Water leakage flow rate estimation system and water leakage flow rate estimation method

Abstract

In this water leakage flow rate estimation system: an analyzing unit comprises a survey range estimating unit that accepts input of a water leakage determination result determined on the basis of sensor data acquired by a sensor for detecting water leakage vibrations in a water pipe, the installation position of the sensor, and pipeline information around the installation position, and that outputs a survey range indication signal, a water leakage point estimating unit that accepts input of the pipeline information, and a survey image obtained by surveying a range indicated by the survey range indication signal, and that outputs an estimated water leakage point, and a water leakage flow rate estimating unit that accepts input of the sensor data, the estimated water leakage point output from the water leakage flow rate estimating unit, and a water leakage vibration propagation model obtained by modeling the vibration propagation characteristics of water leakage, and that outputs an estimated water leakage flow rate, the analyzing unit outputting the survey range indication signal, the estimated water leakage point and the estimated water leakage flow rate; and a display unit displays the survey range indication signal, the estimated water leakage point and the estimated water leakage flow rate on a screen.

Description

Water leakage flow rate estimation system and water leakage flow rate estimation method Incorporation by Reference

[0001] This application claims priority from Japanese Patent Application No. 2023-163004, filed on September 26, 2023, the contents of which are incorporated herein by reference.

[0002] The present invention relates to a water leakage flow rate estimation system.

[0003] As a technique for estimating leak points in water supply and sewerage systems and factory pipeline networks as social infrastructure, there is a method for investigating leak points using ground-penetrating radar. Background art in this field includes Patent Document 1 (JP 2018-40615 A) and Patent Document 2 (JP 2020-76646 A).

[0004] Patent Document 1 (JP 2018-40615 A) describes an underground exploration method that includes transmitting electromagnetic waves into the ground at each of a plurality of measurement points and continuously receiving reflected waves of the electromagnetic waves to obtain reflected wave signal strength data for each round-trip travel time for each of the measurement points, generating a set of reflected wave signal strength data for the plurality of measurement points for each round-trip travel time using the reflected wave signal strength data for each round-trip travel time for each of the measurement points, evaluating the occurrence rate of reflected wave signal strength values ​​for each round-trip travel time using the set of reflected wave signal strength data for each round-trip travel time, and determining the underground conditions at each of the measurement points based on the results of the evaluation.

[0005] Furthermore, Patent Document 2 (JP 2020-76646 A) describes a water leak detection method that acquires measurement data from a vibration sensor, calculates an autocorrelation coefficient from the measurement data, extracts a peak position information set consisting of multiple peaks of the autocorrelation coefficient, repeats the above process multiple times to acquire multiple extracted peak position information sets, and performs a water leak determination based on the relationship between the multiple peak position information sets.

[0006] Conventional leak detection involves an acoustic survey, which uses a sound-tuning rod to find leak points and the presence or absence of leaks. Information on the leakage flow rate is needed to determine when to repair discovered leak points and prioritize repairs, but acoustic surveys are a subjective leak detection method that relies on the hearing ability of the worker, making it difficult to distinguish faint leak sounds and estimate the leakage flow rate.

[0007] One method of detecting underground leaks that does not depend on a specific person is to use a ground-penetrating radar to detect underground leaks based on differences in moisture content. The technology described in Patent Document 1 uses a ground-penetrating radar and evaluates the occurrence of reflected wave signal strength values ​​received by the ground-penetrating radar to determine the underground situation.

[0008] Electromagnetic waves are emitted from above ground into the ground while moving along the sweeping direction, and the reflected waves are continuously received as the electromagnetic waves are emitted, thereby obtaining an exploration image that shows the intensity of the reflected wave signal. If a cavity has formed due to a water leak, the emitted electromagnetic waves will be reflected at the interface between the soil and the cavity, and differences in dielectric constant due to the amount of water will appear as characteristics in the exploration image. This makes it possible to identify the leak point by analyzing the exploration image. Since the leak point can be identified from the exploration image through analysis, leak investigations can be carried out without relying on the ability of the investigator. However, while it is possible to determine the presence or absence of a leak based on differences in dielectric constant in the soil, it is difficult to estimate the leak flow rate.

[0009] Meanwhile, there are leak detection methods that use vibration sensors installed in pipelines. For example, vibration sensors are installed at various locations in a pipeline network, such as at water control valves, to measure vibrations caused by leaks. The technology described in Patent Document 2 determines leaks in pipelines near the sensor installation location based on the autocorrelation coefficients of multiple vibration measurements acquired by the sensor at different times. At tiny leak hole outlets (hereinafter referred to as leak holes) in pipelines, cavitation occurs, in which microbubbles repeatedly appear and disappear due to sudden pressure fluctuations. This generates unique shock waves (hereinafter referred to as leak vibrations) near the leak holes, and these vibrations propagate through the pipeline and the water flowing inside it. Because leak vibrations occur continuously, day and night, the coincidence rate between different times of peak position information of the autocorrelation coefficients of vibrations measured by the sensor can be used to determine whether they are leak vibrations. However, because the coincidence rate of the peak position information of the autocorrelation coefficients is determined independently of the leak flow rate, estimating the leak flow rate using the technology described in Patent Document 2 is difficult.

[0010] The present invention has been made in consideration of the above points, and aims to reduce the man-hours required for investigating leak points and to estimate the leakage flow rate.

[0011] A representative example of the invention disclosed in the present application is as follows: That is, a water leakage flow rate estimation system including an analysis unit and a display unit, wherein the analysis unit includes: an investigation range estimation unit that receives as input a water leakage determination result determined based on sensor data acquired by a sensor that detects water leakage vibration in a water pipe, the installation position of the sensor, and pipeline information around the installation position, and outputs an investigation range indication signal; a water leakage point estimation unit that receives as input the pipeline information and an investigation image obtained by investigation of the range specified by the investigation range indication signal, and outputs an estimated water leakage point; and a water leakage flow rate estimation unit that receives as input the sensor data, the estimated water leakage point output from the water leakage point estimation unit, and a water leakage vibration propagation model that models water leakage vibration propagation characteristics, and outputs an estimated water leakage flow rate, wherein the analysis unit outputs the investigation range indication signal, the estimated water leakage point, and the estimated water leakage flow rate, and the display unit displays the investigation range indication signal, the estimated water leakage point, and the estimated water leakage flow rate on a screen.

[0012] According to one aspect of the present invention, it is possible to reduce the number of steps required to investigate a water leak point and estimate the leakage flow rate. Problems, configurations, and effects other than those described above will become apparent from the following description of the preferred embodiment of the present invention.

[0013] 1 is a diagram illustrating an example of the configuration of a water leakage flow rate estimation system according to a first embodiment. FIG. 2 is a diagram illustrating an example of the configuration of an analysis unit according to the first embodiment. FIG. 3 is a diagram illustrating an example of the configuration of a sensor according to the first embodiment. FIG. 4 is a diagram illustrating an example of the configuration of an underground exploration means according to the first embodiment. FIG. 5 is a diagram illustrating an example of the configuration of a water leakage vibration propagation model according to the first embodiment. FIG. 6 is a diagram illustrating an example of the configuration of water leakage point vibration characteristic data of the water leakage vibration propagation model according to the first embodiment. FIG. 7 is a diagram illustrating an example of the configuration of water leakage vibration attenuation characteristic data of the water leakage vibration propagation model according to the first embodiment. FIG. 8 is a diagram illustrating an example of pipeline information. FIG. 9 is a diagram illustrating measured vibration values ​​and predicted vibration values ​​for each water leakage flow rate. FIG. 10 is a flowchart of processing executed in the first embodiment. FIG. 11 is a diagram illustrating an example of the configuration of an underground exploration means according to the first embodiment. FIG. 12 is a diagram illustrating an example of a display of a display unit according to the first embodiment. FIG. 13 is a diagram illustrating an example of a display of the display unit according to the first embodiment. FIG. 14 is a diagram illustrating an example of a display of the display unit according to the first embodiment. FIG. 10 is a diagram showing an example of a display of a display unit of Example 2. FIG. 11 is a diagram showing an example of the configuration of an analysis unit of Example 3. FIG. 12 is a diagram showing an example of the configuration of an analysis unit of Example 4. FIG. 13 is a diagram showing an example of the configuration of an analysis unit of Example 5. FIG. 14 is a diagram showing an example of the input / output of a water leakage flow rate estimation system of Example 6. FIG. 15 is a diagram showing an example of the configuration of an analysis unit of Example 6. FIG. 16 is a flowchart of processing executed in Example 6. FIG. 17 is a diagram showing an example of the configuration of an underground exploration means of Example 7. FIG. 18 is a diagram showing an example of the configuration of an underground exploration means of Example 8. FIG. 19 is a diagram showing an example of the configuration of a sensor of Example 9. FIG. 20 is a diagram showing an example of the configuration of a sensor of Example 10.

[0014] Several embodiments of the present invention will be described below with reference to the drawings. Each embodiment is an example for explaining the present invention, and appropriate omissions and simplifications have been made for clarity of explanation. The present invention can be implemented in various other forms. Unless otherwise specified, each component may be singular or plural. The position, size, shape, and range of each component shown in the drawings may not represent the actual position, size, shape, and range in order to facilitate understanding of the invention. Therefore, the present invention is not necessarily limited to the position, size, shape, and range disclosed in the drawings. While various types of information may be described using terms such as "table," "list," and "queue," various types of information may also be expressed using other data structures. For example, various types of information such as "XX table," "XX list," and "XX queue" may also be referred to as "XX information." When describing identification information, terms such as "identification information," "identifier," "name," "ID," and "number" are used, but these terms are interchangeable. In all drawings used to explain the embodiments, identical components are generally designated by the same reference numerals, and repeated description thereof will be omitted. Furthermore, in the following examples, the components (including element steps, etc.) are not necessarily essential unless otherwise specified or considered to be clearly essential in principle. Furthermore, when the phrases "consisting of A," "made of A," "having A," and "including A" are used, other elements are not excluded unless otherwise specified to refer to only that element. Similarly, in the following examples, when referring to the shape, positional relationship, etc. of components, etc., it includes those that are substantially similar or similar to that shape, etc., unless otherwise specified or considered to be clearly not essential in principle.

[0015] The water leakage flow rate estimation system relates to a method for determining whether or not there is a leak from a pipe in, for example, a pipeline network such as a water supply and sewerage system as social infrastructure or a drainage channel installed in a factory, and if there is a leak, identifying the point where the leak occurred (hereinafter referred to as the leak point) and estimating the water leakage flow rate.

[0016] <Processing Procedure> FIG. 1 is a diagram showing an example of the configuration of a water leakage flow rate estimation system P01 according to the first embodiment.

[0017] As shown in Figure 1, a sensor S01 is installed at each of various valves W01 on a water pipe W02. The sensor S01 acquires a water leak determination result P031 at a predetermined timing, and if it determines that a water leak is present, outputs the sensor S01 installation location as a search range indication signal P041. In accordance with the output search range indication signal P041, an investigation is carried out using underground exploration means G01 on the water pipe W02 around the sensor S01 installation location, and the position of the water leak point W03 is estimated.

[0018] FIG. 2 is a diagram showing an example of input and output of the water leakage flow rate estimation system P01 of the first embodiment.

[0019] As shown in FIG. 2 , the water leakage flow rate estimation system P01 is composed of an analysis unit P02 and a display unit M01. The analysis unit P02 receives as input the exploration image P034 output by the underground exploration means G01, the water leakage determination result P031 output by the sensor S01, the sensor data P036 output by the sensor S01, the sensor installation position P032 output by the pipeline management means WM01, and the pipeline information P033 output by the pipeline management means WM01, and outputs an exploration range instruction signal P041, an estimated water leakage point P042, and an estimated water leakage flow rate P043. The exploration range instruction signal P041 output from the analysis unit P02 is input to the display unit M01 and the underground exploration means G01. The estimated water leakage point P042 and the estimated water leakage flow rate P043 output from the analysis unit P02 are input to the display unit M01. The display unit M01 outputs display data for displaying the search range indication signal P041, the estimated water leakage point P042, and the estimated water leakage flow rate P043 on the screen.

[0020] FIG. 3 is a diagram showing an example of the configuration of the analysis unit P02 of the water leakage flow rate estimation system P01 of the first embodiment.

[0021] As shown in FIG. 3, the analysis unit P02 has a search range estimation unit P021, a water leakage point estimation unit P022, a water leakage flow rate estimation unit P023, and a water leakage vibration propagation model P035.

[0022] The search range estimation unit P021 receives the leak detection result P031, the sensor installation position P032, and the pipeline information P033 as inputs, and outputs a search range indication signal P041 indicating the range to be searched by the underground search means G01 for the water pipe W02 around the sensor installation position P032 of the sensor S01 that has been determined to have a leak. The sensor installation position P032 is information about the sensor installation position P032, such as positioning data in the form of latitude and longitude using GPS or GNSS, or data on the positions of various corresponding valves W01 in ledger information such as maps and pipeline diagrams. The pipeline information P033 is information about the pipeline configuration of the water pipe W02, such as the positions, diameters, materials, and lengths of the distribution pipe, water supply pipe, and water transmission pipe, as well as the positions of various valves W01. The pipeline information P033 is represented, for example, in a piping diagram. The search range indication signal P041 is information about the search range determined based on the detection performance of the sensor, and may be output superimposed on the pipeline information P033. The range indicated by the search range indication signal P041 may be, for example, a range within a circle having a predetermined radius centered on the sensor S01, or may be a range of a predetermined distance in the pipeline extending from the sensor installation position P032. The predetermined length may be changed according to the diameter, material, and branch configuration of the pipeline around the sensor installation position P032.

[0023] The sensor S01 transmits the sensor data P036 and a water leak determination result P031, which is a determination of whether or not a water leak is suspected using the sensor data P036, to the water leak flow rate estimation system P01 via wireless communication. For example, the water leak determination unit P025 of the sensor S01 executes a water leak determination process on the sensor data P036 and generates the water leak determination result P031 by adding meta-information such as the terminal identification number and the determination date to the result of the determination of whether or not a water leak is suspected. The sensor data P036 is data on the vibration intensity of the water pipe acquired by the sensor S01. The determination result P031 of whether or not a water leak is suspected may be a discrete determination result such as the presence or absence of a water leak, or a continuous determination result such as a probability value.

[0024] The leak point estimation unit P022 receives as input pipeline information P033 and an exploration image P034 acquired by the underground exploration means G01, and outputs an estimated leak point P042 on the pipeline. The exploration image P034 is an image in which the reflection intensity of electromagnetic waves irradiated into the ground by the underground exploration means G01 at each position within the range specified by the exploration range instruction signal P041 is represented by a brightness value. For example, the leak point estimation unit P022 detects cavities and puddles, which are characteristic of leak points, from difference information on the brightness values ​​of the exploration image P034, estimates the location of the leak point, and outputs an estimated leak point P042 indicating the location of the leak point.

[0025] The leakage flow rate estimation unit P023 receives the estimated leakage point P042 output from the leakage point estimation unit P022, the leakage vibration propagation model P035, and the sensor data P036 as input, and outputs the result as an estimated leakage flow rate P043. For example, the leakage flow rate estimation unit P023 calculates, for each leakage flow rate, the difference between the predicted value of vibration predicted from the pipeline configuration on the path from the estimated leakage point P042 to the sensor installation position P032 and the measured value of vibration in the sensor data P036, calculates the leakage flow rate with the smallest calculated difference using a method such as the least squares method, and outputs the result as the estimated leakage flow rate P043.

[0026] FIG. 4 is a diagram illustrating an example of the configuration of the sensor S01 according to the first embodiment.

[0027] The sensor S01 is installed on various valves W01 on a water pipe W02, on the pipe wall, etc., and has a built-in vibration sensor E03 and a communication module E06 (see Figure 17). The sensor S01 transmits a water leak determination result P031, in which the sensor S01 determines whether or not there is a suspected water leak, and sensor data P036 observed by the vibration sensor, to the water leakage flow rate estimation system P01 via wireless communication.

[0028] FIG. 5 is a diagram showing an example of the configuration of the underground exploration means G01 according to the first embodiment.

[0029] The underground exploration means G01 is installed on a hand-operated cart, and while an operator pushes it along the ground directly above the buried water pipe W02 and the leak point W03, it irradiates electromagnetic waves onto the ground, measures the reflection intensity of the irradiated electromagnetic waves, and investigates the exploration range. From the measurement results, an exploration image P034, in which the reflection intensity of the irradiated electromagnetic waves is represented by a brightness value, is analyzed to estimate the leak point.

[0030] FIG. 6 is a diagram showing an example of the configuration of the water leakage vibration propagation model P035 according to the first embodiment.

[0031] The water leakage vibration propagation model P035 has definition formula data D01 including water leakage point vibration characteristic data D02 that defines the vibration characteristics detected by the sensor S01 at a predetermined location on the water pipe W02 when a water leakage point is assumed, and water leakage vibration damping characteristic data D03 that indicates the damping characteristics of the vibration detected depending on the distance from the water leakage point.

[0032] FIG. 7 is a diagram showing an example of the configuration of the water leakage point vibration characteristic data D02 of the water leakage vibration propagation model P035 shown in FIG.

[0033] The strength of vibrations generated at a water leak point depends on the leakage flow rate, and the frequency characteristics of the vibrations are not uniform. Therefore, the water leak point vibration characteristics data D02 includes vibration strength data D021 for each leakage flow rate, which is formulated based on vibration data corresponding to various leakage flow rates previously acquired by a sensor, and vibration strength data D022 for each vibration frequency.

[0034] FIG. 8 is a diagram showing an example of the configuration of the water leakage vibration attenuation characteristic data D03 of the water leakage vibration propagation model P035 shown in FIG.

[0035] The damping characteristics of vibrations generated at a water leak point as they propagate through the pipeline depend on the pipeline configuration of the water pipe W02, and the frequency characteristics of the vibrations are not uniform. Therefore, the leakage vibration damping characteristic data D03 includes a vibration damping coefficient D031 per unit length of the pipeline, which is formulated based on vibration data corresponding to various pipeline configurations previously acquired by the sensor S01, and a transmission coefficient D032 per node of the pipeline. The vibration damping coefficient D031 per unit length of the pipeline specifies, for each vibration frequency, the damping characteristics during vibration propagation, which vary depending on the pipe type, such as the diameter and material of the pipe, and includes damping coefficient data D0311 for each pipe type and damping coefficient data D0312 for each vibration frequency. The transmission coefficient D032 per node of the pipeline is a junction of the pipeline, such as a branching point of the pipeline or a location where various valves are installed, and includes nodal transmission coefficient data D0321 for each pipe type that specifies the attenuation characteristics during transmission through the node, which vary depending on the pipe type, such as the diameter and material of the pipeline, for each vibration frequency, and nodal transmission coefficient data D0322 for each vibration frequency.

[0036] Next, an example of a vibration prediction value calculation formula using the water leakage vibration propagation model P035 will be described. The water leakage vibration characteristic FV at a sensor installation position P032 for a certain vibration frequency f can be calculated using formula (1) using the product of the water leakage point vibration characteristic A for that vibration frequency f and the water leakage vibration damping characteristic E for that vibration frequency f. The water leakage point vibration characteristic A is determined by the leakage flow rate L, and the water leakage vibration damping characteristic can be determined by the vibration damping coefficient α per unit length of the pipeline, which depends on the pipe type (diameter and material), the permeability coefficient B per node of the pipeline, and the pipeline length D.

[0037]

[0038] Fig. 9 is a diagram showing an example of pipeline information P033. The pipeline information P033 shown in Fig. 9 shows pipeline elements p1 to p8 obtained by dividing the water pipe W02 according to the type of pipe and the diameter of the pipe, and the term for the vibration damping coefficient D031 per unit length of the pipeline for each pipeline element is indicated by α, and the term for the transmission coefficient D032 per node of the pipeline at nodes v0 to v7 at the end points of each pipeline element is indicated by B.

[0039] In Figure 9, for example, if a leak of a leak flow rate L occurs in a pipeline element p1 and a leak vibration (vibration intensity A) is detected by a sensor S01 installed at a node v1 that is a distance d1 away from the leak point, the leak vibration characteristic FV can be expressed by equation (2).

[0040]

[0041] 9, for example, if a leak of a water leakage flow rate L occurs in the pipeline element p1 and the water leakage vibration (vibration intensity A) is detected by the sensor S01 installed at the node v3, the water leakage vibration characteristic FV can be expressed by the following formula (3): Formula (3) is a formula for calculating a vibration prediction value assuming that the water leakage vibration of the pipeline element p1 propagates from the pipeline element p1 to the node v1, the pipeline element p2, the node v2, the pipeline element p5, and the node v5 in this order (when the pipeline lengths of the propagating pipeline elements p1, p2, and p5 are d1, d2, and d5, respectively). Another path for vibration to travel from pipe element p1 to node v5 is via pipe element p6 (vibration due to leakage from pipe element p1 travels from pipe element p1 to node v1, pipe element p2, node v2, pipe element p3, node v3, pipe element p7, node v6, pipe element p6, and node v5). The reason for calculating the vibration prediction value using the path via pipe element p5 as the representative path is that the value of the detection function for the path via pipe element p5 is larger than the vibration prediction value for the path via pipe element p6 (i.e., vibration attenuation is smaller).

[0042]

[0043] As described above, if there are two or more types of pipe (diameter, material) in the water pipe W02 from the sensor installation position P032 to the estimated leak point P042, the leak vibration characteristic FV at the sensor installation position P032 can be calculated by multiplying the leak vibration damping characteristic A by the damping coefficient α of each pipe type, the number of branches B, and the leak vibration damping characteristic E, which is determined depending on the length d of the pipeline, as shown in equation (3).

[0044] 10 is a diagram showing measured vibration values ​​and predicted vibration values ​​for each water leakage flow rate, and is a diagram comparing the difference between the measured vibration values ​​of the sensor data P036 and the predicted vibration values ​​for each water leakage flow rate estimated by the water leakage vibration propagation model P035. In FIG. 10, for example, when the difference between the sensor data P036 and the predicted value at each water leakage flow rate is searched for using the least squares method, it can be seen that the predicted value for a water leakage flow rate of 15 L / min has vibration characteristics close to those of the sensor data P036. The water leakage flow rate estimation unit P023 executes processing to search for the leakage flow rate that best matches the sensor data P036 from the predicted values ​​for each water leakage flow rate assumed from the pipeline configuration up to the water leakage point and the water leakage vibration propagation model P035.

[0045] FIG. 11 is a flowchart of the process executed in the first embodiment.

[0046] First, a sensor S01 is installed at each valve W01 of a water pipe W02 (F01). Then, the sensor installation position P032 and pipeline information P033 around the sensor installation position P032 are sent to the analysis unit P02 of the water leakage flow rate estimation system P01 (F02).

[0047] The installed sensor S01 measures the vibration of the pipeline at a predetermined timing and detects the vibration at the sensor installation position P032 (F03). Then, the water leakage determination unit P025 in the sensor S01 executes a water leakage determination process using sensor data P036 of the detected vibration (F04). The sensor S01 transmits a water leakage determination result P031 to the analysis unit P02 of the water leakage flow rate estimation system P01. The analysis unit P02 may output the water leakage determination result P031 to the display unit M01 (F05).

[0048] The sensor S01 then determines whether the water leakage determination result P031 detects a water leak (F06). If the water leakage determination result P031 does not detect a water leak (no water leakage), the process returns to step F03 and waits until the next measurement. If the water leakage determination result P031 detects a water leak (there is a water leak), the search range estimation unit P021 calculates a predetermined range around the sensor installation position P032 as the search range (F07), and outputs a search range indication signal P041 indicating the calculated search range to the display unit M01 (F08).

[0049] The underground exploration means G01 investigates the range indicated by the exploration range indication signal P041 for water leakage (F09), and transmits the acquired exploration image P034 to the analysis unit P02 of the water leakage flow rate estimation system P01 (F10).

[0050] The water leakage flow rate estimation system P01 analyzes the exploration image P034 transmitted from the underground exploration means G01 and calculates an estimated water leakage point P042 (F11). As a method for analyzing the exploration image P034, for example, a method can be used in which a change in brightness value on the exploration image due to a cavity caused by water leakage is analyzed from the exploration image to estimate the water leakage point.

[0051] Next, the analysis unit P02 determines whether a water leak point has been detected (F12). If a water leak point has not been found, the process returns to step F03 and waits for the next measurement. For example, if the leak determination result P031 of the sensor S01 continues to be detected over the next day or later, underground exploration is performed again. As in step F16, it is recommended to set an upper limit N of the number of explorations (e.g., N = 2) and suppress repeated explorations if the estimated water leak point P042 cannot be calculated due to a false detection by the sensor S01 caused by some environmental vibration. In this case, it is recommended to send an exploration range indication signal P041 to the display unit M01 as a suspected water leak area and display the exploration range on the display unit M01 (F17).

[0052] On the other hand, if a water leak point is found in step F12, the analysis unit P02 acquires sensor data P036 from the sensor S01 (F13). The analysis unit P02 then reads the water leakage vibration propagation model P035, and the water leakage flow rate estimation unit P023 compares the predicted vibration value predicted from the pipeline configuration on the path from the estimated water leak point P042 to the sensor installation position P032 with the measured vibration value of the sensor data P036 to calculate an estimated water leakage flow rate P043 (F14). The water leakage flow rate estimation unit P023 then outputs the obtained estimated water leak point P042 and estimated water leakage flow rate P043 to the display unit M01 (F15).

[0053] The display unit M01 displays the detection range indication signal P041, the estimated leak point P042, and the estimated leak flow rate P043, but may also display one or more pieces of information as needed, including the leak determination result P031, the sensor installation position P032, the pipeline information P033, the detection image P034, and the sensor data P036, which are inputs to the leak flow rate estimation system P01.

[0054] Data (e.g., leakage determination result P031, exploration image P034, observation location) can be transferred from the underground exploration means G01 to the analysis unit P02 of the leakage flow rate estimation system P01 via an external recording medium such as a USB memory or SD card, or via a wired connection, or as shown in Figure 12, a wireless communication device N01 can be installed in the underground exploration means G01 and data can be sent from the underground exploration means G01 to the leakage flow rate estimation system P01 via wireless communication.

[0055] <Display Examples> FIGS. 13, 14, 15, and 16 are diagrams showing display examples of the display unit M01 in the first embodiment.

[0056] The illustrated display screen displays a display area M02 including a map of the area around the sensor installation location P032 and the status of the water pipe W02, as well as the sensor's water leakage determination result P031. The display area M02 displays the sensor installation location P032, the map of the area around the sensor installation location P032, and pipeline information P033 superimposed on the range indicated by the search range instruction signal P041 output by the search range estimation unit P021. The drawing range can be enlarged or reduced by operating the enlarge button M021 or reduce button M022.

[0057] The operator of the underground exploration means G01 looks at the display screen of the display unit M01 and acquires an exploration image P034 of a range around the sensor installation position P032 according to the exploration range instruction signal P041. An estimated water leak point P042 detected by analyzing the acquired exploration image P034 is displayed in the display area M02. The analysis unit P02 calculates an estimated water leakage flow rate P043 from the estimated water leak point P042, the sensor installation position P032, the sensor data P036, and the pipeline information P033. The calculated estimated water leakage flow rate P043 is displayed and drawn in the display area M02.

[0058] According to the screen shown in Figure 13, in addition to the detection range according to the detection range instruction signal P041 and the leak determination result P031 of the sensor S01, if a leak is detected, the estimated leak point P042 and estimated leak flow rate P043 are displayed in association with the pipeline information P033 around the sensor installation position P032, allowing a determination to be made as to whether repairs are necessary.

[0059] 14, in addition to the search range according to the search range instruction signal P041 and the water leakage determination result P031 of the sensor S01, if a water leak is detected, an estimated water leakage point P042 and an estimated water leakage flow rate P043 may be displayed in association with pipeline information P033 around the sensor installation position P032, as in the screen shown in Fig. 13, and further, the current position M023 of the underground search means G01 may be displayed superimposed on the search range. Therefore, the user can operate the underground search means G01 while viewing the screen shown in Fig. 14 to obtain a search image P034.

[0060] 15, in addition to the search range according to the search range instruction signal P041 and the water leakage determination result P031 of the sensor S01, if there is a leak, an estimated water leakage point P042 and an estimated water leakage flow rate P043 are displayed in association with pipeline information P033 around the sensor installation position P032, in the same way as the screen shown in Fig. 13, and further, the water leakage determination result P031 of the sensor S01 may be displayed as a continuous probability value (score) of water leakage occurrence rather than as a discrete determination value of the presence or absence of water leakage. Furthermore, past water leakage determination results and water leakage occurrence probability values ​​may be displayed in chronological order, as in the water leakage probability transition M03.

[0061] Furthermore, as shown in FIG. 16, similarly to the screen shown in FIG. 13, in addition to the search range according to the search range instruction signal P041 and the leak determination result P031 of the sensor S01, if a leak is detected, an estimated leak point P042 and an estimated leak flow rate P043 are displayed in association with pipeline information P033 around the sensor installation position P032, and further, the number of sensor installation positions P032 determined to have a leak (number of leak detection locations) M04 and the percentage of leak detection locations for which surrounding search has been completed (leak investigation status) M05 may be displayed, making it possible to check the progress of repairs.

[0062] <Device Configuration Example> FIG. 17 is a diagram illustrating an example of the hardware configuration of the sensor S01 according to the first embodiment.

[0063] The sensor S01 includes a microcontroller E01 incorporating a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) and a memory such as a DRAM (Dynamic Random Access Memory), storage E02, an input device E04 such as a switch, an output device E05 such as an LED or LCD panel, a communication module E06 such as a NIC (Network Interface Card), a battery E07, and a vibration sensor E03.

[0064] In the microcontroller E01, a processor executes programs stored in the DRAM. By executing predetermined programs, the processor operates as a functional unit that provides various functions of the sensor S01. The storage E02 includes a non-volatile storage area composed of a hard disk drive (HDD) or a solid state drive (SSD), and stores programs executed by the microcontroller E01 and data used during program execution. The input device E04 is composed of switches and a touch panel and accepts input from the user. The output device E05 is composed of an LED and a liquid crystal display panel and displays the operating status of the sensor S01. The communication module E06 controls communication with other devices using a predetermined protocol. The battery E07 supplies power to each component of the sensor S01. The vibration sensor E03 measures vibrations of the object to which the sensor S01 is attached.

[0065] FIG. 18 is a block diagram showing an example of the hardware configuration of the analysis unit P02 of the leakage flow rate estimation system P01 of the first embodiment.

[0066] The analysis unit P02 of the leakage flow rate estimation system P01 has a processor A01 such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), memory A02 such as ROM or RAM, storage A03 such as an HDD or SSD, input devices A04 such as a keyboard or mouse, output devices A05 such as a display, and a communication module A06 such as a NIC.

[0067] The processor A01 is a computing device that executes programs stored in the memory 102. The processor A01 executes various programs to realize each functional unit (e.g., the analysis unit P02) of the water leakage flow rate estimation system P01. Note that some of the processing performed by the processor A01 by executing the programs may be executed by another computing device (e.g., hardware such as an ASIC or FPGA).

[0068] The memory A02 includes a ROM, which is a non-volatile storage element accessible by the processor A01, and a RAM, which is a volatile storage element. The ROM stores unchanging programs (e.g., BIOS), etc. The RAM is a high-speed, volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores programs executed by the processor A01 and data used when the programs are executed.

[0069] The storage A03 is a large-capacity, non-volatile storage device such as a magnetic storage device HDD (Hard Disk Drive) or a flash memory (Solid State Drive). The storage A03 stores data used by the processor A01 when executing a program and the program executed by the processor A01. That is, the program is read from the storage A03, loaded into the memory A02, and executed by the processor A01 to realize each function of the water leakage flow rate estimation system P01.

[0070] The input device A04 is an interface that includes a keyboard, a mouse, etc. and receives input from an operator. The output device A05 is an interface that includes a display device, a printer, etc. and outputs the results of program execution in a format that can be viewed by the user. Note that an administrator terminal 6 connected to the water leakage flow rate estimation system P01 via a network may provide the input device A04 and the output device A05. In this case, the water leakage flow rate estimation system P01 may have a web server function, and the administrator terminal 6 may access the water leakage flow rate estimation system P01 using a predetermined protocol (e.g., http).

[0071] The communication module A06 is a network interface device that controls communication with other devices (for example, the edge processing device 2, the cloud 8) according to a predetermined protocol.

[0072] The program executed by the processor A01 is provided to the water leakage flow rate estimation system P01 via removable media (CD-ROM, flash memory, etc.) or a network, and is stored in non-volatile storage A03, which is a non-transitory storage medium. For this reason, the water leakage flow rate estimation system P01 should preferably have an interface for reading data from removable media.

[0073] The water leakage flow rate estimation system P01 is a computer system configured on one physical computer or on multiple logically or physically configured computers, and may operate on a virtual computer constructed on multiple physical computer resources. For example, each functional unit may operate on a separate physical or logical computer, or multiple functional units may be combined to operate on a single physical or logical computer.

[0074] <Effects of Example 1> As described above, according to Example 1, by detecting a water leak using underground detection means G01 such as an underground radar within a detection range calculated from the sensor data P036 acquired by the sensor S01, it is possible to reduce the dependency on individuals and the amount of investigation labor required for a water leak point detection using conventional acoustic detection. Furthermore, in an investigation using a detection radar, the detection range can be limited to the periphery of the sensor that issued an alarm, thereby reducing the amount of investigation labor required. Furthermore, by comparing the predicted vibration value predicted from the configuration of the piping route between the water leak point estimated by the underground detection means G01 and the sensor installation position P032 with the measured vibration value acquired by the sensor S01, it is possible to estimate the water leak flow rate and obtain a judgment index that can be used to prioritize repairs.

[0075] Furthermore, the water leakage flow rate estimation system P01 acquires the sensor data P036 used to calculate the estimated water leakage flow rate P043 after the sensor S01 determines that a leak has occurred and the water leakage flow rate estimation system P01 estimates the leak point, thereby reducing the number of times that data is sent from the sensor S01 to the water leakage flow rate estimation system P01. This reduces battery consumption and communication costs in the sensor S01, enabling long-term operation.

[0076] Furthermore, by displaying on the screen information that can be used as an indicator for determining whether or not an investigation is necessary, such as the sensor installation location P032, pipeline information P034 around the sensor installation location, the investigation range, and the leak determination result P031, it is possible to determine whether or not an investigation is necessary remotely without being on-site, and investigation plans, such as the investigation route, can be easily drawn up.

[0077] Furthermore, since the closer to the leak point and the greater the leak flow rate, the greater the leak vibration. Therefore, the predicted value of vibration for each leak flow rate predicted from the piping route to the leak point estimated from the exploration results by the underground exploration means G01 is calculated using the leak vibration propagation model P035, and the leak flow rate can be estimated by comparing the measured vibration value acquired by the sensor S01 with the predicted value calculated using the leak vibration propagation model P035.

[0078] A second embodiment of the present invention will be described. The second embodiment differs from the first embodiment described above in that data that allows the exploration range for each water leakage flow rate to be recognized is displayed by estimating the exploration range using the sensor data P036 acquired by the sensor S01 and the water leakage vibration propagation model P035, providing information for determining the exploration order of water pipes W02 that should be preferentially explored, thereby improving the efficiency of the exploration by the underground exploration means G01. Note that in the second embodiment, differences from the first embodiment will be mainly described, and the same components and processes as those in the first embodiment will be assigned the same reference numerals, and their description will be omitted.

[0079] <Processing Procedure> FIG. 19 is a diagram showing an example of the configuration of the analysis unit P02 of the leakage flow rate estimation system P01 of the second embodiment.

[0080] 19, the analysis unit P02 of the second embodiment includes an investigation range estimation unit P021, a water leakage point estimation unit P022, a water leakage flow rate estimation unit P023, and a water leakage vibration propagation model P035. The investigation range estimation unit P021 receives the water leakage determination result P031, the sensor installation position P032, the pipeline information P033, the water leakage vibration propagation model P035, and the sensor data P036 as inputs, and outputs an investigation range instruction signal P041 for specifying the investigation range of the underground investigation means G01, which is the water pipe W02 around the sensor installation position P032 of the sensor S01 that has been determined to have a water leak. The water leakage point estimation unit P022 and the water leakage flow rate estimation unit P023 are the same as those of the first embodiment described above.

[0081] FIG. 20 is a flowchart of the process executed in the second embodiment.

[0082] Steps F01 to F06 are the same as those in the first embodiment.

[0083] The sensor S01 then determines whether the water leak determination result P031 detects a water leak (F06). If the water leak determination result P031 indicates that a water leak is not detected (no water leak), the process returns to step F03 and waits for the next measurement. If the water leak determination result P031 indicates that a water leak is detected (water leak is present), the analysis unit P02 acquires sensor data P036 from the sensor S01 (F13). The search range estimation unit P021 reads the water leak vibration propagation model P035 and calculates a predetermined range around the sensor installation position P032 as the search range for each leakage flow rate (F18), and outputs a search range instruction signal P041 indicating the search range for each calculated leakage flow rate to the display unit M01 (F19). Because the actual water leak point is unknown at the time of execution of this process, the estimated water leak flow rate, assuming that a water leak point exists in each pipeline around the sensor installation, is output from the relationship between the water leak vibration propagation model and the sensor data. The range for each leakage flow rate is calculated using the range in units of the pipe element shown in FIG.

[0084] Steps F09 to F12 are the same as those in the first embodiment.

[0085] If no leak point is found as a result of step F12, the process returns to step F03 and waits until the next measurement. On the other hand, if a leak point is found in step F12, the analysis unit P02 reads the leakage vibration propagation model P035, and the leakage flow rate estimation unit P023 compares the predicted vibration value predicted from the pipeline configuration on the path from the estimated leak point P042 to the sensor installation position P032 with the measured vibration value of the sensor data P036 to calculate the estimated leakage flow rate P043 (F14). Steps F14 to F17 are the same as those in the first embodiment described above.

[0086] The search range instruction signal P041 in the first embodiment outputs a predetermined search range set based on the sensor installation position P032 to the display unit M01, and serves as a guideline for the search range of the underground search means G01. In the second embodiment, the water leakage vibration propagation model P035 and the sensor data P036 are used to include the position of the range of pipelines with a high probability of a water leak point for each water leakage flow rate in the search range instruction signal P041, and output it to the display unit M01. In the second embodiment, the range with a high probability of a water leak point estimated from the sensor data P036 is displayed, so that it is possible to narrow the search range of the underground search means G01 more than in the first embodiment. This can also be used as a judgment index for determining the search route, for example, to start the search from the water pipe W02 with a large estimated water leakage flow rate P043, thereby further improving the efficiency of the search.

[0087] <Output Screen> FIG. 21 is a diagram showing a display example of the display unit M01 in the second embodiment.

[0088] The display screen shown in FIG. 21 displays a display area M02 including a map of the area around the sensor installation position P032 and the status of the water pipe W02, as well as the sensor leakage determination result P031.

[0089] The display area M02 of the second embodiment displays the estimated leakage flow rate P043 calculated using the sensor data P036 and the leakage vibration propagation model P035 in the exploration range indicated by the exploration range instruction signal P041. A user of the underground exploration means G01 can use the display screen shown in Fig. 21 to devise an exploration route, for example, by prioritizing exploration of areas where the estimated leakage flow rate P043 is large and the impact of water leakage is greatest, thereby enabling exploration to be carried out more efficiently.

[0090] In Example 2, not only is the estimated leakage flow rate P043 superimposed on the search range, but the search range indicated by the search range indication signal P041 may also be displayed by narrowing it down to the range estimated to be the leakage quantity specified by the user.

[0091] As described above, according to the second embodiment, the search range for each water leakage flow rate can be recognized by estimating the search range using the sensor data P036 acquired by the sensor S01 and the water leakage vibration propagation model P035. Therefore, this can be used to devise a search route, such as prioritizing the search of locations where the estimated water leakage flow rate P043 is large and the impact of the water leakage is large, and the search can be carried out more efficiently.

[0092] A third embodiment of the present invention will be described. The third embodiment differs from the first embodiment in that the third embodiment includes a pipeline information correction unit P024 for handling scanned data (PDF data or image data) of a drawing printed on paper as pipeline information P033, rather than data (CAD data such as shape file format) in which, for example, the type of pipe and the diameter of the pipe are associated with the position coordinate information of a water pipe W02. Note that the third embodiment will mainly describe the differences from the first embodiment, and the same components and processes as those in the first embodiment will be assigned the same reference numerals and will not be described again.

[0093] <Processing Procedure> FIG. 22 is a diagram showing an example of the configuration of the analysis unit P02 of the leakage flow rate estimation system P01 of the third embodiment.

[0094] As shown in FIG. 22 , the analysis unit P02 of the third embodiment includes a search range estimation unit P021, a leak point estimation unit P022, a leakage flow rate estimation unit P023, a pipeline information correction unit P024, and a leakage vibration propagation model P035. When the pipeline information P033 input to the analysis unit P02 is scanned data (PDF data or image data) of a paper drawing, the pipeline information correction unit P024 extracts information such as the pipeline position, pipe type, and pipe diameter from the image and converts it into data in a format that can be handled by the leakage flow rate estimation system P01, associating the pipeline position coordinate information with the pipe type and pipe diameter, thereby generating corrected pipeline information P044. The corrected pipeline information P044 output from the pipeline information correction unit P024 is input to the search range estimation unit P021 and the leak point estimation unit P022. The exploration range estimation unit P021 receives the leak determination result P031, the sensor installation position P032, and the corrected pipeline information P044 as inputs, and outputs an exploration range instruction signal P041 indicating the exploration range to be investigated by the underground exploration means G01. The leak point estimation unit P022 receives the corrected pipeline information P044 and the exploration image P034 as inputs, and outputs an estimated leak point P042. The leak flow rate estimation unit P023 is the same as in the first embodiment described above.

[0095] Effect of Example 3 As described above, according to Example 3, the search range indication signal P041 and the estimated leak point P042 can be estimated using data obtained by scanning a paper drawing (image data in PDF format, for example) rather than using digitized data format of the pipeline information P033 around the sensor installation position, such as data with pipeline coordinate information (CAD data in shapefile format, for example). According to Example 3, the number of types of drawing data that can be handled by the analysis unit P02 increases, thereby enabling more accurate acquisition of information about the pipeline position. This allows for more accurate acquisition of information about the piping path from the sensor installation position P032 to the estimated leak point P042, thereby improving the accuracy of estimating the leakage flow rate based on the leakage vibration propagation model P035. Therefore, the improved accuracy of estimating the leakage flow rate makes it easier to determine whether repairs are necessary, allowing the pipeline to be repaired efficiently after inspection.

[0096] A fourth embodiment of the present invention will be described. The fourth embodiment differs from the first embodiment described above in that it includes a pipeline information correction unit P024 for dealing with cases where the pipeline information P033 differs from the configuration of the actual water pipe W02. In the fourth embodiment, differences from the first embodiment will be mainly described, and the same configurations and processes as those in the first embodiment will be assigned the same reference numerals and will not be described again.

[0097] <Processing Procedure> FIG. 23 is a diagram showing an example of the configuration of the analysis unit P02 of the leakage flow rate estimation system P01 of the fourth embodiment.

[0098] As shown in Figure 23, the analysis unit P02 of Example 4 includes a search range estimation unit P021, a leak point estimation unit P022, a leakage flow rate estimation unit P023, a pipeline information correction unit P024, and a leakage vibration propagation model P035. The pipeline information correction unit P024 extracts information about the pipeline from the search image P034, updates the pipeline information P033, and generates corrected pipeline information P044. The corrected pipeline information P044 output from the pipeline information correction unit P024 is input to the search range estimation unit P021 and the leak point estimation unit P022. The search range estimation unit P021 receives the leak determination result P031, the sensor installation position P032, and the corrected pipeline information P044 as input, and outputs a search range indication signal P041 that indicates the search range to be searched by the underground search means G01. The leak point estimation unit P022 receives the corrected pipeline information P044 and the survey image P034 as input, and outputs an estimated leak point P042. The leak flow rate estimation unit P023 is the same as that in the first embodiment described above.

[0099] Effect of Example 4 As described above, according to Example 4, the pipeline information P033 around the installation position of the sensor S01 can be updated to accurate information based on the exploration image P034 acquired by the underground exploration means G01. The input pipeline information P033 is information at the time of design, and there are cases where the drawings were created in an older year or the water pipe is installed in a location different from the design. According to Example 4, the actual position of the pipeline obtained from the exploration image P034 can be used to acquire information that is close to the actual state of the piping route from the sensor installation position P032 to the estimated leak point P042, thereby improving the estimation accuracy of the leakage flow rate using the water leakage vibration propagation model P035. Therefore, improving the estimation accuracy of the leakage flow rate makes it easier to determine whether repairs are necessary, and the pipeline can be efficiently repaired after exploration.

[0100] A fifth embodiment of the present invention will be described. The fifth embodiment is a combination of the second and fourth embodiments described above, and differs from the second embodiment in that it includes a pipeline information correction unit P024 for dealing with cases where the pipeline information P033 differs from the configuration of the actual water pipe W02. In the fifth embodiment, differences from the second embodiment will be mainly described, and the same configurations and processes as those in the first and second embodiments will be assigned the same reference numerals, and their description will be omitted.

[0101] <Processing Procedure> FIG. 24 is a diagram showing an example of the configuration of the analysis unit P02 of the leakage flow rate estimation system P01 of the fifth embodiment.

[0102] 24 , the analysis unit P02 of Example 5 includes a search range estimation unit P021, a leak point estimation unit P022, a leakage flow rate estimation unit P023, a pipeline information correction unit P024, and a leakage vibration propagation model P035. The pipeline information correction unit P024 extracts information about the pipeline from the search image P034, updates the pipeline information P033, and generates corrected pipeline information P044. The corrected pipeline information P044 output from the pipeline information correction unit P024 is input to the search range estimation unit P021 and the leak point estimation unit P022. The exploration range estimation unit P021 receives as input the water leakage determination result P031, the sensor installation position P032, the corrected pipeline information P044, the water leakage vibration propagation model P035, and the sensor data P036, and outputs an exploration range instruction signal P041 that indicates the exploration range to be investigated by the underground exploration means G01. The water leakage point estimation unit P022 receives as input the corrected pipeline information P044 and the exploration image P034, and outputs an estimated water leakage point P042. The water leakage flow rate estimation unit P023 is the same as in the first embodiment described above.

[0103] <Effects of Example 5> As described above, according to Example 5, in addition to the effects of Example 2, the pipeline information P033 around the sensor installation position can be updated to accurate information based on the exploration image P034 acquired by the underground exploration means G01.

[0104] A sixth embodiment of the present invention will be described. The sixth embodiment differs from the first embodiment described above in that the water leakage determination process executed by the water leakage determination unit inside the sensor S01 is executed by the analysis unit P02 of the water leakage flow rate estimation system P01. In the sixth embodiment, differences from the first embodiment will be mainly described, and the same configurations and processes as those in the first embodiment will be assigned the same reference numerals and their description will be omitted.

[0105] <Processing Procedure> FIG. 25 is a diagram showing an example of input and output of the leakage flow rate estimation system P01 of the sixth embodiment.

[0106] 25, the leakage flow rate estimation system P01 of Example 6 is composed of an analysis unit P02 and a display unit M01. The analysis unit P02 receives as input an exploration image P034 output by the underground exploration means G01, sensor data P036 output by the sensor S01, a sensor installation position P032 output by the pipeline management means WM01, and pipeline information P033 output by the pipeline management means WM01, and outputs an exploration range instruction signal P041, an estimated leakage point P042, and an estimated leakage flow rate P043.

[0107] FIG. 26 is a diagram showing an example of the configuration of the analysis unit P02 of the leakage flow rate estimation system P01 of the sixth embodiment.

[0108] 26, the analysis unit P02 has a search range estimation unit P021, a water leak point estimation unit P022, a water leakage flow rate estimation unit P023, and a water leakage determination unit P025. The water leakage determination unit P025 executes a water leakage determination process on the sensor data P036 output from the sensor S01, and generates a water leakage determination result P031 by adding meta-information such as the terminal identification number and the determination date to the result of determining whether or not there is a suspected water leakage. The search range estimation unit P021 receives the water leakage determination result P031 output from the water leakage determination unit P025, the sensor installation position P032, and the pipeline information P033, and outputs a search range indication signal P041 indicating the range to be searched by the underground exploration means G01 for the water pipe W02 around the sensor installation position P032 of the sensor S01 determined to have a water leak. The water leakage point estimation unit P022 and the water leakage flow rate estimation unit P023 are the same as those in the first embodiment described above.

[0109] In Example 1, the sensor S01 performs the water leakage determination process and transmits the water leakage determination result P031 to the water leakage flow rate estimation system P01, but in Example 6, the water leakage flow rate estimation system P01 performs the water leakage determination process, so the sensor S01 does not perform the water leakage determination process and transmits sensor data P036 to the water leakage flow rate estimation system P01.

[0110] FIG. 27 is a flowchart of the process executed in the sixth embodiment.

[0111] Steps F01 to F03 are the same as those in the first embodiment.

[0112] The sensor S01 then transmits the sensor data P036 to the analysis unit P02 (F13). The water leakage determination unit P025 of the water leakage flow rate estimation system P01 executes a water leakage determination process on the sensor data P036 output from the sensor S01 to generate a water leakage determination result P031 (F20). The water leakage determination unit P025 then outputs the water leakage determination result P031 to the display unit M01 (F21).

[0113] Steps F06 to F12 are the same as those in the first embodiment.

[0114] If no leak point is found as a result of step F12, the process returns to step F03 and waits until the next measurement. On the other hand, if a leak point is found in step F12, the analysis unit P02 reads the leakage vibration propagation model P035, and the leakage flow rate estimation unit P023 compares the predicted vibration value predicted from the pipeline configuration on the path from the estimated leak point P042 to the sensor installation position P032 with the measured vibration value of the sensor data P036 to calculate the estimated leakage flow rate P043 (F14). Steps F14 to F17 are the same as those in the first embodiment described above.

[0115] <Effects of Example 6> As described above, according to Example 6, the water leakage flow rate estimation system P01 executes the water leakage determination process using the sensor data P036, which makes it easy to realize a determination process method that was difficult with the limited computer resources of the sensor S01, such as a determination process that uses machine learning to perform water leakage determination by referencing a large amount of data acquired in the past. Furthermore, since it is not necessary to collect the sensor S01 and update the internal program (for example, firmware) in order to update the determination process method, operation of the sensor S01 is simplified.

[0116] A seventh embodiment of the present invention will be described. The seventh embodiment differs from the first embodiment described above in that the underground exploration means G02 has an automatic operation function and enables remote exploration. In the seventh embodiment, differences from the first embodiment will be mainly described, and the same components and processes as those in the first embodiment will be assigned the same reference numerals and will not be described again.

[0117] FIG. 28 is a diagram showing an example of the configuration of the underground exploration means G02 according to the seventh embodiment.

[0118] Unlike the hand-pushed underground exploration means G01 of Example 1, the underground exploration means G02 of Example 7 has an automatic driving function and a wireless communication device N01, automatically explores an exploration range according to an exploration range instruction signal P041, and transmits the acquired exploration image P034 and location information of the exploration device via wireless communication to the water leakage flow rate estimation system P01. Therefore, exploration can be carried out remotely without an operator having to push a cart on which the underground exploration means G01 is installed, as in Example 1.

[0119] <Effects of Example 7> As described above, according to Example 7, the investigation can be performed remotely without an investigator going to the site and moving the investigation device, thereby reducing the investigation man-hours.

[0120] An eighth embodiment of the present invention will be described. The eighth embodiment differs from the first embodiment described above in that the underground exploration means is mounted on the exploration vehicle G03. In the eighth embodiment, differences from the first embodiment will be mainly described, and the same components and processes as those in the first embodiment will be assigned the same reference numerals and will not be described again.

[0121] FIG. 29 is a diagram showing an example of the configuration of the underground exploration means of the eighth embodiment.

[0122] The underground exploration means of the eighth embodiment is mounted on an exploration vehicle G03, unlike the hand-pushed underground exploration means G01 of the first embodiment.

[0123] As described above, according to the eighth embodiment, it is possible to use a large exploration device mounted on the exploration vehicle G03, so that a wide area underground can be explored in a single movement, and the exploration speed can be improved. Therefore, exploration can be carried out more efficiently.

[0124] <Processing Procedure> A ninth embodiment of the present invention will be described. The ninth embodiment differs from the first embodiment described above in that the wireless communication device S02 is provided separately from the sensor S01. In the ninth embodiment, differences from the first embodiment will be mainly described, and the same configurations and processes as those in the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.

[0125] FIG. 30 is a diagram showing an example of the configuration of the sensor S01 according to the ninth embodiment.

[0126] The sensor S01 of Example 9 is provided with a wireless communication device S02 separate from the sensor S01, and the sensor S01 and the wireless communication device S02 are connected by a cable. The wireless communication device S02 is installed closer to the ground than the sensor S01. For example, when the various valves W01 or water pipes W02 are located deep underground or when the various valves W01 are made of a material that makes it difficult for communication to pass through, installing the wireless communication device S02 closer to the ground enables stable communication.

[0127] <Effects of Example 9> As described above, according to the configuration of Example 9, the wireless communication device S02 can be installed in a location closer to the ground where stable communication is easy, and stable communication is possible regardless of the depth of the valve or buried pipeline. Therefore, the water leakage determination result P031 can be transmitted without delay regardless of the installation location of the sensor S01, enabling remote monitoring in real time and enabling rapid detection when a water leak occurs.

[0128] A tenth embodiment of the present invention will be described. The tenth embodiment differs from the first embodiment in that the sensor S01 is installed inside the water pipe W02. In the tenth embodiment, differences from the first embodiment will be mainly described, and the same components and processes as those in the first embodiment will be assigned the same reference numerals and will not be described again.

[0129] FIG. 31 is a diagram showing an example of the configuration of the sensor S01 of the tenth embodiment.

[0130] The sensor S01 of Example 10 is installed inside the water pipe W02. In a water pipe W02 with a large diameter, the distance at which water leakage can be detected is short when the sensor S01 is installed on the valve W01 of Example 1. On the other hand, since vibrations transmitted through the water inside the pipe have the property of reaching long distances, installing the sensor S01 inside the water pipe W02 makes it easier to detect vibrations even in a water pipe W02 with a large diameter.

[0131] As described above, according to the configuration of Example 10, by disposing the sensor S01 inside the water pipe W02, it becomes easier to detect vibrations even in a pipe with a large diameter. Therefore, it is possible to reduce the number of times that water leakage vibrations are overlooked in a pipe with a large diameter.

[0132] The present invention is not limited to the above-described embodiments, and includes various modifications and equivalent configurations within the spirit and scope of the appended claims. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to configurations including all of the described configurations. Furthermore, part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Furthermore, the configuration of another embodiment may be added to the configuration of one embodiment. Furthermore, part of the configuration of each embodiment may be added, deleted, or replaced with other configurations.

[0133] Furthermore, the aforementioned configurations, functions, processing units, processing means, etc. may be realized in part or in whole in hardware, for example by designing them as integrated circuits, or may be realized in software by having a processor interpret and execute a program that realizes each function.

[0134] Information such as programs, tables, and files that realize each function can be stored in a storage device such as a memory, hard disk, or SSD (Solid State Drive), or in a recording medium such as an IC card, SD card, or DVD.

[0135] In addition, the control lines and information lines shown are those that are considered necessary for explanation, and do not necessarily represent all the control lines and information lines that are necessary for implementation. In reality, it can be assumed that almost all components are interconnected.

Claims

1. A water leakage flow rate estimation system comprising an analysis unit and a display unit, wherein the analysis unit comprises: an exploration range estimation unit that receives as inputs a water leakage determination result determined based on sensor data acquired by a sensor that detects water leakage vibrations in a water pipe, the installation position of the sensor, and pipeline information around the installation position, and outputs an exploration range indication signal; a water leakage point estimation unit that receives as inputs the pipeline information and an exploration image obtained by exploration of the range indicated by the exploration range indication signal, and outputs an estimated water leakage point; and a water leakage flow rate estimation unit that receives as inputs the sensor data, the estimated water leakage point output from the water leakage point estimation unit, and a water leakage vibration propagation model that models the vibration propagation characteristics of water leakage, and outputs an estimated water leakage flow rate, wherein the analysis unit outputs the exploration range indication signal, the estimated water leakage point, and the estimated water leakage flow rate; and the display unit displays the exploration range indication signal, the estimated water leakage point, and the estimated water leakage flow rate on a screen.

2. A water leakage flow rate estimation system as described in claim 1, characterized in that the exploration range estimation unit is configured so that the calculation device receives as input the water leakage determination result, the installation position of the sensor, pipeline information around the installation position, the water leakage vibration propagation model, and the sensor data, and outputs an exploration range indication signal associated with the estimated water leakage flow rate.

3. A leakage flow rate estimation system as described in claim 1, comprising a pipeline information correction unit that corrects input pipeline information and outputs corrected pipeline information, wherein the pipeline information input to the exploration range estimation unit is the corrected pipeline information, and the pipeline information input to the leakage point estimation unit is the corrected pipeline information.

4. A leakage flow rate estimation system as described in claim 3, characterized in that the pipeline information correction unit corrects the input pipeline information based on the exploration image and outputs corrected pipeline information.

5. A water leakage flow rate estimation system as described in claim 1, comprising a water leakage determination unit that receives the sensor data as input and outputs a water leakage determination result, wherein the water leakage determination result output by the water leakage determination unit is input to the exploration range estimation unit.

6. A water leakage flow rate estimation system as described in claim 1, characterized in that the water leakage vibration propagation model includes water leakage point vibration characteristic data indicating the characteristics of vibration detected at a specified location of a water pipe, and water leakage vibration attenuation characteristic data indicating the attenuation characteristics of vibration detected depending on the distance from the water leakage point.

7. A water leakage flow rate estimation system as described in claim 6, characterized in that the water leakage point vibration characteristic data includes vibration intensity data for each water leakage flow rate formulated based on vibration data corresponding to the water leakage flow rate, and vibration intensity data for each vibration frequency.

8. A water leakage flow rate estimation system as described in claim 6, characterized in that the water leakage vibration damping characteristic data includes a vibration damping coefficient per unit length of the pipeline and a transmission coefficient per node of the pipeline, the vibration damping coefficient per unit length of the pipeline includes attenuation coefficient data for each pipe type, in which the damping characteristics during vibration propagation which vary depending on the pipe type such as the pipe diameter and material, are determined for each vibration frequency, and attenuation coefficient data for each vibration frequency, and the transmission coefficient per node of the pipeline includes nodal transmission coefficient data for each pipe type, in which the attenuation characteristics during transmission through nodes which are pipe junctions are determined for each vibration frequency, and nodal transmission coefficient data for each vibration frequency.

9. A water leakage flow rate estimation system as described in claim 1, comprising a display unit for displaying data output by the exploration range estimation unit, the leak point estimation unit, and the leak flow rate estimation unit, wherein the display unit displays on a screen identification information for identifying the sensor, a water leakage determination date which is the date on which the sensor determined that there was a leak, the water leakage determination result, a map of the area around the installation position of the sensor, a pipeline diagram of the area around the installation position of the sensor, the exploration range indicated by the exploration range indication signal, the estimated water leakage point, and the estimated water leakage flow rate.

10. A water leakage flow rate estimation system as claimed in claim 9, wherein the display unit further displays the current location of the exploration device on the screen.

11. A water leakage flow rate estimation system as claimed in claim 9, characterized in that the display unit further displays on a screen the change over time in the probability of water leakage.

12. A water leakage flow rate estimation system as described in claim 9, characterized in that the display unit further displays on a screen the number of sensors determined to have a water leak and the percentage of the sensors determined to have a water leak that have had their surroundings surveyed.

13. A water leakage flow rate estimation system as described in claim 9, characterized in that the display unit further displays the estimated water leakage flow rate on the screen, superimposed on the exploration range indicated by the exploration range indication signal.

14. A leakage flow rate estimation method executed by a leakage flow rate estimation system, the leakage flow rate estimation system comprising an analysis unit and a display unit, the leakage flow rate estimation method comprising: an exploration range estimation step in which the analysis unit receives as input a leakage determination result determined based on sensor data acquired by a sensor that detects leakage vibration in a water pipe, the installation position of the sensor, and pipeline information around the installation position, and outputs an exploration range indication signal; a leakage point estimation step in which the analysis unit receives as input the pipeline information and an exploration image obtained by exploration of the range indicated by the exploration range indication signal, and outputs an estimated leakage point; a leakage flow rate estimation step in which the analysis unit receives as input the sensor data, the estimated leakage point output in the leakage point estimation step, and a leakage vibration propagation model that models the vibration propagation characteristics of leakage, and outputs an estimated leakage flow rate; and an output step in which the analysis unit outputs the exploration range indication signal, the estimated leakage point, and the estimated leakage flow rate. The leakage flow rate estimating method includes a display step in which the display unit displays the exploration range indication signal, the estimated leakage point, and the estimated leakage flow rate on a screen.

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