CN104599444A - Method for linking gas alarm and valve closing mechanical arm based on ultrasonic wave - Google Patents

Abstract

The invention discloses a method for linking a gas alarm and a valve closing mechanical arm based on ultrasonic wave. The method comprises the steps of A, converting gas leakage information into the change of an electric signal through a gas sensitive sensor of the gas alarm, and then transmitting the electric signal to an ultrasonic sender; B, converting the change of the electric signal into an ultrasonic signal including a valve closing instruction by the gas alarm through the ultrasonic sender, encoding and sending to the outside; C, receiving the ultrasonic signal by the valve closing mechanical arm through an ultrasonic receiver, and decoding the signal; D, removing noise of the ultrasonic signal through the valve closing mechanical arm by the threshold noise removing technology to obtain the noise removed ultrasonic signal, and then closing a valve according to the valve closing instruction in the noise-removed ultrasonic signal.

Description

A kind of method realizing fuel gas alarm and pass valve mechanical arm interlock based on ultrasound wave

Technical field

The present invention relates to gas safe technical field, particularly, relate to a kind of method realizing fuel gas alarm and pass valve mechanical arm interlock based on ultrasound wave.

Background technology

Fuel gas alarm is a kind of gas leakage detection alarm instrument, when fuel gas alarm detects that gas concentration reaches the critical point of blast or alarm setting, will send alerting signal, take safety measures to remind staff.

Fuel gas alarm supports the use with pass valve mechanical arm usually, and fuel gas alarm detects gas leakage, and pass valve instruction is sent to mechanical arm, and after mechanical arm receives instruction, automatic self-closing gas valve, ensures gas safe.

In the prior art, generally adopt wired connection between mechanical arm and alarm, install and safeguard all inconvenient, also impact finishing is attractive in appearance.Also have and adopt the mode of dedicated radio link, but because cost is higher and combustion gas is inflammable and explosive, alarm sends radio signal after gas leakage being detected again, there is certain danger, so seldom adopt in this way.

Summary of the invention

In order to solve exist in prior art inconvenience is installed between mechanical arm and alarm, link inefficient problem, the present invention proposes a kind ofly realize fuel gas alarm based on ultrasound wave and close the method for valve mechanical arm interlock.

The method comprises:

Steps A: gas leakage information is converted to the change of electric signal by fuel gas alarm by self gas sensor, and by the ultrasound transmitter device of described electric signal transmission to self;

Step B: the change of described electric signal is converted to the ultrasonic signal comprising and close valve instruction by described fuel gas alarm by described ultrasound transmitter device, and outwards transmission of carrying out encoding;

Step C: described pass valve mechanical arm receives described ultrasonic signal by the ultrasonic receiver of self, and decodes to this signal;

Step D: described pass valve mechanical arm adopts threshold denoising technology to carry out denoising Processing to described ultrasonic signal, obtains the ultrasonic signal after de-noising, and perform pass valve operation according to the pass valve instruction in the ultrasonic signal after described de-noising.

Preferably, also comprised before described step D:

According to decoded ultrasonic signal, described pass valve mechanical arm judges whether this signal is sent by the fuel gas alarm mated, if so, then perform step D;

If not, then do not perform step D.

Preferably, also comprise after described step D:

Pass valve operation information, after valve operation is closed in execution, is converted to ultrasonic signal, and returns described fuel gas alarm by described ultrasonic receiver by described pass valve mechanical arm.

Preferably, described pass valve mechanical arm adopts threshold denoising technology specifically to comprise the step that described ultrasonic signal carries out denoising Processing:

Wavelet transformation is carried out to described ultrasonic signal, obtains wavelet coefficient w _{j, k}, described w _{j, k}comprise the wavelet coefficient u of signal _{j, k}with the wavelet coefficient v of noise _{j, k};

Choose de-noising threshold value λ, according to described λ to described w _{j, k}carry out threshold process, obtain estimating wavelet coefficient

According to described estimation wavelet coefficient carry out wavelet inverse transformation, obtain estimated signal, described estimated signal is the ultrasonic signal after de-noising.

Preferably, described threshold process is hard-threshold process:

$\widehat{w_{j,k}}=\left\{\begin{array}{cc}{w}_{j,k}& \left|w_{j,k}\right|\&GreaterEqual;\mathrm{\&lambda;}\\ 0& \left|w_{j,k}\right|<\mathrm{\&lambda;}\end{array}\right..$

Preferably, described threshold process is soft-threshold process:

$\widehat{w_{j,k}}=\left\{\begin{array}{cc}\mathrm{sign}\left(w_{j,k}\right)\left(\right|w_{j,k}|-\mathrm{\&lambda;})& \left|w_{j,k}\right|\&GreaterEqual;\mathrm{\&lambda;}\\ 0& \left|w_{j,k}\right|<\mathrm{\&lambda;}\end{array}\right..$

Preferably, choose de-noising threshold value λ described in and adopt any one rule following:

Based on Stein without partially/possibility predication principle adaptive threshold selection λ, adopt the sqtwolog rule interestingness λ of fixed threshold form, adopt heuristic Threshold selection rule heursure to choose λ and choose λ based on the extreme value that the minimaxi of minimax principle produces least mean-square error.

Preferably, also comprise: the gas leakage information comprised in described ultrasonic signal and pass valve operation information, after valve operation is closed in execution, are sent to monitor supervision platform and/or intelligent terminal by the communication module of self by described pass valve mechanical arm in real time.

Preferably, also comprise: fuel gas alarm is also monitored the temperature in space to be measured and/or light intensity, when described temperature and/or light intensity exceed default temperature threshold/intensity threshold, temperature and/or intensity variation information are converted to the ultrasonic signal comprising and close valve instruction, and are sent to described pass valve mechanical arm.

Preferably, described gas leakage information comprises combustion gas concentration change information and/or gas leakage source information in space to be measured.

In the method for the invention, by ultrasonic communication technology transmission of information between fuel gas alarm and pass valve mechanical arm, identifying mutually by encoding, binding.Noise elimination can also be carried out to the instruction received simultaneously, close valve instruction and gas leakage information accurately to obtain.By the method that the present embodiment provides, between fuel gas alarm and pass valve mechanical arm, eliminate wired connection, make installation more convenient, adopt ultrasonic communication technology to make gas alarm more in time, reliably simultaneously.

Other features and advantages of the present invention will be set forth in the following description, and, partly become apparent from instructions, or understand by implementing the present invention.Object of the present invention and other advantages realize by structure specifically noted in write instructions, claims and accompanying drawing and obtain.

Below by drawings and Examples, technical scheme of the present invention is described in further detail.

Accompanying drawing explanation

Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for instructions, together with embodiments of the present invention for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:

Fig. 1 is the process flow diagram of one embodiment of the invention;

Fig. 2 is the process flow diagram of another embodiment of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of embodiment.

In order to solve exist in prior art inconvenience is installed between mechanical arm and alarm, link inefficient problem, the present invention proposes a kind ofly realize fuel gas alarm based on ultrasound wave and close the method for valve mechanical arm interlock.

Ultimate principle of the present invention is: after fuel gas alarm detects gas leakage, and gas leakage information is converted to ultrasonic signal, then encodes to this ultrasonic signal, closes valve instruction immediately by ultrasonic signal transmission; After mechanical arm receives this ultrasonic signal, decoding is carried out to it and obtains pass valve instruction, and then closing gas valve door.

The main implementation method of the embodiment of the present invention is: the line cancelled fuel gas alarm and close between valve mechanical arm, at fuel gas alarm, close in valve mechanical arm and a ultrasonic wave module is installed respectively, the interlock of two devices is realized: fuel gas alarm detects gas leakage based on ultrasonic communication technology, activate built-in ultrasonic wave module and send ultrasound wave, utilize ultrasonic signal transmission to close valve instruction; Close after the built-in sound wave module of valve mechanical arm receives and close valve instruction, first valve-off, then by the information feed back of valve closing to fuel gas alarm, the mode of information feed back adopts ultrasonic communication technology equally.

Be illustrated in figure 1 the process flow diagram of the inventive method embodiment, comprise:

Step 101: gas leakage information is converted to the change of electric signal by fuel gas alarm by self gas sensor, and by the ultrasound transmitter device of described electric signal transmission to self;

In the present embodiment, preferably, described gas leakage information comprises combustion gas concentration change information and/or gas leakage source information in space to be measured.It will be understood by those skilled in the art that and also can need to set relevant information according to actual gas safe.

Step 102: the change of described electric signal is converted to the ultrasonic signal comprising and close valve instruction by described fuel gas alarm by described ultrasound transmitter device, and outwards transmission of carrying out encoding;

Step 103: described pass valve mechanical arm receives described ultrasonic signal by the ultrasonic receiver of self, and decodes to this signal;

Step 104: described pass valve mechanical arm adopts threshold denoising technology to carry out denoising Processing to described ultrasonic signal, obtains the ultrasonic signal after de-noising, and perform pass valve operation according to the pass valve instruction in the ultrasonic signal after described de-noising.

In the present embodiment, fuel gas alarm and close between valve mechanical arm and close valve instruction by the transmission of ultrasonic communication technology, and identified mutually by coding, bind.Close valve mechanical arm simultaneously and can also carry out noise elimination to the ultrasonic signal received, close valve instruction and gas leakage information accurately to obtain.By the method that the present embodiment provides, eliminate wired connection between fuel gas alarm and pass valve mechanical arm, make the installation of gas safe equipment more convenient, adopt ultrasonic communication technology to make gas alarm more in time, reliably simultaneously.

In an alternative embodiment of the invention, also comprised before step S104:

Step S105: according to decoded ultrasonic signal, described pass valve mechanical arm judges whether this signal is sent by the fuel gas alarm mated, if so, then performs step D;

If not, then do not perform step D.

Concrete, in advance coding chip and decoding chip can be set respectively on matching used fuel gas alarm and pass valve mechanical arm, this coding chip and decoding chip can adopt common chip, as: PT2262 coding chip and PT2272 decoding chip (being not limited thereto), also single-chip microcomputer can be adopted, to realize the uniqueness of encoding and decoding.

In the present embodiment, pass valve mechanical arm can receive the ultrasonic signal comprising pass valve instruction that fuel gas alarm sends, and identify whether this signal is that the fuel gas alarm mated sends, avoid the pass valve instruction of execution error (receiving the pass valve instruction that neighbour's's alarm sends as closed valve mechanical arm), final realization pass valve mechanical arm can be decoded and be identified the validity of pass valve instruction, the pass valve instruction that refusal execution is invalid.

In still another embodiment of the process, also comprise after step s 104:

Step S106: pass valve operation information, after valve operation is closed in execution, is converted to ultrasonic signal, and returns described fuel gas alarm by described ultrasonic receiver by described pass valve mechanical arm.

In the present embodiment, close valve mechanical arm after valve-off, pass valve operation information is returned fuel gas alarm in time, preferably, fuel gas alarm can set a pass valve acknowledging time, if within this time, do not receive the pass valve operation information closing valve mechanical arm and return, then again send to closing valve mechanical arm the ultrasonic signal comprising and close valve instruction.

In still another embodiment of the process, also comprise:

Step S107: the gas leakage information comprised in described ultrasonic signal and pass valve operation information, after valve operation is closed in execution, are sent to monitor supervision platform and/or intelligent terminal by the communication module of self by described pass valve mechanical arm in real time.

In the present embodiment, after pass valve completes, close valve mechanical arm and pass valve operation information is uploaded to monitor supervision platform and/or intelligent terminal in real time by the communication module of self, make related personnel can know information about gas leakage in time, take treatment measures more efficiently and effectively.

In still another embodiment of the process, also comprise:

Step S108: fuel gas alarm is also monitored the temperature in space to be measured and/or light intensity, when described temperature and/or light intensity exceed default temperature threshold/intensity threshold, temperature and/or intensity variation information are converted to the ultrasonic signal comprising and close valve instruction, and are sent to described pass valve mechanical arm.

In this enforcement, fuel gas alarm can not only be monitored gas leakage, can also monitor temperature and/or light intensity simultaneously, for the pass valve operation of closing valve mechanical arm provides more detailed basis for estimation.

Owing to becoming pulse signal when ultrasonic signal is a kind of unstable state, in transmitting procedure, inevitably receive the impact of noise signal, therefore, close valve mechanical arm after receiving ultrasonic signal, need to carry out denoising Processing to this signal.The embodiment of the present invention proposes a kind of wavelet transformation that adopts to process the method for ultrasonic signal, to strengthen signal, stress release treatment, improves signal to noise ratio (S/N ratio).

Be illustrated in figure 2 the process flow diagram of embodiment of the present invention denoising Processing, comprise:

Step S201: carry out wavelet transformation to described ultrasonic signal, obtains wavelet coefficient w _{j, k}, described w _{j, k}comprise the wavelet coefficient u of signal _{j, k}with the wavelet coefficient v of noise _{j, k};

Step S202: choose de-noising threshold value λ, according to described λ to described w _{j, k}carry out threshold process, obtain estimating wavelet coefficient

In the present embodiment, choose de-noising threshold value λ and adopt any one rule following:

Based on Stein without partially/possibility predication principle adaptive threshold selection λ, adopt the sqtwolog rule interestingness λ of fixed threshold form, adopt heuristic Threshold selection rule heursure to choose λ and choose λ based on the extreme value that the minimaxi of minimax principle produces least mean-square error.

In the present embodiment, threshold process can be hard-threshold process:

$\widehat{w_{j,k}}=\left\{\begin{array}{cc}{w}_{j,k}& \left|w_{j,k}\right|\&GreaterEqual;\mathrm{\&lambda;}\\ 0& \left|w_{j,k}\right|<\mathrm{\&lambda;}\end{array}\right.;$

Threshold process can also be soft-threshold place:

described estimated signal is the ultrasonic signal after de-noising.

The present embodiment utilizes small wave converting method to carry out denoising Processing to the ultrasonic signal that pass valve mechanical arm receives, because wavelet transformation is a kind of Time Domain Analysis, its distinctive " varifocal " characteristic makes small wave converting method all have good analysis ability in time domain and frequency domain, can restraint speckle to a great extent, improve signal to noise ratio (S/N ratio), make to close the pass valve instruction that valve mechanical arm can accurately obtain in ultrasonic signal, and perform and close valve operation.

Wavelet transformation is the partial transformation of space (time) and frequency, thus can information extraction from signal effectively.Multiple dimensioned refinement analysis can be carried out to function or signal by calculation functions such as flexible and translations, below the theory of wavelet transformation of the embodiment of the present invention is described in detail:

If J (t) ∈ is L ²(R) (L ²(R) square-integrable real number space is represented, i.e. the signal space of finite energy), its Fourier transform is when meet compatibility condition time, claim J (t) to be a wavelet or morther wavelet.

When generating function J (t) is after flexible and translation, just can obtain a wavelet sequence, for continuous print situation, wavelet sequence is:

$\begin{array}{c}{J}_{a,b}\left(t\right)=\frac{1}{\stackrel{\&OverBar;}{\left|a\right|}}J\left(\frac{t-b}{a}\right)\\ (a,b\&Element;R;a\&NotEqual;0)\end{array},$

Wherein, a is contraction-expansion factor, and b is shift factor.

For arbitrary function f (t) ∈ L ²(R), its continuous wavelet transform is $W_f(a,b)={\left|a\right|}^{-1/2}{\&Integral;}_{R}f\left(t\right)J*\left(\frac{t-b}{a}\right)\mathrm{dz};$

It is inversely transformed into

For discrete situation, for simplicity, in discretize total restriction a get on the occasion of, such compatibility condition just becomes

$C_J={\&Integral;}_0^{\&infin;}\frac{{\left|\widehat{J\left(k\right)}\right|}^2}{\left|k\right|}\mathrm{dk}<\&infin;,$

Order here j ∈ Z, expansion step-length be fixed value, for simplicity, always suppose corresponding discrete wavelet sequence J _{j, k}t () can be written as:

Make a ₀=2, b ₀=1, be dyadic wavelet transform.

For arbitrary function a ₀=2, b ₀=1, discrete wavelet transformer is changed to

$C_{j,k}={\&Integral;}_{-\&infin;}^{\&infin;}f\left(t\right)J_{j,k}^{*}\left(t\right)\mathrm{dt}=<f,J_{j,k}>.$

According to the fast algorithm of wavelet function feedback, if f _kfor the discrete sampling data of signal f (t), then f _k=c _{0, k}, then the orthogonal wavelet transformation decomposition formula of f (t) is:

$\begin{array}{c}\left\{\begin{array}{c}{c}_{j,k}=\underset{n}{\mathrm{\&Sigma;}}{c}_{j-1,n}{h}_{n-2k}\\ d_{j,k}=\underset{n}{\mathrm{\&Sigma;}}{d}_{j-1,n}{g}_{n-2k}\end{array}\right.\\ (k=0,...,N-1)\end{array}$

Wavelet reconstruction formula is: $c_{j-1,n}=\underset{n}{\mathrm{\&Sigma;}}{c}_{j,n}{h}_{k-2n}+\underset{n}{\mathrm{\&Sigma;}}{d}_{j,n}{g}_{k-2}.$

Below to adopting the process of small wave converting method denoising to be described in detail:

If f is (t _i) be original signal, n (t _i) be e for expectation is 0 variance ²independent identically distributed white Gaussian noise, then the signal collected can modeling as follows:

y(t _i)＝f(t _i)+n(t _i) (i＝1，…，N)，

From the linear behavio(u)r of wavelet transformation, decompose the wavelet coefficient w obtained _j,kbe made up of two parts, a part is signal f (t _i) corresponding to wavelet coefficient u _{j, k}, another part is noise n (t _i) corresponding to wavelet coefficient v _{j, k},

The dyadic wavelet transform of white noise variance be:

From above formula, along with the increase of yardstick j, average to reduce, namely white noise has negative singularity, and for original signal, the modulus maximum of its wavelet transformation but increases along with the increase of yardstick, distinguishes signal and noise just by the variation tendency that modulus maximum in multiscale space is different.

Process below for adopting threshold denoising method to remove noise:

Step 1, first wavelet transformation is done to the ultrasonic signal comprising noise, obtain one group of wavelet coefficient w of this ultrasonic signal _{j, k};

Step 2, choose suitable threshold value, below will be described Research on threshold selection;

Step 3, by w _{j, k}carry out threshold process, obtain estimating wavelet coefficient make little as far as possible;

Step 4, utilization estimate wavelet coefficient carry out wavelet inverse transformation, obtain estimated signal f (t), this signal is the signal after de-noising.

The threshold value taked in embodiments of the present invention chooses mode 4 kinds, is respectively:

1, based on Stein " rigrsure " rule without the adaptive threshold selection λ of partially/possibility predication principle;

2, the sqtwolog rule interestingness of fixed threshold form is adopted

3, heuristic Threshold selection rule heursure is adopted to choose λ, for optimum prediction variable threshold is selected;

4, the extreme value based on the minimaxi generation least mean-square error of minimax principle chooses λ.

In embodiments of the present invention, thresholding method has two kinds, is respectively:

(1) hard-threshold process:

$\widehat{w_{j,k}}=\left\{\begin{array}{cc}{w}_{j,k}& \left|w_{j,k}\right|\&GreaterEqual;\mathrm{\&lambda;}\\ 0& \left|w_{j,k}\right|<\mathrm{\&lambda;}\end{array}\right.,$

(2) soft-threshold process:

$\widehat{w_{j,k}}=\left\{\begin{array}{cc}\mathrm{sign}\left(w_{j,k}\right)\left(\right|w_{j,k}|-\mathrm{\&lambda;})& \left|w_{j,k}\right|\&GreaterEqual;\mathrm{\&lambda;}\\ 0& \left|w_{j,k}\right|<\mathrm{\&lambda;}\end{array}\right.,$

Meanwhile, signal to noise ratio snr is defined as follows:

$\mathrm{SNR}=20{\log }_{10}\left|\frac{\underset{n}{\mathrm{\&Sigma;}}{f}^2\left(t\right)}{\underset{n}{\mathrm{\&Sigma;}}{[f\left(t\right)-f\left(t\right)]}^2}\right|,$

Wherein, f (t) is original signal, and f (t) is the signal after de-noising.

The present invention can have multiple multi-form embodiment; above to scheme-1 Fig. 2 by reference to the accompanying drawings to technical scheme of the present invention explanation for example; this does not also mean that the instantiation that the present invention applies can only be confined in specific flow process or example structure; those of ordinary skill in the art should understand; specific embodiments provided above is some examples in multiple its preferred usage, and the embodiment of any embodiment the claims in the present invention all should within technical solution of the present invention scope required for protection.

Last it is noted that the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment to invention has been detailed description, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. realize fuel gas alarm based on ultrasound wave and close a method for valve mechanical arm interlock, it is characterized in that, comprising:

Steps A: gas leakage information is converted to the change of electric signal by fuel gas alarm by self gas sensor, and by the ultrasound transmitter device of described electric signal transmission to self;

Step B: the change of described electric signal is converted to the ultrasonic signal comprising and close valve instruction by described fuel gas alarm by described ultrasound transmitter device, and outwards transmission of carrying out encoding;

Step C: described pass valve mechanical arm receives described ultrasonic signal by the ultrasonic receiver of self, and decodes to this signal;

Step D: described pass valve mechanical arm adopts threshold denoising technology to carry out denoising Processing to described ultrasonic signal, obtains the ultrasonic signal after de-noising, and perform pass valve operation according to the pass valve instruction in the ultrasonic signal after described de-noising.

2. realize fuel gas alarm based on ultrasound wave according to claim 1 and close the method for valve mechanical arm interlock, it is characterized in that, also comprised before described step D:

According to decoded ultrasonic signal, described pass valve mechanical arm judges whether this signal is sent by the fuel gas alarm mated, if so, then perform step D;

If not, then do not perform step D.

3. realize fuel gas alarm based on ultrasound wave according to claim 1 and close the method for valve mechanical arm interlock, it is characterized in that, also comprise after described step D:

Pass valve operation information, after valve operation is closed in execution, is converted to ultrasonic signal, and returns described fuel gas alarm by described ultrasonic receiver by described pass valve mechanical arm.

4. realize fuel gas alarm based on ultrasound wave according to claim 1 and close the method for valve mechanical arm interlock, it is characterized in that, described pass valve mechanical arm adopts threshold denoising technology specifically to comprise the step that described ultrasonic signal carries out denoising Processing:

Wavelet transformation is carried out to described ultrasonic signal, obtains wavelet coefficient w _{j, k}, described w _{j, k}comprise the wavelet coefficient u of signal _{j, k}with the wavelet coefficient v of noise _{j, k};

Choose de-noising threshold value λ, according to described λ to described w _{j, k}carry out threshold process, obtain estimating wavelet coefficient

According to described estimation wavelet coefficient carry out wavelet inverse transformation, obtain estimated signal, described estimated signal is the ultrasonic signal after de-noising.

5. realize fuel gas alarm based on ultrasound wave according to claim 4 and close the method for valve mechanical arm interlock, it is characterized in that, described threshold process is hard-threshold process:

${\hat{w}}_{j,k}=\left\{\begin{array}{cc}{w}_{j,k}& \left|w_{j,k}\right|\&GreaterEqual;\mathrm{\&lambda;}\\ 0& \left|w_{j,k}\right|<\mathrm{\&lambda;}\end{array}\right..$

6. realize fuel gas alarm based on ultrasound wave according to claim 4 and close the method for valve mechanical arm interlock, it is characterized in that, described threshold process is soft-threshold process:

${\hat{w}}_{j,k}=\left\{\begin{array}{cc}\mathrm{sign}\left(w_{j,k}\right)\left(\right|w_{j,k}|-\mathrm{\&lambda;})& \left|w_{j,k}\right|\&GreaterEqual;\mathrm{\&lambda;}\\ 0& \left|w_{j,k}\right|<\mathrm{\&lambda;}\end{array}\right..$

7. realize fuel gas alarm based on ultrasound wave according to claim 4 and close the method for valve mechanical arm interlock, it is characterized in that, described in choose de-noising threshold value λ and adopt any one rule following:

Based on Stein without partially/possibility predication principle adaptive threshold selection λ, adopt the sqtwolog rule interestingness λ of fixed threshold form, adopt heuristic Threshold selection rule heursure to choose λ and choose λ based on the extreme value that the minimaxi of minimax principle produces least mean-square error.

8. realize fuel gas alarm based on ultrasound wave according to claim 1 and close the method for valve mechanical arm interlock, it is characterized in that, also comprise: the gas leakage information comprised in described ultrasonic signal and pass valve operation information, after valve operation is closed in execution, are sent to monitor supervision platform and/or intelligent terminal by the communication module of self by described pass valve mechanical arm in real time.

9. realize fuel gas alarm based on ultrasound wave according to claim 1 and close the method for valve mechanical arm interlock, it is characterized in that, also comprise: fuel gas alarm is also monitored the temperature in space to be measured and/or light intensity, when described temperature and/or light intensity exceed default temperature threshold/intensity threshold, temperature and/or intensity variation information are converted to the ultrasonic signal comprising and close valve instruction, and are sent to described pass valve mechanical arm.

10. realize fuel gas alarm based on ultrasound wave according to claim 1 and close the method for valve mechanical arm interlock, it is characterized in that, described gas leakage information comprises combustion gas concentration change information and/or gas leakage source information in space to be measured.