CN102402211A - 具有过程诊断的无线适配器 - Google Patents

具有过程诊断的无线适配器 Download PDF

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CN102402211A
CN102402211A CN201110213726XA CN201110213726A CN102402211A CN 102402211 A CN102402211 A CN 102402211A CN 201110213726X A CN201110213726X A CN 201110213726XA CN 201110213726 A CN201110213726 A CN 201110213726A CN 102402211 A CN102402211 A CN 102402211A
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CN102402211B (zh
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托马斯·C·华莱士
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Rosemount Inc
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    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract

本发明公开了具有过程诊断的无线适配器。一种具有诊断的过程设备，用在工业过程中，包括：过程变量传感器或控制器元件，配置为对工业过程的过程流体的过程变量进行感测或控制。电路与过程变量传感器或控制元件耦接，配置为测量或控制工业过程的过程变量。无线通信适配器包括无线通信电路，配置为在工业过程中进行通信。无线通信电路还配置为接收来自一个或多个其他过程设备的一个或多个过程信号。诊断电路配置为根据感测到的过程变量和接收到的过程信号，对工业过程的运行进行诊断。

Description

具有过程诊断的无线适配器
技术领域
本发明涉及工业过程控制或监视系统，其中使用现场设备监视或控制工业过程。更具体地，本发明涉及无线过程控制或监视系统。
背景技术
在工业过程中使用过程控制或监视系统监视或控制过程的运行。示例的工业过程包括炼油厂、制造厂等。过程变量传送器位于现场位置，并用于测量例如压力、流量、温度等过程变量，向例如中央控制室等另一位置发送过程变量。控制现场设备设置在现场，其可以接收来自控制室的命令，以例如控制过程的运行。例如，控制元件可以被配置为改变阀的位置、调整加热元件的温度等，从而控制过程变量。
这种系统典型地使用有线连接来操作。一种布线技术是双线过程控制环路，其中使用两条相同的配线与现场设备通信并向现场设备供能。然而，最近，已经使用无线通信技术在过程控制或监视系统中进行信息通信。这些技术可以包括例如无线“网状网络”通信技术或直接通信链路。
很多时候希望诊断工业过程的运行。这种诊断例如包括识别已出现故障或正在发生故障的过程组件。这允许有可能在组件最终失灵之前修复故障，从而提高可靠性和减少停工时间。
发明内容
一种具有诊断能力的过程设备，用在工业过程中，包括：过程变量传感器或控制器元件，配置为对工业过程的过程流体的过程变量进行感测或控制。电路与过程变量传感器或控制元件耦接，配置为测量或控制工业过程的过程变量。无线通信适配器包括无线通信电路，配置为在工业过程中进行通信。无线通信电路还配置为接收来自一个或多个其他过程设备的一个或多个过程信号。诊断电路配置为根据感测到的过程变量和接收到的过程信号，对工业过程的运行进行诊断。
附图说明
图1是根据本发明的工业过程控制系统的简化框图，该工业过程控制系统包括具有无线适配器的现场设备。
图2是图1中现场设备的简化框图。
图3是与图1和2中的现场设备耦接的一种类型的无线适配器的简化框图。
图4是示出了根据本发明的步骤的简化框图。
图5是示出了在过程变量传送器和阀控制器中实施的本发明的图。
图6是示出了本发明用于检测箱槽(tank)泄漏的图。
具体实施方式
工业过程的正确运行很重要，这存在多种原因，包括工厂吞吐量、正常运行时间、质量、能量成本、环境影响、运行和维护成本以及其他。因此，正确地诊断工业过程的运行很重要。在工业过程中，典型配置包括：现场设备，提供单个过程接口元件，例如过程变量传感器或控制元件，用于与工业过程进行交互。现场设备向例如中央位置等另一位置发送信息或从该另一位置接收信息。存在如下情况：可能希望接收来自多于一个的设备的信息。然而，现场设备通常不提供用于对等实时通信的机制。此外，存在可以采用多种配置实现的许多不同类型的现场设备。这使得难以在设备级别上实现能够利用从其他现场设备接收的信息的应用。
本发明提供了一种无线适配器，可以耦接至现场设备，以向现场设备提供无线通信能力。无线适配器包括：处理电路，配置为通过无线网络接收来自所附着的设备的信息、以及来自其他现场设备的信息。处理电路能够将预配置的规则(包括设备、自动化、网络导出的或用户可定义的规则)应用于信息，以用于提供诊断信息，确定性能信息或确定其他类型的信息。适配器能够通过无线网络向现场设备报告这种信息，或者向现场设备提供这种信息。适配器可以配置为实施规则，包括警报或事件确定、计算结果、向自动化平台或工厂人员传达动作、向商业应用配置信息、指示过程已偏离期望状况、效率、成本或剩余寿命，适配器还可以配置为提供安全或环境影响信息或提供其他类型的信息。
本发明的无线适配器(无线通信模块)能够接收多种类型的数据，包括过程变量、控制信号或诊断信号。过程变量典型的是在过程中受到控制的初级变量(primary variable)。在本文中，过程变量包括对过程状况加以描述的任何变量，例如压力、流量、温度、产品水平、pH、浊度、振动、位置、电机电流、过程的任何其他特性等。控制信号包括用于控制过程的任何信号(不是过程变量)。例如，控制信号包括期望的过程变量值(即，设定点)，例如期望的温度、压力、流量、产品水平、pH或浊度等，由控制器调整或用于控制过程。此外，控制信号可以包括校准值、警报、警报条件、提供给控制元件的信号(例如提供给阀致动器的阀位置信号)、提供给加热元件的能量水平、螺线管开/关信号等，或者涉及过程控制的任何其他信号。本文中使用的诊断信号包括与过程控制环路中的设备和元件的操作有关的信息，但是不包括过程变量或控制信号。例如，诊断信号包括阀杆位置、所施加的扭矩或力、致动器压力、用于致动阀的加压气体的压力、电压、电流、功率、电阻、电容、电感、设备温度、静摩擦、摩擦、全开和全关位置、行程、频率、幅度、谱和谱分量、硬度、电或磁场强度、持续时间、强度、运动、电机反电动势、电机电流i、、环路有关参数(例如控制环路电阻、电压或电流)、或者可以在系统中检测或测量的任何其他参数。此外，过程信号包括与过程或过程中的元件有关的任何信号，例如过程变量、控制信号或诊断信号。过程设备包括形成过程控制环路的一部分的任何设备或者耦接至过程控制环路的任何设备，并用在过程的控制或监视中。
图1是示出了工业过程控制或监视系统10的简化图，系统10包括现场设备12，示出为通过可选的过程控制环路16与控制室14通信。控制室14示出为包括与过程控制环路16耦接的电源18和感测电阻器20(sense resistor)。现场设备包括过程接口元件22。如果现场设备12配置为作为过程变量传送器来操作，则过程接口元件可以包括过程变量传感器，用于感测过程流体的过程变量。类似地，如果现场设备12配置为作为控制器来操作，则过程接口元件22可以包括控制元件，例如阀、加热器、冷却器、振动器、泵等。现场设备12包括根据本发明的无线适配器30。图1还示出了具有第二现场设备无线适配器42的第二现场设备40。无线适配器30和42配置为形成无线通信链路50。在图1所示示例中，控制室14也包括无线通信电路52。在这种配置中，现场设备12和40可以通过无线通信链路50彼此通信，也可以使用通信电路52，通过无线通信链路50与控制室14通信。通信链路50可以根据任何所需的标准，包括例如网状网络(mesh network)配置，其中可以按照确保鲁棒的信息通信的方式，在设备之间传送数据，直到数据到达其最终位置。
图2是过程设备12的简化图，示出了经由电路62耦接至微处理器60的接口元件22。例如，如果接口元件22配置为控制元件，则电路62可以包括数字至模拟转换器，如果接口元件22配置为传感器，则电路62可以包括模拟至数字转换器。微处理器60示出为耦接至存储器64，存储器64可以包含编程指令和其他信息。I/O(输入/输出)电路66示出为耦接至可选的过程控制回路16。可以根据任何适当的配置，将无线适配器30耦接至现场设备12中的电路。在图2所示示例中，在无线适配器30与微处理器60、I/O电路66或过程控制回路16之间示出了可选的连接器。无线适配器及其与现场设备的示例配置在如下文献中示出：2007年8月28日授予的美国专利号7,262,693，PROCESS FIELD DEVICE WITH RADIO FREQUENCYCOMMUNICATION；2004年5月21日提交的美国申请序列号10/850,828，题为WIRELESS POWER AND COMMUNICATION UNITFOR PROCESS FIELD DEVICE；2007年8月21日提交的美国专利序列号11/842,356，题为PROCESS FIELD DEVICE WITH RADIOFREQUENCY COMMUNICATION；2008年5月22日提交的美国专利序列号12/125,187，题为RF ADAPTER FOR FIELD DEVICE；2009年6月16日提交的美国专利序列号12,485,169，题为WIRELESSCOMMUNICATION ADAPTER FOR FIELD DEVICES；2009年6月16日提交的美国专利序列号12/485,189，题为FORM FACTOR FORELECTROMAGNETIC INTERFERENCE PROTECTION FORPROCESS DEVICE WIRELESS DAPATERS；2009年6月17日提交的美国专利序列号12/486,253，题为RF ADAPTER FOR FIELDDEVICE WITH LOOP CURRENT BYPASS；2009年6月17日提交的美国专利序列号12,486,269，题为RF ADAPTER FOR FIELDDEVICE WITH LOW VOLTAGE INTRINSIC SAFETY CLAMPING；2009年6月17日提交的美国专利序列号12/486,282，题为RFADAPTER FOR FIELD DEVICE WITH VARIABLE VOLTAGE DROP，这些文献的全部内容作为参考合并在此。
图3是适配器300的简化框图，示出了多种电路块。示出了超级电容器(super capacitor)320，设备300配置用于HART
Figure BDA0000079297320000051
有线通信、以及例如根据无线HART
Figure BDA0000079297320000052
标准(IEC标准62591)的无线通信。
如图3所示，适配器300包括微控制器340，微控制器340也包括存储器和用于通信的调制解调器。存储器用于存储编程指令、配置数据、变量等。HART
Figure BDA0000079297320000053
模拟电路342配置为通过DC阻挡(DC blocking)电容器346耦接至过程变量传送器308。提供了无线电模块344，使得适配器300能够使用RF通信技术进行通信。提供了串联的稳压器(regulator)348，配置为DC至DC转换器。电流分路(current shunt)电路350与稳压器348并联连接，并包括由OP放大器354控制的旁路晶体管352。OP放大器354基于基准电压(Vref)与施加至稳压器348的电压之间的差来操作。稳压器348提供2.3伏特输出至低失落(low dropout，LDO)稳压器360。低失落(LDO)稳压器360提供调节后的2伏特电源输出至微处理器340、HART模拟电路342、复位电路382和ADC 380。
经过旁路晶体管325的电流用于对超级电容器320充电。使用箝压器370来设置超级电容器320上的电压。例如，箝压器可以设置为2.2伏特。另一DC至DC转换器372配置为升压(step up)转换器，向低失落(LDO)稳压器374提供调节后的3伏特电压输出。低失落(LDO)稳压器374的输出设置为2.8伏特，并用于向无线电模块344提供调节后的电力。
微处理器340连接至模拟至数字转换器380，模拟至数字转换器380用于监视超级电容器320的电压。微处理器340也连接至复位电路382。微处理器340通过电平移动电路384向无线电模块344提供数据。
优选地，上述电路能够支持最大量的无线通信活动，同时在环路302中降低最小量的电压。因此，适配器300优选地配置为以非常高效的方式使用来自环路302的电能。在一种具体配置中，这通过使用低功率微控制器340(例如，Texas Instruments MSP430F1481)和使用低功率模拟电路组件来实现。可以通过低电源电压对这些组件供能，以进一步最小化总电路功耗。此外，微控制器340可以配置为，在不需要某些功能(例如，通信功能)时，如果希望，则可以进入“睡眠”模式。在图3所示的配置中，不使用分离的调制解调器。而是，使用微控制器340来提供调制解调功能。
还优选的是向无线电模块344提供大量功率。这允许更频繁的通信和提高的可靠性。可以使用附加功率来公布来自变送器308的信息、允许将适配器300用作针对其他过程变送器的路由器(例如在网状网络中)、以及允许使用更高的传输功率。这可以得到更可靠的网状网络，因为从另一无线设备经过适配器300到主机的路径可能比从该设备直接到主机的路径更可靠。
在图3实施例中，由超级电容器320对无线电模块340供能。因此，为了增大提供给无线电模块344的电能，优选的是增大超级电容器320存储的电能。在图3的配置中，这通过如下来实现：将超级电容器320布置作为针对稳压器348的分路元件，其中稳压器348结合OP放大器354和分路晶体管352对耦接至环路302的端子上的电压降进行调节。在图3中，将耦接至过程控制环路302的环路端子上的电压调节为1伏特。这通过使用OP放大器354和分路晶体管352对流向超级电容器的电流进行调整来实现。在该配置中，稳压器348与环路302串行操作，并且在由OP放大器354形成的反馈环路中。在效率较低的配置中，可以实现分离的1伏特分路稳压器和超级电容器充电电路。然而，这需要附加组件和附加功率来操作。相反，在图3所示配置中，将适配器300的电路不使用的任何环路电流引导至分路电容器320，以提高效率。这得到可用于无线电模块344的最大量功率。箝压器370确定将电容器320充电至的电压。一旦超级电容器320达到箝压器370设置的电压，过量电流就流经箝压器370而不是流入电容器320。
DC至DC转换器348配置为低功率“升压”开关稳压器，以1伏特的输入电压操作。稳压器348将1伏特输入电压升高到足够高的电压，以对其他电路供能。在图3示例中，是2.3伏特。该转换器可以是开关电容器类型的转换器、基于电感器的升压转换器、基于变压器的转换器或其他适合的配置。LDO稳压器360将稳压器348输出的2.3伏特调节到2.0伏特，并去除来自稳压器348的任何开关噪声。LDO稳压器360的输出用于对微处理器340、HART
Figure BDA0000079297320000071
模拟电路342、存储器、复位电路382和模拟至数字转换器380供能。
HART
Figure BDA0000079297320000072
模拟电路块342可以包括例如载波检测电路、接收电路和发送电路。优选地，这些电路配置为具有低功率需求，同时保持可接受的通信完整性。微处理器340中的存储器可以用于存储编程代码和临时变量。微处理器340内部的计时器可以用于提供“软件”调制解调器功能。微处理器340的存储器可以包括内部闪速存储器、RAM以及EEPROM或者其他非易失性存储器。微控制器340可以配置为使用模拟至数字转换器380来监视电压接入(voltage access)超级电容器320，其中模拟至数字转换器380向微控制器340提供对电容电压进行表示的数字输出。如果希望，微控制器340可以用于确定电容器是否具有足够电压来支持无线电传输。复位电路382可以用于确保微控制器340在电压不足时不操作。例如，复位电路382可以配置为在来自LDO稳压器360的电源电压达到足够的电压电平时，将微控制器340复位或开启。该电路也可以用于在发生电能“小故障(glitch)”时将微控制器340复位。
无线电模块344操作在LDO稳压器374提供的2.8伏特稳定电压上。如上所述，如果将超级电容器320充电至2.2伏特，则DC至DC转换器稳压器372将该电压升高至3伏特。在使用期间，超级电容器上的电压将降低并且需要升压转换器。LDO稳压器374用于向无线电模块344提供稳定的2.8伏特。优选地，稳压器372配置为操作偏离大约1伏特的最小电压直到大约2.2伏特的最大电压。在一些配置中，微控制器340配置为，如果超级电容器320上的电压小于1伏特，则关闭无线电模块344的电路。
微控制器340可以配置为通过经由无线电模块344与微控制器340之间的数字通信线路进行通信，来使用无线电模块344无线地传输信息。当微控制器操作在2伏特电能供应，同时无线电模块操作在2.8伏特电能供应时，必须使用电平移动电路384对两个组件之间的数字通信线路进行电平移动。例如，这可以使用诸如Texas InstrumentsSN74LVC2T45DCU等功率非常低的电平移动器电路来执行。
在一种配置中，微控制器340可以配置为调整耦接至环路302的环路端子上的电压降。例如，可以将来自微控制器340的可选的控制线路354耦接至分路电路350的OP放大器354的反相输入。在这种配置中，可以通过在适当条件下增大环路电压降，来使得附加功率可用于无线电模块。类似地，如果需要减小对适配器300电路的过程控制环路的影响，则可以减小电压降。然而，这会提供较少功率给适配器300的无线电模块和其他电路，并可能降低性能。
图4是示出了根据本发明一个示例实施例的步骤的简化流程图400。流程图400开始于开始框402，并且控制传递给可选框404。在框404，将无线适配器配置为从其耦接至的现场设备接收本地过程信号。在框406，无线适配器30经由通信链路50接收来自远程设备的过程信号。在框408，基于远程过程信号和可选的本地信号，执行诊断步骤。该诊断可以基于任意数目的本地和/或远程过程信号。在框408，确定诊断信息，并将控制传递给框410。在框410，无线适配器30提供诊断输出。该诊断输出可以在本地提供给现场设备12，或者可以例如经由无线通信链路50或经由双线过程控制环路16发送至远程位置。在停止框413该过程完成并终止。图4所示步骤可以是基于检测到的事件发生(例如在过程中检测到的事件发生)而自动致动的，或者是周期性致动的，或者是在无线适配器30接收到开始执行诊断的命令时远程发起的。图4所示步骤可以在现场适配器30的微处理器4中实现。这些步骤可以根据存储器64中存储的编程指令。这种配置提供了使用来自多个设备的数据在现场设备中执行诊断的能力。这允许单个设备为了诊断目的而访问来自多个其他设备的过程信号。
一个示例应用是检测完全闭合的阀周围的泄漏过程流体。在这种示例配置中，将流量传感器定位在控制阀的上游。当阀完全闭合时，应该没有流体流量流过流量传感器。如果阀完全闭合并且有足够压力抵住阀座，则流动应该完全停止。然而，阀和阀座随时间磨损。该磨损可能造成在“完全闭合”位置，阀不完全地抵靠住阀座，导致流体流经阀。
图5是示出了耦接至过程管道444的阀控制器440和流量计442。在该配置中，控制器440和变送器442各自均包括无线适配器30。每一个无线适配器30都可以接收来自另一设备的无线适配器30的无线信号(流速或阀位置)。在这种配置中，图4所示框408中实施的诊断规则可以如下：
如果阀闭合，阀座压力在X与Y之间，并且流量＞0，则阀是泄漏的或者流量传感器出错。
当阀完全闭合了较短时间段时，流量可能继续经过流量计。可以实施上述规则，以说明该延迟。可以基于设备之间的通信滞后来调整该规则。该通信滞后可以通过监视经由无线通信链路50的通信来确定，可以基于时间戳来确定，可以由操作者来编程等等。
图6是本发明的另一示例实施方式。在图6中，提供过程流量变送器452和454，两者分别耦接至邻近的阀控制器456和458。液位计460耦接至箱槽462。流量变送器452和阀控制器456耦接至箱槽462的入口，流量变送器454和阀控制器458耦接至箱槽462的出口。如果无线适配器30耦接至变送器452和454并耦接至液位计460，则可以实施规则来识别箱槽462中的潜在泄漏。这一规则可以如下：
如果箱槽流入等于0，箱槽流出等于0，并且箱槽液位在下降，则箱槽可能具有漏洞。
如果阀控制器456和458包括无线适配器30，则可以执行附加的诊断。例如，可以识别泄漏的阀。
除了执行诊断，本发明的适配器30还可以用于提高效率。例如，阀在操作于大致70％打开时，提供精确的流量控制和低能量损失的组合。如果例如如图5所示，无线适配器安装在阀控制器和关联的流量变送器上，则可以监视阀位置相对于流速。可以识别在高效操作的优选范围之外操作的阀。可以采取校正动作，例如减小关联的泵的尺寸，以降低能量消耗。此外，如果向无线适配器30提供能量成本信息，则可以计算和报告过量能量消耗的实时能量成本。如果现场设备包括配备有无线适配器的泵电机，则可以实时监视和管理电机速度和功耗，以增加能量节省和提高关联的控制阀的性能。
本发明可以在大型工业过程中实施。例如，多种不同类型的现场设备和配置可以实现在工业过程中，并配置为使用不同协议进行通信。本发明的无线适配器30可以耦接至这些现场设备中的任何设备，从而提供不同类型现场设备之间的过程信号通信，以用于实施诊断或用于其他目的。此外，无线适配器30可以用于翻新已有现场设备。
虽然参照优选实施例描述了本发明，但是本领域技术人员将认识到，在不背离本发明的精神和范围的前提下，可以进行形式和细节上的改变。诊断输出可以通过无线通信链路提供或者通过双线过程控制环路传输。无线适配器可以使用模拟或数字协议与过程设备通信。诊断可以基于本地过程信号和从另一过程设备接收的过程信号。本发明可以与本文具体示出或论述的现场设备和配置不同的其他现场设备和配置一起使用。此外，可以实施更加复杂的诊断规则，包括基于统计参数、模糊逻辑、加权函数等的规则。诊断可以基于对过程信号的进一步分析，包括时域或频域中的分析。本地过程信号是源自本地位置(例如过程设备)的过程信号。远程过程信号是从例如另一过程设备等另一位置接收的过程信号。可以使用任意组合的有线或无线通信技术，将包括但不限于逻辑、数据源、数据用户或其他类型的诊断规则发送至现场设备，对规则进行编辑，删除，或从一个或多个现场设备拷贝至其他现场设备。这允许按需创建、删除、修改或再使用诊断。

Claims (22)

1.一种用于工业过程的具有诊断能力的装置，包括：
过程设备，配置为耦接至工业过程，包括：
过程接口元件，配置为感测或控制工业过程的过程变量或过程流体，
耦接至过程接口元件的电路，配置为提供本地过程信号；无线适配器，配置为耦接至过程设备，包括：
无线通信电路，配置为接收来自另一过程设备的远程过程信号；以及
诊断电路，配置为基于接收到的过程信号和本地过程信号，对工业过程的运行进行诊断。
2.根据权利要求1所述的装置，其中过程接口元件包括过程变量传感器，本地过程信号包括感测到的过程变量。
3.根据权利要求1所述的装置，其中过程接口元件包括控制元件，本地过程信号与设定点有关。
4.根据权利要求1所述的装置，其中无线通信电路根据网状网络进行操作。
5.根据权利要求1所述的装置，其中诊断电路实施规则。
6.根据权利要求1所述的装置，其中诊断电路提供基于所述诊断的输出，该输出通信至中央位置。
7.根据权利要求6所述的装置，其中所述通信通过无线通信链路。
8.根据权利要求6所述的装置，其中所述通信通过双线过程控制环路。
9.根据权利要求1所述的装置，其中无线适配器包括配置为与过程设备的所述电路进行通信的电路。
10.根据权利要求9所述的装置，其中与过程设备的所述电路的通信是根据数字通信协议的。
11.根据权利要求1所述的装置，其中无线适配器配置为耦接至过程设备的端子，所述端子连接至双线过程控制环路。
12.根据权利要求1所述的装置，其中诊断电路配置为识别泄漏的阀。
13.根据权利要求1所述的装置，其中诊断电路配置为识别泄漏的箱槽。
14.一种工业过程中执行诊断的方法，包括：
使用过程设备控制或感测工业过程的过程流体的过程变量，从而提供本地过程信号；
将无线适配器耦接至过程设备；
在无线适配器的无线通信电路中接收来自另一过程设备的远程过程信号；以及
在无线适配器中基于接收到的远程过程信号和本地过程信号，对工业过程的运行进行诊断。
15.根据权利要求14所述的方法，包括：根据网状网络操作无线通信电路。
16.根据权利要求14所述的方法，其中所述诊断包括：实施规则。
17.根据权利要求14所述的方法，包括：提供基于所述诊断的输出，该输出通信至中央位置。
18.根据权利要求17所述的方法，其中所述通信通过无线通信链路。
19.根据权利要求17所述的方法，其中所述通信通过双线过程控制环路。
20.根据权利要求14所述的方法，包括：耦接至过程设备的端子，所述端子连接至双线过程控制环路。
21.根据权利要求14所述的方法，其中所述诊断包括：识别泄漏的阀。
22.根据权利要求14所述的方法，其中所述诊断包括：识别泄漏的箱槽。
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RU2013110497A (ru) 2014-09-20
WO2012021484A1 (en) 2012-02-16
CN202563314U (zh) 2012-11-28
RU2556420C2 (ru) 2015-07-10
JP2013533570A (ja) 2013-08-22
EP3951538A2 (en) 2022-02-09
JP6014705B2 (ja) 2016-10-25
JP5946452B2 (ja) 2016-07-06
US20120041582A1 (en) 2012-02-16
CN102402211B (zh) 2015-06-17
BR112013002466A2 (pt) 2016-05-24
EP3951538A3 (en) 2022-05-11
CA2808174A1 (en) 2012-02-16

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