Fluid pipeline leakage detecting and positioning algorithm based on acoustic precise model
Through the fluid pipeline leakage detection and positioning algorithm based on acoustic precision model, leakage detection problems in complex pipeline systems are solved, efficient leakage positioning and prevention are achieved, and environmental and economic interests are protected.
Patent Information
- Application Number
- CN202411610191.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-12
- Publication Date
- 2025-02-28
AI Technical Summary
In complex pipeline systems for liquid transportation, leakage detection is difficult to monitor comprehensively, resulting in serious problems such as post-leak economic losses and environmental pollution.
A fluid pipeline leakage detection and positioning algorithm based on acoustic precision model is adopted to establish a relative position model and a sound wave propagation total model to locate the leakage point through the sound wave propagation characteristics.
It realizes efficient detection and positioning of pipeline leakage, avoids the cost and safety risks of manual inspection, reduces the occurrence of leakage, and protects environmental and economic interests.
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of fluid pipeline leakage detection, and in particular to a fluid pipeline leakage detection and positioning algorithm based on an acoustic precision model. Background Art
[0002] In the complex process of liquid transportation, the daily comprehensive inspection work is extremely challenging, given that the pipeline system is huge, not only in large numbers but also in long extension distances. Due to this actual situation that is difficult to fully monitor, once a leak occurs somewhere in the pipeline system, the consequences are often extremely serious. Large amounts of liquid leakage will not only cause huge economic losses, including waste of resources and increased repair costs, but may also pose a serious threat to the surrounding environment, such as contaminating soil, water sources and ecosystems, and thus causing adverse effects on ecological balance and human health. Therefore, it is particularly important to ensure the safety and reliability of liquid transportation pipelines and take efficient monitoring and prevention measures.
[0003] Based on this, this application proposes a fluid pipeline leak detection and positioning algorithm based on an acoustic precision model. Summary of the invention
[0004] To this end, the present invention provides a fluid pipeline leakage detection and positioning algorithm based on an acoustic precision model to solve the above-mentioned problems in the prior art.
[0005] In order to achieve the above object, the present invention provides the following technical solutions:
[0006] According to a first aspect of the present invention, a fluid pipeline leakage detection and positioning algorithm based on an acoustic precision model comprises the following steps:
[0007] Establish the relative position model of acoustic sensor-pipeline,
[0008] According to the characteristics of sound wave propagation, the sound wave propagation sub-model of each sensor is obtained, and the sound wave propagation sub-models of the sensors are summarized to obtain the overall sound wave propagation model.
[0009] Establish a reference detection position, obtain the distance information of the detection position, and obtain the variable parameters in each sub-model through the sound wave propagation sub-model.
[0010] The variable parameters are fed back into the overall sound wave propagation model, and the overall model is saved.
[0011] Preferably, the relative position model established is specifically as follows:
[0012] Place the pipeline in three-dimensional space, which includes X-plane, Y-plane and Z-plane.
[0013] Determine the position of the sensor and place the sensor's position at the origin of the three-dimensional space.
[0014] Take the cross section of the pipeline at the sensor position, place the cross section of the pipeline on the Z plane of the three-dimensional space, and place the extension direction of the pipeline at the cross section on the Y axis.
[0015] Preferably, the unit length L0 is calibrated in the three-dimensional space, and the distance from the pipeline leakage point to the origin is calculated:
[0016] Lx=V1T1,
[0017] Ly=V2T2,
[0018] Lz=V3T3,
[0019] Lx is the position of the pipeline leakage location in the pipeline from the origin of the three-dimensional space,
[0020] Ly is the position of the pipeline leakage location in the fluid inside the pipeline from the origin of the three-dimensional space,
[0021] Lz is the position of the pipeline leakage position in the air from the origin of the three-dimensional space,
[0022] V1 is the speed of sound propagation in the pipe wall,
[0023] T1 is the time it takes for sound to propagate in the pipe wall.
[0024] V2 is the speed of sound propagation in the fluid in the pipe.
[0025] T2 is the time it takes for sound to propagate in the fluid in the pipe.
[0026] V3 is the speed of sound propagation in air,
[0027] T3 is the time it takes for sound to propagate in the air.
[0028] Preferably, a sound wave propagation sub-model is established,
[0029] According to Lx, Ly and Lz, the spherical equation is established in three-dimensional space:
[0030] Lx 2 =x1 2 +y1 2 +z1 2 , to obtain the spherical equation at a distance of Lx from the origin,
[0031] Ly 2 =x2 2 +y2 2 +z2 2 , to obtain the spherical equation at a distance of Ly from the origin,
[0032] Lz 2 =x32 +y3 2 +z3 2 , to obtain the equation of the sphere at a distance of Lz from the origin.
[0033] Preferably, based on the sound wave propagation sub-model, an overall sound wave propagation model is established:
[0034]
[0035] x0, y0, z0 are the coordinates of the leakage point in three-dimensional space.
[0036] Preferably, when the sensor pair emits a sound, when the sound propagates along the positive direction of the Y-axis, the records x0, y0, and z0 are all greater than 0.
[0037] Preferably, the sound is filtered by a filtering module in the sensor, and the filtering module filters the echo of the sound in the pipe wall, the echo of the sound in the fluid in the pipe, and the echo of the sound in the air to obtain the echo of the leakage point.
[0038] Preferably, when the sensor emits a sound, the timestamp when the sound is emitted is marked as T0, and when the sensor receives an echo, the timestamp when the echo is received is marked as Tx, Ty, Tz.
[0039] Calculate T1, T2, T3 according to Tx, Ty, Tz,
[0040] T1=Tx-T0,
[0041] T2=Ty-T0,
[0042] T3=Tz-T0.
[0043] The present invention has the following advantages:
[0044] When the present application is implemented, the pipeline is inspected by sound waves, which are not only highly efficient but also do not generate unsafe factors such as electric sparks, so that the technical solution of the present application can be applied to pipelines of flammable gases;
[0045] Ultrasonic inspection can replace manual inspection, which not only saves a lot of labor costs but also increases the accuracy of inspection;
[0046] Regular inspections can effectively reduce the occurrence of pipeline leaks and avoid economic losses that may be caused by pipeline leaks. DETAILED DESCRIPTION
[0047] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. 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.
[0048] Example 1
[0049] The fluid pipeline leakage detection and positioning algorithm based on the acoustic precision model in the first aspect of the present invention comprises the following steps:
[0050] Establish the relative position model of the acoustic sensor and the pipeline. The acoustic sensor is used to emit sound and receive the sound after it is reflected back.
[0051] According to the characteristics of sound wave propagation, the sound wave propagation sub-model of each sensor is obtained, and the sound wave propagation sub-models of the sensors are summarized to obtain the overall sound wave propagation model. The speed of sound propagation in different media is different. Different sensors are used to receive the relationship between the speed, time and distance of sound wave propagation in different media to obtain the sound wave propagation sub-models for different sensors (under different media).
[0052] Establish a reference detection position, obtain the distance information of the detection position, and obtain the variable parameters in each sub-model through the sound wave propagation sub-model.
[0053] The variable parameters are fed back into the overall sound wave propagation model, and the overall model is saved.
[0054] In this embodiment, the established acoustic sensor-pipeline relative position model can better calibrate the position of the pipeline and the sensor, thereby facilitating the determination of the location of the leakage point.
[0055] By establishing sub-models, a complete overall model is established, so that the leakage location can be determined more accurately.
[0056] The relative position model established is specifically as follows:
[0057] Place the pipeline in three-dimensional space, which includes X-plane, Y-plane and Z-plane.
[0058] Determine the position of the sensor and place the sensor's position at the origin of the three-dimensional space.
[0059] Take the cross section of the pipeline at the sensor position, place the cross section of the pipeline on the Z plane of the three-dimensional space, and place the extension direction of the pipeline at the cross section on the Y axis.
[0060] Calibrate the unit length L0 in three-dimensional space and calculate the distance between the pipeline leakage point and the origin:
[0061] Lx=V1T1,
[0062] Ly=V2T2,
[0063] Lz=V3T3,
[0064] Lx is the position of the pipeline leakage location in the pipeline from the origin of the three-dimensional space,
[0065] Ly is the position of the pipeline leakage location in the fluid inside the pipeline from the origin of the three-dimensional space,
[0066] Lz is the position of the pipeline leakage position in the air from the origin of the three-dimensional space,
[0067] V1 is the speed of sound propagation in the pipe wall,
[0068] T1 is the time it takes for sound to propagate in the pipe wall.
[0069] V2 is the speed of sound propagation in the fluid in the pipe.
[0070] T2 is the time it takes for sound to propagate in the fluid in the pipe.
[0071] V3 is the speed of sound propagation in air,
[0072] T3 is the time it takes for sound to propagate in the air.
[0073] When the sensor emits a sound, the timestamp of the sound is marked as T0. When the sensor receives an echo, the timestamp of the echo is marked as Tx, Ty, and Tz.
[0074] Calculate T1, T2, T3 according to Tx, Ty, Tz,
[0075] T1=Tx-T0,
[0076] T2=Ty-T0,
[0077] T3=Tz-T0.
[0078] When this embodiment is implemented, the leakage location can be quickly determined through a relatively simple algorithm, thereby guiding the staff to conduct on-site re-inspection and repairs, and the entire solution is relatively simple, so the operation and judgment are faster.
[0079] Example 2
[0080] On the basis of embodiment 1, the following technical solutions are also included.
[0081] Establish the sound wave propagation sub-model,
[0082] According to Lx, Ly and Lz, the spherical equation is established in three-dimensional space:
[0083] Lx 2 =x1 2 +y1 2 +z1 2 , to obtain the spherical equation at a distance of Lx from the origin,
[0084] Ly 2 =x2 2 +y2 2 +z2 2 , to obtain the spherical equation at a distance of Ly from the origin,
[0085] Lz 2 =x3 2 +y3 2 +z3 2 , to obtain the equation of the sphere at a distance of Lz from the origin.
[0086] By establishing the spherical equation, the leakage location can be judged more intuitively and accurately. Of course, when the technical solution is implemented, a three-dimensional model of the pipeline can also be established so that the staff can see the specific location of the leakage more intuitively.
[0087] According to the sound wave propagation sub-model, the overall sound wave propagation model is established:
[0088]
[0089] x0, y0, z0 are the coordinates of the leakage point in three-dimensional space.
[0090] When the three-dimensional spatial coordinates x0, y0, z0 of the leakage point satisfy each spherical equation at the same time, the leakage position can be determined.
[0091] When this solution is implemented, a single sensor can determine the distance of the leakage position relative to the sensor when receiving an echo. However, in three-dimensional space, the set of distances of a predetermined length from the sensor is a sphere, and a single sensor cannot confirm the leakage point of the pipeline.
[0092] When there are two sensors, the intersection of the two spherical surfaces is a torus, which still cannot confirm the leakage point of the pipeline.
[0093] When there are three sensors, the three spherical equations have an intersection point, and the intersection point is the leakage position of the pipeline.
[0094] Through the implementation of this solution, there is no need to establish a pipeline model, which reduces a lot of work (pipeline models are generally more complex) and can also achieve precise positioning.
[0095] Example 3
[0096] On the basis of Example 2, in the three-dimensional space, the intersection of the three spherical surfaces may have two points that are symmetrical about the origin of the three-dimensional space. In order to more accurately determine the leakage point, the following technical solution is provided.
[0097] When the sensor pair emits a sound, when the sound propagates along the positive direction of the Y axis, the records x0, y0, and z0 are all greater than 0.
[0098] The sound is filtered by a filter module in the sensor. The filter module filters the echo of the sound in the pipe wall, the echo of the sound in the fluid in the pipe, and the echo of the sound in the air to obtain the echo of the leakage point.
Claims
1. A fluid pipeline leak detection and positioning algorithm based on an acoustic precision model, characterized in that: The following steps are included: Establish the relative position model of acoustic sensor-pipeline, According to the characteristics of sound wave propagation, the sound wave propagation sub-model of each sensor is obtained, and the sound wave propagation sub-models of the sensors are summarized to obtain the overall sound wave propagation model. Establish a reference detection position, obtain the distance information of the detection position, and obtain the variable parameters in each sub-model through the sound wave propagation sub-model. The variable parameters are fed back into the overall sound wave propagation model, and the overall model is saved.
2. The fluid pipeline leakage detection and positioning algorithm based on the acoustic precision model according to claim 1 is characterized in that: The relative position model established is specifically as follows: Place the pipeline in three-dimensional space, which includes X-plane, Y-plane and Z-plane. Determine the position of the sensor and place the sensor's position at the origin of the three-dimensional space. Take the cross section of the pipeline at the sensor position, place the cross section of the pipeline on the Z plane of the three-dimensional space, and place the extension direction of the pipeline at the cross section on the Y axis.
3. The fluid pipeline leakage detection and positioning algorithm based on the acoustic precision model according to claim 2 is characterized in that: Calibrate the unit length L0 in three-dimensional space and calculate the distance between the pipeline leakage point and the origin: Lx=V1T1, Ly=V2T2, Lz=V3T3, Lx is the position of the pipeline leakage location in the pipeline from the origin of the three-dimensional space, Ly is the position of the pipeline leakage location in the fluid inside the pipeline from the origin of the three-dimensional space, Lz is the position of the pipeline leakage position in the air from the origin of the three-dimensional space, V1 is the speed of sound propagation in the pipe wall, T1 is the time it takes for sound to propagate in the pipe wall. V2 is the speed of sound propagation in the fluid in the pipe. T2 is the time it takes for sound to propagate in the fluid in the pipe. V3 is the speed of sound propagation in air, T3 is the time it takes for sound to propagate in the air.
4. The fluid pipeline leakage detection and positioning algorithm based on the acoustic precision model according to claim 3 is characterized in that: Establish the sound wave propagation sub-model, According to Lx, Ly and Lz, the spherical equation is established in three-dimensional space: Lx 2 =x1 2 +y1 2 +z1 2 , to obtain the spherical equation at a distance of Lx from the origin, Ly 2 =x2 2 +y2 2 +z2 2 , to obtain the spherical equation at a distance of Ly from the origin, Lz 2 =x3 2 +y3 2 +z3 2 , to obtain the equation of the sphere at a distance of Lz from the origin.
5. The fluid pipeline leakage detection and positioning algorithm based on the acoustic precision model according to claim 4 is characterized in that: According to the sound wave propagation sub-model, the overall sound wave propagation model is established: x0, y0, z0 are the coordinates of the leakage point in three-dimensional space.
6. The fluid pipeline leakage detection and positioning algorithm based on the acoustic precision model according to claim 5 is characterized in that: When the sensor pair emits a sound, when the sound propagates along the positive direction of the Y axis, the records x0, y0, and z0 are all greater than 0.
7. The fluid pipeline leakage detection and positioning algorithm based on the acoustic precision model according to claim 6 is characterized in that: The sound is filtered by a filter module in the sensor. The filter module filters the echo of the sound in the pipe wall, the echo of the sound in the fluid in the pipe, and the echo of the sound in the air to obtain the echo of the leakage point.
8. The fluid pipeline leakage detection and positioning algorithm based on the acoustic precision model according to claim 3 is characterized in that: When the sensor emits a sound, the timestamp of the sound is marked as T0. When the sensor receives an echo, the timestamp of the echo is marked as Tx, Ty, and Tz. Calculate T1, T2, T3 according to Tx, Ty, Tz, T1=Tx-T0, T2=Ty-T0, T3=Tz-T0.