresponding to the temperature abnormality area to simulate the rupture of the ship pipeline caused by mechanical stress, fatigue or external force. The cracks or holes will cause fluid leakage, change the local pressure, velocity and temperature field distribution, adjust the fluid dynamics parameters of the ship pipeline, and monitor the temperature field changes of the digital twin model in real time to ensure consistency with the actual monitoring data of the ship pipeline;

[0037] For local wear or erosion of the ship pipeline, the thickness of the geometric model corresponding to the temperature abnormality area is gradually reduced or the local surface roughness is increased.

[0038] According to a digital twin-based ship pipeline leakage thermal imaging monitoring system provided by the present invention, the pipeline leakage fault monitoring system is specifically used for:

[0039] Extracting a temperature distribution field from the infrared thermal image, and identifying an abnormal temperature area in the infrared thermal image according to the temperature distribution field;

[0040] Calculate the spatial position relationship between the infrared thermal image and the three-dimensional model in the digital twin model according to the geometric shape of the ship pipeline, the installation position of the equipment for taking the infrared thermal image, the shooting angle, and the shooting distance;

[0041] According to the spatial position relationship between the infrared thermal image and the three-dimensional model, a reconstruction algorithm or a direct projection algorithm is used to map the temperature abnormal area to a coordinate point on the three-dimensional model, and determine the three-dimensional coordinates corresponding to the temperature abnormal area;

[0042] The leakage degree of the ship pipeline is determined according to the temperature at the three-dimensional coordinates corresponding to the temperature abnormality area in the digital twin model.

[0043] According to a digital twin-based ship pipeline leakage thermal imaging monitoring system provided by the present invention, the pipeline leakage fault early warning system is specifically used for:

[0044] An accelerated degradation simulation model based on fatigue life prediction is used to simulate the degradation process, time scaling and load amplification of the ship pipeline to obtain the degradation trend of the ship pipeline in the future;

[0045] The leakage degree and leakage time point of the ship pipeline are predicted according to the degradation trend.

[0046] The digital twin-based ship pipeline leakage thermal imaging monitoring system provided by the present invention combines infrared thermal imaging technology with digital twin technology, advanced image processing technology and machine learning algorithms by using a ship pipeline digital model construction system, a pipeline thermal imaging monitoring system, a model interactive update system, a pipeline leakage fault monitoring system and a pipeline leakage early warning system. It aims to achieve early identification, accurate positioning and early warning of high temperature anomalies in the ship's pipeline system, so as to take appropriate measures to ensure the safe operation of the ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a structural schematic diagram of a ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention;

[0049] Figure 2 It is a structural schematic diagram of a digital twin model of a ship pipeline in a ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention;

[0050] Figure 3 It is a schematic diagram of the processing flow of the pipeline thermal imaging monitoring system in the ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention;

[0051] Figure 4 It is a processing flow diagram of a model interactive updating system in a ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention;

[0052] Figure 5 It is a schematic diagram of the processing flow of the pipeline leakage fault monitoring system in the ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention;

[0053] Figure 6 It is a schematic diagram of the processing flow of the pipeline leakage early warning system in the ship pipeline leakage thermal imaging monitoring system based on digital twin provided by the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] Combine the following Figure 1 The present invention describes a ship pipeline leakage thermal imaging monitoring system based on digital twin, comprising:

[0056] A ship pipeline digital model building system is used to perform three-dimensional modeling of the ship pipeline according to the ship pipeline data, and perform thermodynamics and fluid mechanics simulation to obtain a digital twin model of the ship pipeline;

[0057] The first step is data collection and preliminary processing. By measuring the size data, structure data, material property data and spatial position of the pipeline, Solidworks is used to build a corresponding high-fidelity three-dimensional model and perform thermodynamics and fluid mechanics simulations.

[0058] A pipeline thermal imaging monitoring system, used to collect infrared thermal images of the surface of the ship's pipelines through an infrared thermal imager, and to collect sensory data of the ship's pipelines through sensors;

[0059] The pipeline thermal imaging monitoring system is a monitoring system based on infrared thermal imaging technology and supplemented by a sensor perception system. The infrared thermal imager generates original infrared thermal images, captures thermal images of the ship's pipeline surface in all directions and in real time, and then reads the original infrared image data and extracts the image through the image acquisition module.

[0060] The pipeline thermal imaging monitoring system is used to capture and analyze the thermal images of the pipeline surface and related sensor data in real time. High-precision infrared thermal imagers are installed at key locations on ship pipelines to ensure that the pipeline surface can be fully covered and the thermal images of the pipeline in operation can be captured in real time. The infrared thermal imager will generate a raw infrared thermal image that reflects the temperature distribution on the pipeline surface. The image is output in digital form and transmitted to the image acquisition module for further processing.

[0061] The data collected by the sensor is transmitted to the central processing unit through the data acquisition module and used together with the infrared thermal image data for the simulation and analysis of the pipeline digital model. The data processing module receives the original infrared image data output by the infrared thermal imager and pre-processes the image, including image noise reduction, enhancement and correction, to ensure the accuracy and availability of the data.

[0062] A model interactive update system, used to compare and analyze the collected perception data and infrared thermal images with the corresponding simulation data generated by the digital twin model, and adjust the digital twin model according to the analysis results;

[0063] Since pipelines may deteriorate or even break during the transportation of oil and gas, it is necessary to compare and analyze the real-time collected perception data and infrared thermal images with the simulation data generated by the pipeline digital model, and adjust the pipeline digital model in real time to ensure the accuracy and reliability of the digital twin model.

[0064] The model interactive update system consists of network environment, input and output devices, data processing unit and other related technologies, and serves as the medium for data transmission between physical pipelines and digital models of pipelines.

[0065] Among them, the network environment ensures real-time data transmission between the physical pipeline and the digital model. The input and output devices include sensors, infrared thermal imagers and user operation terminals, which are used for data collection and user interaction.

[0066] The network environment uses high-speed data transmission technology to ensure real-time data transmission from the physical pipeline to the digital model, and processes and stores it through the cloud or local server. The operation data of the pipeline is collected in real time, including information such as pressure, speed, and temperature distribution. These sensed data are transmitted to the central processing unit through the network environment, and the central processing unit organizes the data and inputs it into the digital twin model of the pipeline. The digital twin model simulates according to the sensed data transmitted in real time and generates corresponding simulation data, such as temperature distribution field, pressure distribution field, etc.

[0067] The interactive model update system automatically compares and analyzes the real-time sensor data and infrared thermal images with the simulation data to identify the differences between the physical pipeline and the digital model. Based on the results of the comparison and analysis, the system automatically adjusts the digital model in real time to ensure that the model can accurately reflect the current status of the pipeline. For example, if the sensor data indicates that the temperature or pressure is abnormal somewhere, but the digital model does not reflect it, the system will adjust the model parameters to match the actual situation.

[0068] A pipeline leakage fault monitoring system, used to obtain the adjusted temperature distribution of the digital twin model, and determine the leakage location and leakage degree of the ship pipeline based on the temperature distribution and the machine learning algorithm;

[0069] The collected perception data and image data are transmitted to the leakage fault monitoring system, and the leakage fault monitoring system compares and analyzes the collected infrared thermal images with the digital twin model. Since the infrared thermal image captures a two-dimensional picture, and the digital model of the pipeline is a three-dimensional model, in order to make an effective comparison, the image processing module in the system will analyze the area with abnormal temperature in the infrared thermal image, extract the two-dimensional coordinates of the abnormal point, calculate the coordinates of its center point or edge, and obtain the two-dimensional position coordinates (X, Y) of the abnormal area on the infrared thermal image. These coordinates represent the position of each temperature abnormal area in the image, expressed in the form of (X, Y). These two-dimensional coordinate data will be transmitted to the digital twin model of the pipeline, and the effective fusion of the two-dimensional image and the three-dimensional model will be achieved by matching and comparing the models.

[0070] Based on the (X, Y) data transmitted to the digital twin model, the system will adjust the pipeline geometry model structure in real time for simulation. By artificially destroying the pipe wall in the pipeline geometry model, the temperature field distribution and temperature change trend of the pipeline digital model that are highly similar to the infrared thermal image can be obtained, and then the pipeline fault characteristics can be judged as mild leakage, moderate leakage, severe leakage or extremely severe leakage, and the (X, Y, Z) positioning in the three-dimensional model can be obtained, thereby accurately locating the possible leakage location and degree of leakage during the actual operation of the pipeline.

[0071] The pipeline leakage fault early warning system is used to use the adjusted digital twin model to preview the degradation trend of the ship pipeline, predict the leakage degree and leakage time point of the ship pipeline according to the degradation trend, and issue an early warning according to the leakage degree and leakage time point of the ship pipeline.

[0072] The pipeline leakage early warning system is a pipeline leakage prediction and early warning technology based on multi-source data fusion and accelerated degradation simulation. The system builds a digital twin model of the pipeline through real-time collection and processing of multi-dimensional data such as pipeline inlet and outlet speeds, inlet and outlet pressures, and infrared thermal images inside the pipeline, and combines advanced simulation algorithms to perform real-time simulation and accelerated degradation simulation. The system can monitor the operation status of the pipeline in real time, and can also use simulation technology to preview the degradation trend of the pipeline in a specific time period in the future, and predict the degree of leakage and specific time nodes that may occur. Accelerated degradation simulation technology allows the system to obtain the degradation behavior of the pipeline under long-term operation in a short period of time, thereby achieving early warning and prevention, greatly improving the safety and reliability of the pipeline system.

[0073] This embodiment provides a ship pipeline leakage thermal imaging monitoring system based on digital twin, which includes a ship pipeline digital model construction system, a pipeline thermal imaging monitoring system, a model interactive update system, a pipeline leakage fault monitoring system, and a pipeline leakage early warning system. By combining infrared thermal imaging technology with digital twin technology, advanced image processing technology and machine learning algorithms, it aims to achieve early identification, accurate positioning and early warning of high temperature anomalies in the ship pipeline system, so as to take appropriate measures to ensure the safe operation of the ship.

[0074] On the basis of the above-mentioned embodiment, the data of the ship pipeline in this embodiment includes one or more of dimension data, structure data, material property data and spatial position.

[0075] Based on the above embodiment, the dimension data in this embodiment includes one or more of the length, diameter and bending angle of the ship pipeline;

[0076] The structural data includes one or more of the connection mode, supporting structure and welding point position of the ship pipeline;

[0077] The material property data includes one or more of density, thermal conductivity, thermal expansion coefficient and corrosion resistance of the ship pipeline;

[0078] The spatial position includes one or more of the spatial position of the ship pipeline inside the ship and the relative position relationship with surrounding equipment and structural parts.

[0079] Use laser scanning or other high-precision measuring equipment to obtain the geometric dimension data of the ship's oil and gas pipelines, including the length, diameter, bending angle, etc. of the pipeline, to ensure that these data can fully and accurately reflect the actual shape of the pipeline.

[0080] Obtain the structural information of the pipeline, including the connection method, support structure, welding point location, etc., so that the impact of these structural features on pipeline performance can be considered in the subsequent modeling process.

[0081] Collect data on the physical properties of pipeline materials, such as density, thermal conductivity, thermal expansion coefficient, corrosion resistance, etc. These data will be used to build a physical model to simulate the behavior of the pipeline under different working conditions.

[0082] Use 3D scanning technology or other positioning methods to determine the spatial position of the pipeline inside the ship and record its relative position relationship with surrounding equipment and structural parts.

[0083] This embodiment builds an accurate simulation model based on digital twin technology by fusing multi-dimensional data, such as pipeline inlet and outlet velocities, pressures, and infrared thermal images, to reflect the operating status of the pipeline in real time. This multi-source data fusion significantly improves the monitoring accuracy and real-time response capability of the system.

[0084] Based on the above embodiments, Figure 2 As shown, the digital twin model described in this embodiment includes a geometric model, a physical model, a behavioral model and a rule model;

[0085] The geometric model is a model obtained by three-dimensional modeling based on the physical entity data of the ship pipeline, and the geometric model includes one or more of the pipe wall, pipe inlet and outlet, pipe thickness and pipe shape of the ship pipeline;

[0086] The physical model is simulated according to different pipeline transportation conditions of the ship pipeline to construct a model of pressure distribution, temperature distribution and flow velocity distribution reflecting the real state of the ship pipeline;

[0087] The behavior model includes pressure change behavior, temperature change behavior, flow velocity change and pipe wall degradation behavior of the ship pipeline under different degrees of pipe wall degradation;

[0088] The rule model includes historical experience rules, pipe wall degradation mechanism, failure law and parameter adjustment and updating rules.

[0089] Digital models include geometric models, physical models, behavioral models and rule models. The collected physical entity data is used to build a 1:1 geometric model of the pipeline in 3D modeling software (such as SolidWorks, AutoCAD, etc.), and a geometric model based on the pipe wall, pipe inlet and outlet, pipe thickness and pipe shape is built.

[0090] The physical model is to import the geometric model into the simulation software (such as Star CCM+, Ansys, etc.), and perform physical simulation on the geometric model according to the actual transportation conditions (such as fluid type, flow, pressure, temperature, etc.) to establish a physical model that can reflect the actual operation status of the pipeline. The physical model will include key parameters such as pressure distribution, temperature distribution, and flow velocity distribution to simulate the dynamic behavior of the fluid inside the pipeline under different working conditions.

[0091] The behavior model includes the pressure change behavior, temperature change behavior, flow velocity change and pipe wall degradation behavior of the pipeline under different degrees of pipe wall degradation.

[0092] The rule model includes historical experience rules, pipe wall degradation mechanism, failure rules and parameter adjustment and update rules. The constructed model is imported into Star CCM+, Ansys and other software for meshing, fluid boundary definition and simulation.

[0093] Based on the above embodiment, the pipeline thermal imaging monitoring system described in this embodiment is specifically used for:

[0094] The pressure corresponding to the inlet and outlet of the ship pipeline is collected by a pressure sensor installed on the inlet and outlet of the ship pipeline;

[0095] The speed sensors installed on the inlet and outlet of the ship pipeline collect the speed corresponding to the inlet and outlet;

[0096] The collected pressures and velocities corresponding to the inlets and outlets, as well as the types and properties of the transmission medium are input into the digital twin model of the ship pipeline for simulation. During the simulation process, the internal fluid flow, pressure distribution and temperature field changes of the ship pipeline are simulated to generate the temperature distribution field of the ship pipeline.

[0097] Pressure sensors and velocity sensors are installed at the inlet and outlet of the pipeline to collect data related to inlet and outlet pressure and velocity. Combined with the type and properties of the transmission medium, the pipeline digital model is simulated in real time.

[0098] like Figure 3 As shown in the figure, the pipeline thermal imaging monitoring system extracts the temperature distribution information in the image and inputs it as key data into the subsequent simulation process. The collected pressure and velocity data, as well as the type and properties of the transmission medium (such as viscosity, density, thermal conductivity, etc.) are input into the digital twin model of the pipeline for real-time simulation. The simulation process simulates the fluid flow, pressure distribution and temperature field changes inside the pipeline to generate the temperature distribution field of the pipeline. The system verifies and compares the pipeline temperature distribution field obtained through simulation with the infrared thermal imaging image.

[0099] Based on the above embodiment, the model interactive updating system described in this embodiment is specifically used for:

[0100] Extracting a temperature distribution field from the infrared thermal image;

[0101] When the temperature difference in the same area between the temperature distribution field corresponding to the infrared thermal image and the temperature distribution field generated by the digital twin model is greater than a preset threshold, the heat exchange coefficient between the digital twin model and the outside world, the temperature and velocity of the fluid inlet are adjusted, and the geometric structure of the digital twin model is optimized.

[0102] The processing flow of the model interactive update system is as follows Figure 4As shown in the figure, first make a preliminary diagnosis of the inconsistent areas, identify the areas where the temperature difference between the model and the thermal image is large, analyze the possible deviations in heat source, heat transfer, material properties, etc., and adjust the heat transfer coefficient between the pipeline and the outside according to the working conditions of the pipeline, especially the natural convection and radiation heat transfer conditions on the pipeline surface. If the temperature of the external thermal image is high, it may be necessary to reduce the heat transfer coefficient. Adjust the temperature and velocity of the fluid inlet to ensure a more accurate temperature distribution during the fluid flow process and optimize the geometric structure.

[0103] If the infrared thermal image shows abnormalities in certain local areas (such as corrosion or wear), the model can be made closer to the actual physical state by adjusting the geometric structure (such as reducing local thickness, increasing inner wall roughness, etc.). For complex geometric structures (such as elbows and joints), details can be added or corrected to match the actual temperature distribution.

[0104] If the temperature field of the fluid in the pipeline is inconsistent with the model simulation results, the accuracy of the temperature distribution can be improved by adjusting the viscosity coefficient and turbulence parameters of the fluid. After each parameter adjustment, re-simulate. Compare the adjusted temperature field distribution with the two-dimensional temperature field in the infrared thermal image. By repeatedly iteratively adjusting the parameters, the temperature difference between the two is gradually reduced, and finally a high degree of consistency in the temperature field is achieved. The adjusted model will be used for the next simulation and prediction, forming a closed-loop system that continuously updates and optimizes itself.

[0105] This embodiment is based on the characteristic that the pipeline deteriorates during operation, and combines advanced intelligent algorithms such as artificial neural networks and machine learning algorithms. It can dynamically adjust the digital model of the pipeline by learning historical data and real-time data to achieve adaptive simulation and prediction.

[0106] Based on the above embodiment, the model interactive update system in this embodiment optimizes the geometric structure of the digital twin model through the following steps:

[0107] Identifying an abnormal temperature area from the infrared thermal image;

[0108] The geometric structure of the temperature abnormality area in the digital twin model is adjusted, and the failure of the ship pipeline is simulated by destroying the pipe wall of the geometric model in the digital twin model.

[0109] Based on the above embodiment, the failure of the ship pipeline in this embodiment includes one or more of corrosion, wear, erosion, cracks and holes;

[0110] In response to pipe wall corrosion, local thickness reduction will be set on the pipe wall to simulate the situation where the pipe becomes gradually thinner due to corrosion during long-term use. This damage will change the thermal conductivity and fluid flow characteristics of the pipe, resulting in local temperature and pressure anomalies. Model adjustment requires corresponding adjustments to the thermal conductivity coefficient of the material, the heat exchange conditions of the pipe, and the local geometric structure (thickness) changes to reflect the state after corrosion.

[0111] For cracks or holes, artificial cracks or holes are introduced into the geometric model to simulate the rupture of the pipeline when it is subjected to mechanical stress, fatigue or external force. Cracks or holes will cause fluid leakage and change the local pressure, velocity and temperature field distribution. Model adjustment should focus on adjusting the fluid dynamics parameters of the pipeline (such as turbulence model, flow velocity distribution, etc.), and monitor the changes in the temperature field in real time to ensure consistency with the actual monitoring data.

[0112] For local wear or erosion, wear simulation is performed on local areas inside or outside the digital model of the pipeline, which usually manifests as gradual thickness reduction or local surface roughness increase. The system then simulates the adjusted geometric model to generate a three-dimensional temperature field distribution and temperature change trend similar to the temperature abnormal area in the infrared thermal image.

[0113] On the basis of the above embodiments, the pipeline leakage fault monitoring system described in this embodiment is specifically used for:

[0114] Extracting a temperature distribution field from the infrared thermal image, and identifying an abnormal temperature area in the infrared thermal image according to the temperature distribution field;

[0115] Calculate the spatial position relationship between the infrared thermal image and the three-dimensional model in the digital twin model according to the geometric shape of the ship pipeline, the installation position of the equipment for taking the infrared thermal image, the shooting angle, and the shooting distance;

[0116] According to the spatial position relationship between the infrared thermal image and the three-dimensional model, a reconstruction algorithm or a direct projection algorithm is used to map the temperature abnormal area to a coordinate point on the three-dimensional model, and determine the three-dimensional coordinates corresponding to the temperature abnormal area;

[0117] The leakage degree of the ship pipeline is determined according to the temperature at the three-dimensional coordinates corresponding to the temperature abnormality area in the digital twin model.

[0118] The processing flow of pipeline leakage fault monitoring system is as follows Figure 5As shown in the figure, according to the temperature field distribution generated by the simulation, the system will automatically compare the abnormal area in the infrared thermal image, judge the characteristics of the leakage fault and the depth of wear, and classify it into mild leakage, moderate leakage, severe leakage or extremely severe leakage. The system calculates the spatial correspondence between the infrared thermal image and the three-dimensional pipeline model by using the (X, Y) data transmitted to the digital twin model, the geometric shape of the pipeline, the installation position of the camera equipment, the shooting angle and the camera distance. Based on the known spatial position relationship between the image and the three-dimensional model, the reconstruction algorithm (such as SFM, Structure from Motion) or the direct projection algorithm is used to map the two-dimensional coordinates to the coordinate points on the three-dimensional surface. The three-dimensional coordinates (X, Y, Z) of the abnormal temperature area are determined in the digital model to accurately locate the possible leakage position of the pipeline. By locating the (X, Y, Z) coordinates on the digital twin model, the system finally obtains the location and specific degree of leakage that may occur during the actual operation of the pipeline. This information will be transmitted to the user terminal, and maintenance personnel can take effective repair measures in time based on these accurate data.

[0119] According to the temperature at the three-dimensional coordinates corresponding to the temperature abnormal area in the digital twin model, the specific steps of determining the leakage degree of the ship pipeline may include: clustering the three-dimensional coordinates according to the temperature at the three-dimensional coordinates corresponding to the temperature abnormal area; determining the temperature average value and central coordinate corresponding to each type of three-dimensional coordinates, and the distance between the coordinate position average values ​​of any two types of terminal nodes, the central coordinate is the average value of each type of three-dimensional coordinates; for any type of three-dimensional coordinates, according to the distance between the three-dimensional coordinates of other types and the central coordinates of this type of three-dimensional coordinates, the weight corresponding to the three-dimensional coordinates of other types is determined, and the larger the distance, the smaller the weight; weighted summing the weight corresponding to the three-dimensional coordinates of other types and the temperature average value corresponding to the three-dimensional coordinates of other types to obtain the temperature sum; adding the temperature average value corresponding to this type of three-dimensional coordinates to the temperature sum, and determining the leakage degree of the ship pipeline according to the addition result. Considering the temperature influence between each type of area, the accuracy of calculating the leakage degree of the ship pipeline is improved.

[0120] The calculated addition result can be compared with the preset value range corresponding to each leakage degree, and the leakage degree within the value range of the addition result is used as the leakage degree corresponding to each type of three-dimensional coordinate. The maximum value of the leakage degree corresponding to each type of three-dimensional coordinate is used as the leakage degree of the ship pipeline. The leakage degree of the ship pipeline can be divided into mild leakage, moderate leakage and moderate leakage.

[0121] This embodiment innovatively solves the problem that two-dimensional images cannot directly reflect three-dimensional structures by comparing and verifying the temperature anomalies in two-dimensional infrared thermal images with three-dimensional digital twin models. This technical effect significantly improves the accuracy of leak detection and can accurately identify the location and severity of leaks by accurately locating the three-dimensional coordinates of the pipeline.

[0122] On the basis of the above embodiments, the pipeline leakage fault early warning system described in this embodiment is specifically used for:

[0123] An accelerated degradation simulation model based on fatigue life prediction is used to simulate the degradation process, time scaling and load amplification of the ship pipeline to obtain the degradation trend of the ship pipeline in the future;

[0124] The leakage degree and leakage time point of the ship pipeline are predicted according to the degradation trend.

[0125] The processing flow of pipeline leakage warning system is as follows Figure 6 As shown in the figure, the pipeline leakage warning system combines the collected speed, pressure, temperature and other sensor data and infrared thermal imaging image data with finite element analysis (FEA) to simulate the structural stress and strain distribution of the pipeline, and computational fluid dynamics (CFD) to simulate the flow behavior, pressure distribution and temperature field changes of the fluid in the pipeline. Through real-time simulation of the digital twin model, the fluid flow, pressure distribution and temperature changes inside the pipeline are dynamically displayed.

[0126] The system uses accelerated degradation simulation technology based on fatigue life prediction, such as corrosion model (CorrosionModel), cumulative damage model (Cumulative Damage Model) and fracture mechanics model (Fracture MechanicsModel). By simulating the accelerated pipeline degradation process, time scaling and load amplification, the degradation behavior that the pipeline may experience in the future is simulated. Accelerated degradation simulation simulates the fatigue and corrosion of pipeline materials according to different degradation mechanisms, and predicts the degree of leakage that may occur in the pipeline in the future and its specific time node. Through early warning, maintenance personnel can take preventive measures to avoid pipeline leakage accidents, greatly improving the safety and reliability of the pipeline system.

[0127] This embodiment uses accelerated degradation simulation technology to quickly simulate material fatigue, corrosion and other processes, so that the system can simulate the long-term operation behavior of the pipeline in a relatively short time. This technology accelerates the degradation process and helps predict the state of the pipeline at a specific point in the future, thereby achieving early warning.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ship pipeline leakage thermal imaging monitoring system based on digital twin, characterized in that: include: A ship pipeline digital model building system is used to perform three-dimensional modeling of the ship pipeline according to the ship pipeline data, and perform thermodynamic and fluid mechanics simulation to obtain a digital twin model of the ship pipeline; A pipeline thermal imaging monitoring system, used to collect infrared thermal images of the surface of the ship's pipelines through an infrared thermal imager, and to collect sensory data of the ship's pipelines through sensors; A model interactive update system, used to compare and analyze the collected perception data and infrared thermal images with the corresponding simulation data generated by the digital twin model, and adjust the digital twin model according to the analysis results; A pipeline leakage fault monitoring system, used to obtain the adjusted temperature distribution of the digital twin model, and determine the leakage location and leakage degree of the ship pipeline based on the temperature distribution and the machine learning algorithm; A pipeline leakage fault early warning system, used to use the adjusted digital twin model to preview the degradation trend of the ship pipeline, predict the leakage degree and leakage time point of the ship pipeline according to the degradation trend, and issue an early warning according to the leakage degree and leakage time point of the ship pipeline; The digital twin model includes a geometric model, a physical model, a behavioral model and a rule model; The geometric model is a model obtained by three-dimensional modeling based on the physical entity data of the ship pipeline, and the geometric model includes one or more of the pipe wall, pipe inlet and outlet, pipe thickness and pipe shape of the ship pipeline; The physical model is simulated according to different pipeline transportation conditions of the ship pipeline to construct a model of pressure distribution, temperature distribution and flow velocity distribution reflecting the real state of the ship pipeline; The behavior model includes the pressure change behavior, temperature change behavior, flow velocity change and pipe wall degradation behavior of the ship pipeline under different degrees of pipe wall degradation; The rule model includes historical experience rules, pipe wall degradation mechanism, failure law and parameter adjustment and update rules; The pipeline leakage fault monitoring system is specifically used for: Extracting a temperature distribution field from the infrared thermal image, and identifying an abnormal temperature area in the infrared thermal image according to the temperature distribution field; Calculate the spatial position relationship between the infrared thermal image and the three-dimensional model in the digital twin model according to the geometric shape of the ship pipeline, the installation position of the equipment for taking the infrared thermal image, the shooting angle, and the shooting distance; According to the spatial position relationship between the infrared thermal image and the three-dimensional model, a reconstruction algorithm or a direct projection algorithm is used to map the temperature abnormal area to a coordinate point on the three-dimensional model, and determine the three-dimensional coordinates corresponding to the temperature abnormal area; The leakage degree of the ship pipeline is determined according to the temperature at the three-dimensional coordinates corresponding to the temperature abnormality area in the digital twin model.

2. According to the digital twin-based ship pipeline leakage thermal imaging monitoring system of claim 1, it is characterized in that: The data of the ship pipeline includes one or more of dimension data, structure data, material property data and spatial position.

3. The digital twin-based ship pipeline leakage thermal imaging monitoring system according to claim 2 is characterized in that: The dimension data includes one or more of the length, diameter and bending angle of the ship pipeline; The structural data includes one or more of the connection mode, supporting structure and welding point position of the ship pipeline; The material property data includes one or more of density, thermal conductivity, thermal expansion coefficient and corrosion resistance of the ship pipeline; The spatial position includes one or more of the spatial position of the ship pipeline inside the ship and the relative position relationship with surrounding equipment and structural parts.

4. The digital twin-based ship pipeline leakage thermal imaging monitoring system according to claim 1 is characterized in that: The pipeline thermal imaging monitoring system is specifically used for: The pressure corresponding to the inlet and outlet of the ship pipeline is collected by a pressure sensor installed on the inlet and outlet of the ship pipeline; The speed sensors installed on the inlet and outlet of the ship pipeline collect the speed corresponding to the inlet and outlet; The collected pressures and velocities corresponding to the inlets and outlets, as well as the types and properties of the transmission medium are input into the digital twin model of the ship pipeline for simulation. During the simulation process, the internal fluid flow, pressure distribution and temperature field changes of the ship pipeline are simulated to generate the temperature distribution field of the ship pipeline.

5. The digital twin-based ship pipeline leakage thermal imaging monitoring system according to claim 1 is characterized in that: The model interactive updating system is specifically used for: Extracting a temperature distribution field from the infrared thermal image; When the temperature difference in the same area between the temperature distribution field corresponding to the infrared thermal image and the temperature distribution field generated by the digital twin model is greater than a preset threshold, the heat exchange coefficient between the digital twin model and the outside world, the temperature and velocity of the fluid inlet are adjusted, and the geometric structure of the digital twin model is optimized.

6. The digital twin-based ship pipeline leakage thermal imaging monitoring system according to claim 5 is characterized in that: The model interactive update system specifically optimizes the geometric structure of the digital twin model through the following steps: Identifying an abnormal temperature area from the infrared thermal image; The geometric structure of the temperature abnormality area in the digital twin model is adjusted, and the failure of the ship pipeline is simulated by destroying the pipe wall of the geometric model in the digital twin model.

7. The digital twin-based ship pipeline leakage thermal imaging monitoring system according to claim 6 is characterized in that: The failure of the ship pipeline includes one or more of corrosion, wear, erosion, cracks and holes; For the corrosion of the ship pipeline, the thickness of the geometric model corresponding to the temperature abnormal area is reduced to simulate the situation that the ship pipeline is gradually thinned due to corrosion during long-term use. The corrosion will change the thermal conductivity and fluid flow characteristics of the ship pipeline, resulting in local temperature and pressure abnormalities. The material thermal conductivity coefficient and heat exchange conditions of the temperature abnormal area are adjusted to simulate the state of the ship pipeline after corrosion; For cracks or holes in the ship pipeline, cracks or holes are introduced into the geometric model corresponding to the temperature abnormality area to simulate the rupture of the ship pipeline caused by mechanical stress, fatigue or external force. The cracks or holes will cause fluid leakage, change the local pressure, velocity and temperature field distribution, adjust the fluid dynamics parameters of the ship pipeline, and monitor the temperature field changes of the digital twin model in real time to ensure consistency with the actual monitoring data of the ship pipeline; For local wear or erosion of the ship pipeline, the thickness of the geometric model corresponding to the temperature abnormality area is gradually reduced or the local surface roughness is increased.

8. The digital twin-based ship pipeline leakage thermal imaging monitoring system according to any one of claims 1 to 7, characterized in that: The pipeline leakage fault early warning system is specifically used for: An accelerated degradation simulation model based on fatigue life prediction is used to simulate the degradation process, time scaling and load amplification of the ship pipeline to obtain the degradation trend of the ship pipeline in the future; The leakage degree and leakage time point of the ship pipeline are predicted according to the degradation trend.

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