Method, device and equipment for checking topology relationship of pipe network based on voiceprint conduction

Abstract

The application relates to the technical field of city pipe network checking, and discloses a pipe network topological relation checking method, device and equipment based on a voiceprint conduction, which comprises the following steps: constructing a pipe directed graph of a pipe network to be checked, wherein a node is used for representing a check well of the pipe network, and an edge is used for representing a pipe connecting the check wells; determining a transmitting node in the pipe network to be checked, and screening candidate nodes according to the distances between the nodes and the transmitting node; controlling a sound wave sounding device arranged at the transmitting node to emit a sound wave transmitting signal; acquiring a sound wave receiving signal collected by a sound wave monitoring device arranged at each candidate node; combining the comparison and analysis results of the sound wave receiving signals of the candidate nodes and the sound wave transmitting signal, and the positions of the candidate nodes and the transmitting node in the pipe directed graph, checking the topological relations between pipe sections in the pipe network to be checked, and obtaining a checking result. Through the implementation of the application, the topological relations of the pipe network can be checked by using the voiceprint signals, and the checking cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of urban pipeline network verification technology, specifically to a method, apparatus, and equipment for verifying pipeline network topology based on acoustic signature transmission. Background Technology

[0002] With urbanization, urban drainage networks are expanding and improving. However, misconnections and incorrect connections can lead to direct sewage discharge, rainwater overflows causing pollution, and rainwater impacting sewage treatment plants, seriously threatening urban water environment health. Efficiently and comprehensively investigating the network topology is the fundamental solution to these problems. Currently, mature investigation techniques include geophysical exploration and water quality and quantity analysis. Geophysical exploration primarily uses photography and videography to obtain pipe connection information, thus identifying misconnections and incorrect connections. However, geophysical exploration requires photographing the internal structure of each pipe section, and sometimes sealing the pipes and cleaning sediment, making it extremely time-consuming, labor-intensive, and costly. Water quality and quantity analysis, which has emerged in recent years, allows for live-line operations and water quantity tracing, effectively controlling costs. However, this method has high requirements for water quality and quantity testing conditions and data accuracy, is influenced by complex factors, and its accuracy is difficult to guarantee. Furthermore, this method needs to be implemented during the discharge of water from misconnected pipes, leading to significant monitoring difficulties and limitations. Summary of the Invention

[0003] In view of this, the present invention provides a method, apparatus and equipment for verifying pipeline topology relationships based on acoustic signature transmission, so as to solve the problem of difficulty in verifying pipeline topology relationships at low cost and accurately.

[0004] In a first aspect, the present invention provides a method for verifying the topological relationship of a pipeline network based on acoustic signature transmission, comprising: constructing a directed graph of the pipeline network according to the topological relationship between each pipe segment in the pipeline network to be inspected, wherein the nodes of the directed graph of the pipeline network are used to represent the manholes of the pipeline network, and the edges of the directed graph of the pipeline network are used to represent the pipes connecting the manholes; determining the transmitting nodes in the pipeline network to be inspected, and screening candidate nodes according to the distance between each node in the directed graph of the pipeline network and the transmitting nodes; controlling the acoustic wave transmitting devices deployed at the transmitting nodes to emit acoustic wave transmission signals according to a preset transmission mode; acquiring the acoustic wave receiving signals collected by the acoustic wave listening devices deployed at each candidate node; combining the comparison and analysis results of the acoustic wave receiving signals and the acoustic wave transmitting signals of each candidate node, as well as the positions of each candidate node and the transmitting node in the directed graph of the pipeline network, to verify the topological relationship between each pipe segment in the pipeline network to be inspected, and obtaining the verification result.

[0005] The pipeline topology verification method based on acoustic signature transmission provided in this invention first constructs a directed graph of the pipeline based on the topological relationships between pipe segments within the pipeline to be inspected. After determining the transmitting node within the pipeline, candidate nodes are selected based on the distance between each node in the directed graph and the transmitting node. An acoustic emission signal is emitted at the transmitting node using an acoustic emission device, and the received acoustic signal is collected at the candidate node using an acoustic monitoring device. When there is a connection between a candidate node and the transmitting node within the pipeline to be inspected, the acoustic signal emitted by the transmitting node can be received at the connected candidate node. Therefore, the topological relationships between pipe segments within the pipeline to be inspected can be verified by comparing and analyzing the received and emitted acoustic signals of each candidate node. Furthermore, by comparing and analyzing the received and emitted acoustic signals of each candidate node, the propagation distance of the acoustic wave between the transmitting node and the candidate node can be obtained. Further, the path between the transmitting node and the candidate node can be verified based on the propagation distance and the positions of each candidate node and the transmitting node in the directed graph of the pipeline. As can be seen, by implementing the embodiments of the present invention, the topological relationship of the pipeline network can be verified using the voiceprint signal, and this method does not require cleaning the inside of the pipeline, thus reducing the verification cost.

[0006] In one optional implementation, the step of filtering candidate nodes based on the distance between each node in the directed pipeline graph and the transmitting node includes: identifying nodes in the directed pipeline graph that are connected to the transmitting node as first-class candidate nodes among the candidate nodes, and determining the path distance between each first-class candidate node and the transmitting node; calculating the first Euclidean distance between nodes in the directed pipeline graph that are not connected to the transmitting node and the transmitting node; identifying nodes whose first Euclidean distance is less than a first threshold as undetermined nodes, and identifying nodes whose first Euclidean distance is less than a second threshold as second-class candidate nodes among the candidate nodes, wherein the first threshold is greater than the second threshold; calculating the second Euclidean distance between each undetermined node and the first-class candidate node respectively, and adding the second Euclidean distance to the path distance corresponding to the first-class candidate node to obtain the comprehensive distance between each undetermined node and the transmitting node; and identifying undetermined nodes whose comprehensive distance is less than a third threshold as second-class candidate nodes among the candidate nodes.

[0007] In one optional implementation, the comparison analysis results of the acoustic wave received signals and acoustic wave emitted signals of each candidate node, as well as the positions of each candidate node and the emitting node in the directed graph of the pipeline, are combined to verify the topological relationship between each pipe segment in the pipeline network to be inspected, and the verification results are obtained. This includes: comparing and analyzing the acoustic wave received signals and acoustic wave emitted signals of each candidate node, filtering connected nodes and non-connected nodes from the candidate nodes, and calculating the acoustic wave propagation distance between each connected node and the emitting node; determining the path between each connected node and the emitting node based on the position of each connected node and the emitting node in the directed graph of the pipeline, and determining the possible connection paths between each pipe segment in the pipeline network to be inspected based on the acoustic wave propagation distance and path between each connected node and the emitting node; and determining the abnormal paths between each pipe segment in the pipeline network to be inspected based on the paths between non-connected nodes and the emitting nodes.

[0008] In one optional implementation, the step of comparing and analyzing the acoustic wave received signal and the acoustic wave transmitted signal of each candidate node to filter connected nodes and non-connected nodes from the candidate nodes includes: if there is an acoustic wave segment in the acoustic wave received signal that matches the preset transmission mode, the corresponding candidate node is determined to be a connected node; if there is no acoustic wave segment in the acoustic wave received signal that matches the preset transmission mode, the corresponding candidate node is determined to be a non-connected node.

[0009] In one optional implementation, the step of calculating the acoustic wave propagation distance between each connection node and the transmitting node includes: extracting the received segment from the acoustic wave received signal collected by each connection node that matches the preset transmission mode, and the transmitted segment from the acoustic wave transmitted signal that matches the preset transmission mode; shifting the received segment and the transmitted segment according to a preset time interval and calculating the correlation, taking the shift time with the highest correlation as the propagation time from the transmitting node to the connection node; and calculating the acoustic wave propagation distance between the transmitting node and each connection node based on the propagation time corresponding to each connection node.

[0010] In one optional implementation, the path between each connecting node and the transmitting node is determined according to the position of each connecting node and the transmitting node in the directed pipeline graph, and the possible connection paths between each pipe segment in the pipeline network to be inspected are determined based on the sound wave propagation distance and path between each connecting node and the transmitting node. This includes: if there is a connection relationship between the transmitting node and the connecting node in the directed pipeline graph, calculating the path length of all paths from the transmitting node to the connecting node, and determining the N paths that are closest to the sound wave propagation distance as possible connection paths.

[0011] In one optional implementation, the path between each connecting node and the transmitting node is determined based on the position of each connecting node and the transmitting node in the directed pipeline graph, and the possible connection paths between each pipe segment in the pipeline network to be inspected are determined based on the sound wave propagation distance and path between each connecting node and the transmitting node. This includes: if there is no connection between the transmitting node and the connecting node in the directed pipeline graph, calculating the third Euclidean distance from the transmitting node to the connecting node; using the third Euclidean distance as the radius, selecting nodes with a connection relationship with the transmitting node as potential nodes in the directed pipeline graph; calculating the fourth Euclidean distance between each potential node and the connecting node, and the path length between each potential node and the transmitting node; determining the path length of the potential path between the transmitting node and the connecting node when each potential node is an intermediate node based on the sum of the fourth Euclidean distance and the path distance; and determining M potential paths as possible connection paths based on the difference between the sound wave propagation distance and the path length corresponding to each potential node.

[0012] In one optional implementation, the method provided in this embodiment of the invention is applied to a server. The acoustic monitoring device includes an acoustic sensor, an acoustic edge computing module, and a communication module. The acoustic edge computing module is connected to the acoustic sensor and the communication module respectively through hardware interfaces. The acoustic sensor is used to collect acoustic reception signals and transmit the acoustic reception signals to the acoustic edge computing module through the hardware interface. The acoustic edge computing module is used to receive the acoustic reception signals, store the acoustic reception signals locally, and transmit the locally stored acoustic reception signals to the communication module through the hardware interface. The communication module establishes a communication connection with the server through a signal connector and sends the acoustic reception signals to the server. The signal transmission frequency of the signal connector is lower than the signal acquisition frequency of the acoustic sensor.

[0013] Secondly, the present invention provides a pipeline topology verification device based on acoustic signature transmission, comprising: a pipeline information acquisition module, used to construct a directed pipeline graph based on the topological relationship between each pipe segment in the pipeline network to be inspected, wherein the nodes of the directed pipeline graph are used to represent the manholes of the pipeline network, and the edges of the directed pipeline graph are used to represent the pipes connecting the manholes; a node screening module, used to determine the transmitting nodes in the pipeline network to be inspected, and to screen candidate nodes based on the distance between each node in the directed pipeline graph and the transmitting node; a signal transmission module, used to control the acoustic wave transmitting devices deployed at the transmitting nodes to emit acoustic wave transmission signals according to a preset transmission mode; a signal receiving module, used to acquire the acoustic wave receiving signals collected by the acoustic wave listening devices deployed at each candidate node; and a verification module, used to combine the comparison and analysis results of the acoustic wave receiving signals and acoustic wave transmitting signals of each candidate node, as well as the positions of each candidate node and the transmitting node in the directed pipeline graph, to verify the topological relationship between each pipe segment in the pipeline network to be inspected, and to obtain the verification results.

[0014] Thirdly, the present invention provides a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the pipeline topology verification method based on acoustic transmission as described in the first aspect or any corresponding embodiment.

[0015] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the method for verifying pipeline topology based on acoustic signature transmission as described in the first aspect or any corresponding embodiment. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the pipeline topology verification method based on acoustic signature transmission according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the pipe segment node topology according to an embodiment of the present invention; Figure 3 This is a structural block diagram of a pipeline topology verification device based on acoustic signature transmission according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] According to an embodiment of the present invention, a method for verifying pipeline topology based on acoustic signature transmission is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0020] Figure 1 This is a flowchart of a pipeline topology verification method based on acoustic signature transmission according to an embodiment of the present invention, as shown below. Figure 1 As shown, the process includes the following steps: Step S101: Construct a directed pipeline graph based on the topological relationship between the pipe segments in the pipeline network to be inspected. The nodes of the directed pipeline graph are used to represent the inspection wells of the pipeline network, and the edges of the directed pipeline graph are used to represent the pipes connecting the inspection wells.

[0021] In one optional embodiment, pipe segment information and pipe segment node information of each pipe segment in the pipeline network to be inspected can be obtained first, and a GIS type file can be formed based on the pipe segment information and pipe segment node information.

[0022] In one optional embodiment, the pipe segment attributes may include information such as the starting node name, ending node name, starting node elevation, ending node elevation, pipe segment name, pipe segment direction, and pipe segment description. The pipe segment name should be the sum of the starting node name and the ending node name, and the names of the starting and ending nodes should correspond to the names of nodes located at those points in space. To distinguish the type of pipe network, a pipe network type identifier can be added to the pipe segment and node names to indicate the purpose of the pipe network. For example, "WS" can be added to the pipe segment and node names to indicate that the pipe network is a sewage pipe network, and "YS" can be added to indicate that the pipe network is a stormwater pipe network.

[0023] In one optional embodiment, node attributes may include information such as node name, node surface elevation, node depth, and node bottom elevation.

[0024] In an optional embodiment, the pipe segment node topology is as follows: Figure 2 As shown, the topology of all pipe segment nodes in the pipeline network to be inspected is combined to form the topology of the pipeline network to be inspected. Based on the topological relationship between the pipe segments, a directed pipeline graph containing pipeline flow direction characteristics can be constructed.

[0025] In one alternative embodiment, the edges of the pipe directed graph contain the side lengths of the pipes, and the nodes contain the coordinates of the manholes.

[0026] Step S102: Determine the launching node within the pipeline network to be inspected, and filter candidate nodes based on the distance between each node in the directed pipeline graph and the launching node.

[0027] In an optional embodiment, the middle position of the pipeline network to be inspected can be determined as the transmitting node, and a sound wave generating device can be set at the transmitting node.

[0028] In an alternative embodiment, points within 1 km of the transmitting node can be used as candidate nodes.

[0029] Step S103: Control the acoustic wave generating device deployed at the transmitting node to emit acoustic wave signals according to the preset transmission mode.

[0030] Step S104: Obtain the acoustic wave received signals collected by the acoustic wave monitoring devices deployed at each candidate node.

[0031] In an alternative embodiment, the acoustic monitoring device can be configured in a server-client mode.

[0032] In one optional embodiment, the client includes an acoustic wave sensor, an acoustic wave edge computing module, and a communication module. The acoustic wave edge computing module is connected to the acoustic wave sensor and the communication module via hardware interfaces.

[0033] The acoustic wave sensor is used to collect acoustic wave received signals and transmit the acoustic wave received signals to the acoustic wave edge computing module through a hardware interface; The acoustic edge computing module receives acoustic signals, stores them locally, and transmits the stored signals to the communication module via a hardware interface. In an optional embodiment, the acoustic edge computing module consists of a development board such as a Raspberry Pi or Orange Pi, and connects to the acoustic sensor and the communication module via USB or other interfaces.

[0034] The communication module establishes a communication connection with the server through a signal connector, and sends the received sound wave signal to the server. The signal transmission frequency of the signal connector is lower than the signal acquisition frequency of the sound wave sensor.

[0035] In one optional embodiment, the acoustic sensor should meet the sampling requirement of a sampling frequency of not less than 500Hz and the IP68 waterproof requirement. The communication module can transmit signals via a 4G signal connector. However, since the signal transmission frequency of the 4G signal connector is lower than the signal reception frequency of the acoustic sensor, directly transmitting the signals collected by the acoustic sensor through the communication module would result in data loss, affecting the accuracy of pipeline topology verification. Therefore, in this embodiment, the acoustic sensor first stores the collected data locally and then sends the locally stored signal to the server, enabling the server to use the complete acoustic signal data to verify the pipeline topology.

[0036] In an optional embodiment, the client also receives commands from the server to remotely control the acoustic sensor to turn on, off, and the sampling frequency.

[0037] The server-side configuration includes buttons for turning the acoustic sensor on / off and setting the sampling frequency, transmitting these commands over the network. Monitoring data stored in the edge computing module is then synchronized in real-time via the network.

[0038] In one optional embodiment, the sound wave monitoring device is remotely opened in a browser, a file with an opening timestamp is generated locally, and background noise is monitored for a period of time with a sampling frequency set to no less than 500Hz. Then, the sound wave generating device is turned on, and the generating frequency is set to F. A Hz and F B Hz emits continuous sound wave signals, F A Hz and F B The Hz frequency should be far from the background monitoring noise frequency and not exceed 250Hz. The transmission mode is F. A Hz duration F B Hz duration Interval time The acoustic sensor receives the signal and transmits it back to the server via the 4G network.

[0039] Step S105: The comparison and analysis results of the acoustic wave received signal and acoustic wave transmitted signal of each candidate node, as well as the positions of each candidate node and the transmitting node in the directed graph of the pipeline, are combined to verify the topological relationship between each pipe segment in the pipeline network to be inspected, and the verification results are obtained.

[0040] In an optional embodiment, although the topological relationship between each pipe segment in the pipeline network to be inspected can be obtained, the connection relationship between each node recorded in the topological relationship may be inaccurate. Therefore, it is necessary to verify the topological relationship between each pipe segment in the pipeline network to be inspected.

[0041] In an optional embodiment, if there is a connection between the candidate node and the transmitting node in the pipeline network to be inspected, the candidate node connected to the transmitting node can receive the acoustic signal after the transmitting node transmits the acoustic signal. Therefore, the topological relationship between the pipe segments in the pipeline network to be inspected can be checked based on the comparison and analysis results of the acoustic received signal and the acoustic transmitted signal of each candidate node.

[0042] In an optional embodiment, in the topology obtained in step S101, a candidate node and a transmitting node may be connected through multiple paths. Even if the candidate node receives the acoustic wave signal emitted by the transmitting node, it cannot prove that all paths are connected normally. Therefore, in this embodiment of the invention, the comparison and analysis results of the acoustic wave received signal and the acoustic wave emitted signal of each candidate node, as well as the positions of each candidate node and the transmitting node in the directed graph of the pipeline, can be combined to verify the path between the candidate node and the transmitting node.

[0043] The pipeline topology verification method based on acoustic signature transmission provided in this invention first constructs a directed graph of the pipeline based on the topological relationships between pipe segments within the pipeline to be inspected. After determining the transmitting node within the pipeline, candidate nodes are selected based on the distance between each node in the directed graph and the transmitting node. An acoustic emission signal is emitted from the transmitting node using an acoustic wave transmitting device, and the received acoustic wave signal is collected from the candidate nodes using an acoustic wave listening device. When there is a connection between a candidate node and the transmitting node within the pipeline to be inspected, the transmitted acoustic wave signal can be received at the connected candidate node. Therefore, the topological relationships between pipe segments within the pipeline to be inspected can be verified by comparing the received and transmitted acoustic wave signals of each candidate node. Furthermore, by comparing and analyzing the received and transmitted acoustic wave signals of each candidate node, the propagation distance of the acoustic wave between the transmitting node and the candidate node can be obtained. The path between the transmitting node and the candidate node can then be verified based on the propagation distance and the positions of each candidate node and the transmitting node in the directed graph of the pipeline. As can be seen, by implementing the embodiments of the present invention, the topological relationship of the pipeline network can be verified using voiceprint signals. This method does not require cleaning the inside of the pipeline, thus reducing the verification cost.

[0044] In an optional implementation, step S102 above, the step of filtering candidate nodes based on the distance between each node in the directed pipeline graph and the transmitting node, includes: Step a1: Select the nodes in the directed pipeline graph that are connected to the launching node as the first type of candidate nodes, and determine the path distance between each first type of candidate node and the launching node.

[0045] In one optional embodiment, in the directed pipeline graph, there is a connection between the first type of candidate nodes and the transmitting node, and the edge data in the directed pipeline graph includes the length of the pipeline between each node. Therefore, the connection path between the transmitting node and the first type of candidate nodes can be determined first in the directed pipeline graph, and then the path distance between the first type of candidate nodes and the transmitting node can be determined based on the edges contained in the connection path.

[0046] Step a2: Calculate the first Euclidean distance between the node that is not connected to the launching node in the directed pipeline graph and the launching node.

[0047] In an optional embodiment, if there is no connection between the nodes and the transmitting node in the directed pipeline graph, the path distance cannot be determined based on the connection path between the node and the transmitting node, but the Euclidean distance between each node and the transmitting node can be calculated based on the position coordinates of each node and the transmitting node.

[0048] Step a3: Nodes whose first Euclidean distance is less than the first threshold are designated as undetermined nodes, and nodes whose first Euclidean distance is less than the second threshold are designated as second-class candidate nodes among the candidate nodes, where the first threshold is greater than the second threshold.

[0049] In an optional embodiment, if there is no connection between a node in the directed pipeline graph and the transmitting node, and the Euclidean distance between them is greater than a first threshold, then the possibility that there is actually a connection between them is small, and there is no need to verify the association between the node and the transmitting node.

[0050] In an optional embodiment, if the first Euclidean distance between the node and the transmitting node is less than the first threshold, it indicates that although there is no connection between the two in the directed graph of the pipeline network, there may actually be a connection, so it is necessary to further verify the connection between the two.

[0051] In an optional embodiment, in order to accurately verify the connection relationship between each node and the transmitting node while reducing the amount of computation, the nodes whose first Euclidean distance to the transmitting node is less than a first threshold are divided into two types: one type is nodes whose first Euclidean distance is less than the first threshold but greater than a second threshold, and these nodes are regarded as undetermined nodes; the other type is nodes whose first Euclidean distance is less than the second threshold, and these nodes are regarded as the second type of candidate nodes. Subsequently, points that may have a connection relationship with the transmitting node are selected from the undetermined nodes as the second type of candidate nodes.

[0052] In one optional embodiment, the first threshold can be 5km and the second threshold can be 1km. In specific embodiments, the threshold can be set according to actual needs, and this invention does not limit it.

[0053] Step a4: Calculate the second Euclidean distance between each undetermined node and the first type of candidate node, and add the second Euclidean distance to the path distance corresponding to the first type of candidate node to obtain the comprehensive distance between each undetermined node and the transmitting node.

[0054] In an optional embodiment, the second Euclidean distance between each undetermined node and the first type of candidate node is calculated based on the position coordinates of each undetermined node and the position coordinates of the first type of candidate node.

[0055] In an optional embodiment, the path distance of the first type of candidate nodes is calculated according to step a1 above.

[0056] Step a5: Select the undetermined nodes whose comprehensive distance is less than the third threshold as the second type of candidate nodes among the candidate nodes.

[0057] In an optional embodiment, step S105 above, which combines the comparison and analysis results of the acoustic wave received signal and the acoustic wave transmitted signal of each candidate node, and the positions of each candidate node and the transmitting node in the directed graph of the pipeline, to verify the topological relationship between each pipe segment in the pipeline network to be inspected, and to obtain the verification result, includes: Step b1 involves comparing and analyzing the acoustic wave received signals and acoustic wave transmitted signals of each candidate node, filtering out connected nodes and non-connected nodes from the candidate nodes, and calculating the acoustic wave propagation distance between each connected node and the transmitting node.

[0058] In one optional embodiment, if there is a sound wave segment in the received sound wave signal that matches the preset transmission mode, the corresponding candidate node is determined to be a connected node; if there is no sound wave segment in the received sound wave signal that matches the preset transmission mode, the corresponding candidate node is determined to be a non-connected node.

[0059] In an optional embodiment, if the preset transmission mode of the acoustic wave transmission signal is F A Hz duration F B Hz duration Interval time Then, signal processing techniques such as Short-Time Fourier Transform (SFT) can be used to divide the signal into frames, calculate the spectrum of each frame, and detect whether consecutive frames satisfy the "F" condition. A Hz to F B The pattern of "Hz to blank gap" is used. If the condition is met, the candidate node is included in the connection node. For example, when framing the signal, it can be done according to the window length of... Step length Perform frame segmentation.

[0060] In an optional embodiment, after the connection node is determined, the connection node can be highlighted on the directed graph of the pipeline network and the connection information can be displayed.

[0061] In an optional embodiment, the step b1 above, which calculates the acoustic wave propagation distance between each connection node and the transmitting node, specifically includes: Step b11: Extract the received segments from the acoustic wave received signals collected by each connection node that match the preset transmission mode, and the transmitted segments from the acoustic wave transmitted signals that match the preset transmission mode.

[0062] In an alternative embodiment, for the received acoustic signal, the matching "F" is truncated. A Hz to F B Received segment P in "Hz to blank gap" mode c signal For sound wave emission signals, extract the matching "F" A Hz to FB Transmit segment P in "Hz to gap" mode s signal .

[0063] Step b12: Shift the received segment and the transmitted segment according to a preset time interval and calculate the correlation. Use the shift time with the highest correlation as the propagation time from the transmitting node to the connecting node.

[0064] In an alternative embodiment, according to 1 / c ( The time interval shifted by P (where P is the speed of sound in the medium) c signal With P s signal And calculate the correlation, and the maximum shift time of the correlation. The propagation time between the connecting node and the transmitting node. The calculation formula is as follows:

[0065]

[0066] Step b13: Calculate the sound wave propagation distance from the transmitting node to each connecting node based on the propagation time corresponding to each connecting node.

[0067] In an optional embodiment, the sound wave propagation distance ,in The speed of sound in the medium.

[0068] Step b2: Determine the path between each connection node and the transmitting node based on the position of each connection node and the transmitting node in the directed pipeline diagram, and determine the possible connection paths between each pipe segment in the pipeline network to be inspected based on the sound wave propagation distance and path between each connection node and the transmitting node.

[0069] In an optional embodiment, if there is a connection between the transmitting node and the connecting node in the directed pipeline graph, the path length of all paths from the transmitting node to the connecting node is calculated, and the N paths that are closest to the sound wave propagation distance are determined as possible connecting paths.

[0070] In one optional embodiment, N can be determined according to actual needs. For example, to avoid omissions, all paths from the transmitting node to the connecting node can be considered as possible connecting paths, where N is the number of all paths from the transmitting node to the connecting node. In another embodiment, considering that the sound wave propagation distance should have a small difference from the path length from the transmitting node to the connecting node, N paths whose path length is closest to the sound wave propagation distance can be selected as possible connecting paths. For example, when N is 3, the difference between the path length and the sound wave propagation distance of each path is calculated, and the paths are sorted in ascending order of the difference, with the top 3 paths selected as possible connecting paths.

[0071] In an optional embodiment, if there is no connection between the transmitting node and the connecting node in the directed pipeline graph, the following steps are performed: Step b21: Calculate the third Euclidean distance from the transmitting node to the connecting node.

[0072] In an optional embodiment, the third Euclidean distance is calculated based on the position coordinates of the transmitting node and the position coordinates of the connecting node.

[0073] Step b22: Using the third Euclidean distance as the radius, select potential nodes in the directed pipeline graph that are connected to the launch node.

[0074] Step b23: Calculate the fourth Euclidean distance between each potential node and the connected node, and the path length between each potential node and the transmitting node.

[0075] In an alternative embodiment, the fourth Euclidean distance is calculated based on the position coordinates of the transmitting node and the position coordinates of the potential node.

[0076] In an alternative embodiment, the path length is calculated based on the edges contained in the connection path after determining the connection path between the potential node and the transmitting node according to the directed graph of the pipeline.

[0077] Step b24: Determine the path length of the potential path between the transmitting node and the connecting node when each potential node is an intermediate node, based on the sum of the fourth Euclidean distance and the path distance.

[0078] In one alternative embodiment, using different potential nodes as intermediate nodes to connect the transmitting node and the connecting node will result in different potential paths, each with a different path length.

[0079] Step b25: Based on the difference between the sound wave propagation distance and the path length corresponding to each potential node, determine M potential paths as possible connection paths.

[0080] In one alternative embodiment, M can be determined according to actual needs. For example, to avoid omissions, all potential paths can be identified as possible connection paths, in which case the value of M is the number of all potential paths. In another embodiment, considering that the sound wave propagation distance should have a small difference from the potential path, the M potential paths whose path length is closest to the sound wave propagation distance can be selected as possible connection paths from multiple potential paths. For example, when M is 3, the difference between the path length and the sound wave propagation distance of each potential path is calculated, and the potential paths are sorted in ascending order of the difference, and the top 3 potential paths are selected as possible connection paths.

[0081] In an alternative embodiment, |L - |P can be filtered. c P c P | coord - |P s P c P | pipe The three paths with the smallest |P value are selected as possible connection paths and highlighted in green in the directed network graph, where L is the sound wave propagation distance, and |P c P c P | coord For the fourth Euclidean distance, |P s P c P | pipe This represents the path length.

[0082] Step b3: Determine the abnormal paths between pipe segments in the pipeline network to be inspected based on the paths between non-connected nodes and transmitting nodes.

[0083] In an alternative embodiment, non-connected nodes can be highlighted in red in the directed pipeline graph, and the pipe segments corresponding to all paths between the non-connected nodes and the transmitting nodes can be highlighted in red.

[0084] This embodiment also provides a pipeline topology verification device based on acoustic signature transmission. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0085] This embodiment provides a pipeline topology verification device based on acoustic signature transmission, such as... Figure 3 As shown, it includes: The pipeline information acquisition module 201 is used to construct a directed pipeline graph based on the topological relationship between each pipe segment in the pipeline network to be inspected. The nodes of the directed pipeline graph are used to represent the inspection wells of the pipeline network, and the edges of the directed pipeline graph are used to represent the pipelines connecting the inspection wells. The node filtering module 202 is used to determine the transmitting node in the pipeline network to be inspected, and to filter candidate nodes according to the distance between each node in the pipeline directed graph and the transmitting node. The signal transmitting module 203 is used to control the sound wave generating device deployed at the transmitting node to emit a sound wave transmission signal according to a preset transmission mode; The signal receiving module 204 is used to acquire the acoustic wave received signals collected by the acoustic wave monitoring devices deployed at each candidate node. The verification module 205 is used to combine the comparison and analysis results of the acoustic wave received signal and the acoustic wave transmitted signal of each candidate node, as well as the positions of each candidate node and the transmitting node in the directed graph of the pipeline, to verify the topological relationship between each pipe segment in the pipeline network to be inspected, and obtain the verification results.

[0086] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0087] In this embodiment, the pipeline topology verification device based on acoustic signature transmission is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0088] This invention also provides a computer device having the above-described features. Figure 3 The device shown is a pipeline topology verification device based on acoustic signature transmission.

[0089] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 4As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 4 Take a processor 10 as an example.

[0090] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GPA), or any combination thereof.

[0091] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0092] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0093] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0094] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0095] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0096] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0097] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for verifying pipeline network topology based on acoustic signature transmission, characterized in that, The method includes: A directed graph of the pipeline is constructed based on the topological relationship between the pipe segments in the pipeline network to be inspected. The nodes of the directed graph of the pipeline are used to represent the inspection wells of the pipeline network, and the edges of the directed graph of the pipeline are used to represent the pipes connecting the inspection wells. Within the pipeline network to be inspected, a launching node is identified, and candidate nodes are selected based on the distances between each node in the directed pipeline graph and the launching node. The acoustic wave emission device deployed at the emission node is controlled to emit acoustic wave emission signals according to a preset emission mode; Acquire the acoustic wave received signals collected by the acoustic wave monitoring devices deployed at each candidate node; By combining the comparison and analysis results of the acoustic wave received signals and the acoustic wave transmitted signals of each candidate node with the positions of each candidate node and the transmitting node in the directed graph of the pipeline, the topological relationship between each pipe segment in the pipeline network to be inspected is checked, and the check results are obtained. The step of filtering candidate nodes based on the distance between each node in the directed graph of the pipeline and the transmitting node includes: The nodes in the directed graph of the pipeline that are connected to the launching node are selected as the first type of candidate nodes, and the path distance between each first type of candidate node and the launching node is determined. Calculate the first Euclidean distance between the node in the directed graph of the pipeline that has no connection with the launching node and the launching node; Nodes whose first Euclidean distance is less than the first threshold are designated as undetermined nodes, and nodes whose first Euclidean distance is less than the second threshold are designated as second-class candidate nodes among the candidate nodes, wherein the first threshold is greater than the second threshold. Calculate the second Euclidean distance between each of the undetermined nodes and the first type of candidate nodes, and add the second Euclidean distance to the path distance corresponding to the first type of candidate node to obtain the comprehensive distance between each undetermined node and the transmitting node; The undetermined nodes whose comprehensive distance is less than the third threshold are regarded as the second type of candidate nodes among the candidate nodes; By combining the comparison and analysis results of the acoustic wave received signals and the acoustic wave transmitted signals of each candidate node, and the positions of each candidate node and the transmitting node in the directed graph of the pipeline, the topological relationships between each pipe segment in the pipeline network to be inspected are verified, and the verification results are obtained, including: The acoustic wave received signals of each candidate node are compared and analyzed with the acoustic wave transmitted signals. Connected nodes and non-connected nodes are selected from the candidate nodes, and the acoustic wave propagation distance between each connected node and the transmitting node is calculated. The path between each connecting node and the transmitting node is determined based on the position of each connecting node and the transmitting node in the directed diagram of the pipeline, and the possible connection paths between each pipe segment in the pipeline network to be inspected are determined based on the sound wave propagation distance and path between each connecting node and the transmitting node. The abnormal paths between the pipe segments in the pipeline network to be inspected are determined based on the path between the non-connected node and the transmitting node.

2. The method according to claim 1, characterized in that, The step of comparing and analyzing the acoustic wave received signals and the acoustic wave transmitted signals of each candidate node to filter connected nodes and non-connected nodes from the candidate nodes includes: If there is a sound wave segment in the received sound wave signal that matches the preset transmission mode, the corresponding candidate node will be determined as a connection node. If there is no acoustic wave segment in the received acoustic wave signal that matches the preset transmission mode, the corresponding candidate node will be determined as a non-connected node.

3. The method according to claim 1, characterized in that, The steps for calculating the acoustic wave propagation distance between each connection node and the transmitting node include: Extract the received segments from the acoustic wave received signals collected by each connection node that match the preset transmission mode, and the transmitted segments from the acoustic wave transmitted signals that match the preset transmission mode; The received segment and the transmitted segment are shifted according to a preset time interval and the correlation is calculated. The shift time with the highest correlation is taken as the propagation time from the transmitting node to the connecting node. The acoustic propagation distance between the transmitting node and each connecting node is calculated based on the propagation time corresponding to each connecting node.

4. The method according to claim 1, characterized in that, The step of determining the path between each connecting node and the transmitting node based on their positions in the directed pipeline graph, and determining the possible connection paths between pipe segments within the pipeline network to be inspected based on the acoustic wave propagation distance and path between each connecting node and the transmitting node, includes: If there is a connection between the transmitting node and the connecting node in the directed pipeline graph, calculate the path length of all paths from the transmitting node to the connecting node, and determine the N paths that are closest to the sound wave propagation distance as possible connecting paths.

5. The method according to claim 1, characterized in that, The step of determining the path between each connecting node and the transmitting node based on their positions in the directed pipeline graph, and determining the possible connection paths between pipe segments within the pipeline network to be inspected based on the acoustic wave propagation distance and path between each connecting node and the transmitting node, includes: If there is no connection between the transmitting node and the connecting node in the directed pipeline graph, calculate the third Euclidean distance from the transmitting node to the connecting node; Using the third Euclidean distance as the radius, nodes that are connected to the launching node are selected as potential nodes in the directed pipeline graph; Calculate the fourth Euclidean distance between each potential node and the connecting node, and the path length between each potential node and the transmitting node; The path length of the potential path between the transmitting node and the connecting node is determined based on the sum of the fourth Euclidean distance and the path distance, when each potential node is used as an intermediate node. Based on the difference between the sound wave propagation distance and the path length corresponding to each potential node, M potential paths are determined as the possible connection paths.

6. The method according to any one of claims 1-5, characterized in that, The method is applied to a server. The acoustic monitoring device includes an acoustic sensor, an acoustic edge computing module, and a communication module. The acoustic edge computing module is connected to the acoustic sensor and the communication module via hardware interfaces. The acoustic wave sensor is used to collect the acoustic wave received signal and transmit the acoustic wave received signal to the acoustic wave edge computing module through a hardware interface; The acoustic wave edge computing module is used to receive the acoustic wave received signal, store the acoustic wave received signal locally, and transmit the locally stored acoustic wave received signal to the communication module through a hardware interface. The communication module establishes a communication connection with the server through a signal connector, and sends the received acoustic wave signal to the server. The signal transmission frequency of the signal connector is lower than the signal acquisition frequency of the acoustic wave sensor.

7. A pipeline network topology verification device based on acoustic signature transmission, characterized in that, The device includes: The pipeline information acquisition module is used to construct a directed pipeline graph based on the topological relationship between each pipe segment in the pipeline network to be inspected. The nodes of the directed pipeline graph are used to represent the inspection wells of the pipeline network, and the edges of the directed pipeline graph are used to represent the pipelines connecting the inspection wells. The node filtering module is used to determine the transmitting node within the pipeline network to be inspected, and to filter candidate nodes based on the distance between each node in the directed graph of the pipeline and the transmitting node. The signal transmission module is used to control the acoustic wave generating device deployed at the transmission node to emit acoustic wave transmission signals according to a preset transmission mode; The signal receiving module is used to acquire the acoustic wave received signals collected by the acoustic wave monitoring devices deployed at each candidate node. The verification module is used to combine the comparison and analysis results of the acoustic wave received signal and the acoustic wave transmitted signal of each candidate node, as well as the positions of each candidate node and the transmitting node in the directed graph of the pipeline, to verify the topological relationship between each pipe segment in the pipeline network to be inspected, and obtain the verification results. The step of filtering candidate nodes based on the distance between each node in the directed graph of the pipeline and the transmitting node includes: The nodes in the directed graph of the pipeline that are connected to the launching node are selected as the first type of candidate nodes, and the path distance between each first type of candidate node and the launching node is determined. Calculate the first Euclidean distance between the node in the directed graph of the pipeline that has no connection with the launching node and the launching node; Nodes whose first Euclidean distance is less than the first threshold are designated as undetermined nodes, and nodes whose first Euclidean distance is less than the second threshold are designated as second-class candidate nodes among the candidate nodes, wherein the first threshold is greater than the second threshold. Calculate the second Euclidean distance between each of the undetermined nodes and the first type of candidate nodes, and add the second Euclidean distance to the path distance corresponding to the first type of candidate node to obtain the comprehensive distance between each undetermined node and the transmitting node; The undetermined nodes whose comprehensive distance is less than the third threshold are regarded as the second type of candidate nodes among the candidate nodes; By combining the comparison and analysis results of the acoustic wave received signals and the acoustic wave transmitted signals of each candidate node, and the positions of each candidate node and the transmitting node in the directed graph of the pipeline, the topological relationships between each pipe segment in the pipeline network to be inspected are verified, and the verification results are obtained, including: The acoustic wave received signals of each candidate node are compared and analyzed with the acoustic wave transmitted signals. Connected nodes and non-connected nodes are selected from the candidate nodes, and the acoustic wave propagation distance between each connected node and the transmitting node is calculated. The path between each connecting node and the transmitting node is determined based on the position of each connecting node and the transmitting node in the directed diagram of the pipeline, and the possible connection paths between each pipe segment in the pipeline network to be inspected are determined based on the sound wave propagation distance and path between each connecting node and the transmitting node. The abnormal paths between the pipe segments in the pipeline network to be inspected are determined based on the path between the non-connected node and the transmitting node.

8. A computer device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the pipeline topology verification method based on acoustic signature transmission as described in any one of claims 1 to 6.

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