CN113702981B - Nuclear power station cold source water intake interception net state monitoring system and monitoring method - Google Patents
Nuclear power station cold source water intake interception net state monitoring system and monitoring method Download PDFInfo
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- CN113702981B CN113702981B CN202110968817.8A CN202110968817A CN113702981B CN 113702981 B CN113702981 B CN 113702981B CN 202110968817 A CN202110968817 A CN 202110968817A CN 113702981 B CN113702981 B CN 113702981B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The application provides a nuclear power station cold source water intake interception net state monitoring system and a monitoring method. The nuclear power station cold source water intake interception net state monitoring system comprises a wet end and a dry end. The wet end is arranged under water and comprises an acoustic wave transmitting module, an acoustic wave receiving module, a signal processing module and a communication module. The sound wave transmitting module transmits sound wave signals; the sound wave receiving module receives the echo signal; the signal processing module processes the echo signals, generates corresponding stereoscopic image information and calculates the flow velocity of water flowing through the target object; the communication module sends the stereoscopic image information and the water flow velocity to the dry end. The dry end is arranged on water and comprises a data processing module and a display module. The data processing module receives the three-dimensional image information and the water flow velocity and calculates the blockage rate of the target object; the display module is used for displaying the blocking state of the target object. The nuclear power station cold source water intake interception net state monitoring system provided by the application can realize monitoring, analysis and diagnosis of the blocking state of the interception net.
Description
Technical Field
The application relates to the field of nuclear power station cold source systems, in particular to a nuclear power station cold source water intake interception net state monitoring system and a monitoring method.
Background
The domestic nuclear power plants are mainly distributed in coastal areas, and in recent years, the blockage event of a cold source water intake of the nuclear power plants frequently occurs, so that serious consequences such as load reduction, shutdown and the like are caused for a plurality of times. The types of the related plugs are mainly concentrated in marine organisms such as seaweed, waterweed, shellfish, shrimp, jellyfish, cap screw, fish and the like, silt such as silt, fragments and sediment, plastics or other foreign matters. Through engineering practice, the interception net can play a good role in interception. The interception net is adopted to clean and salvage, if the interception net is not cleaned timely, secondary serious cold source accidents are easily caused, and even the machine set is stopped. At present, the arrangement of the interception net, the net body material, the stress analysis and the like lack unified standardization, evaluation and monitoring means; the clearance salvage work of interception net adopts the manual salvage mode of timing, and interval time is longer, and work efficiency is low, can not adapt to extremely quick change's marine environment and marine organism completely, runs into the extreme marine environment and the weather condition that marine organism erupted, and during personnel, ship and equipment can't normally work, can not early warn in advance.
At present, a nuclear power plant is detected and evaluated by adding a tension meter and a net potential meter on an interception net or adding a fish finder and a current meter in front of the interception net, but only indirect detection quantity can be obtained, and blocking rate state information of the interception net cannot be given. In addition, some nuclear power plants also use high-definition cameras of low-light imaging or infrared imaging technology to carry out underwater optical detection, and the detection distance is limited because the penetration of visible light to the underwater environment is weak.
Patent CN207379640U discloses a nuclear power station underwater dirt blocking net early warning alarm monitoring system, which adopts a plate ring type tension sensor to collect tension signals on a main rope of the dirt blocking net in real time, and transmits the tension signals to a remote ground receiving end through a water area wireless transmitting device, and a receiving end host analyzes and judges the signals to make corresponding early warning alarm response, and combines the matched dirt blocking net working state grade to provide reliable basis for timely taking measures for a nuclear power station water intake cold source guarantee working group. The patent adopts a tension sensor to test the blocking net state, and the method can only obtain indirect detection quantity and can not give blocking rate state information of the blocking net.
Patent CN211784005U discloses an interception net pulling force on-line monitoring equipment in nuclear power plant cold source safety technical field, including the current meter, current meter electric output connection is used for transmitting information's wireless transmission module, wireless transmission module electric input connection is used for detecting tensile force sensor and is used for providing the power module of tensile respectively, wireless transmission module electric output connection is used for analyzing the singlechip of judgement, categorised module electric output connection is used for storing the storage module of information, receive pulling force to the interception net through the pull force sensor in the device and measure, transmit data to remote platform through wireless transmission module, thereby make the staff long-range monitoring to the interception net, when gathering numerical value is greater than standard numerical value, alarm module sends the warning suggestion staff, make things convenient for the staff to know the abnormal conditions of interception net in time, guarantee the result of use of interception net. The patent also adopts a tensile test mode to detect the blocking condition of the blocking net, belongs to indirect detection, and cannot detect the blocking rate state.
Disclosure of Invention
In order to solve the problems, the application provides a nuclear power station cold source water intake interception net state monitoring system and a monitoring method.
The first aim of the application is to provide a nuclear power station cold source water intake interception net state monitoring system which is used for monitoring, analyzing and diagnosing the blocking state of an interception net.
The second aim of the application is to provide a nuclear power station cold source water intake interception net state monitoring method.
In order to achieve the aim, the application provides a nuclear power station cold source water intake interception net state monitoring system, which comprises a wet end and a dry end,
the wet end is arranged under water and comprises an acoustic wave transmitting module, an acoustic wave receiving module, a signal processing module and a communication module;
the sound wave transmitting module is used for transmitting a first sound wave signal;
the sound wave receiving module is used for receiving a first echo signal, wherein the first echo signal is a sound wave signal returned after the first sound wave signal contacts a target object;
the signal processing module is used for processing the first echo signal and generating corresponding stereoscopic image information;
the sound wave transmitting module is also used for transmitting a second sound wave signal;
the sound wave receiving module is further used for receiving a second echo signal, wherein the second echo signal is a sound wave signal returned after the second sound wave signal contacts the target object;
the signal processing module is also used for calculating the flow velocity of the water flowing through the target object according to the second echo signal;
the communication module is used for sending the stereoscopic image information and the water flow rate to the dry end;
the dry end is arranged on water and comprises a data processing module and a display module;
the data processing module is used for receiving the stereoscopic image information and the water flow velocity and calculating the blockage rate of the target object according to the stereoscopic image information and the water flow velocity;
the display module is used for displaying the blocking state of the target object.
Optionally, the acoustic wave transmitting module comprises a transmitter and a transmitting array,
the transmitter is used for generating the first sound wave signal or the second sound wave signal;
the transmitting array is used for converting and transmitting the first sound wave signal or the second sound wave signal.
Optionally, the transmitting array is a single-channel spherical shell array.
Optionally, the acoustic wave receiving module comprises a receiver and a receiving array,
the receiving array is a planar array and is used for receiving the first echo signal or the second echo signal and converting the first echo signal into a first electric signal or converting the second echo signal into a second electric signal;
the receiver is used for adjusting and converting the first electric signal into a first digital signal or adjusting and converting the second electric signal into a second digital signal.
Optionally, the receiving array includes a plurality of array elements, and the plurality of array elements are arranged in an array form.
According to the nuclear power station cold source water intake interception net state monitoring system, the acoustic wave is utilized to carry out three-dimensional imaging on the underwater interception net, the water flow velocity is calculated, the interception net blocking rate is obtained by combining the three-dimensional imaging with the water flow velocity, and the monitoring, analysis and diagnosis of the blocking state of the interception net are realized.
In order to achieve the second object, the application provides a method for monitoring interception net state of a cold source water intake of a nuclear power station, which is applied to the system and is characterized by comprising the following steps:
acquiring a first echo signal, and generating stereoscopic image information corresponding to a target object according to the first echo signal;
acquiring a second echo signal, and calculating the flow velocity of water flow according to the second echo signal;
and determining the blocking state of the target object according to the stereoscopic image information and the water flow velocity.
Optionally, acquiring a first echo signal, and generating stereo image information corresponding to a target object according to the first echo signal, including:
transmitting a first acoustic signal through an acoustic transmitting module;
receiving the first echo signal, wherein the first echo signal is an acoustic wave signal returned after the first acoustic wave signal contacts the target object;
the first echo signal is converted into the stereoscopic image information.
Optionally, converting the first echo signal into the stereoscopic image information includes:
converting the first echo signal into original point cloud image information;
extracting point cloud information in a predicted range from the original point cloud image information by using a denoising segmentation algorithm;
separating and reconstructing the point cloud information to generate a plurality of target point cloud information;
and splicing the plurality of target point cloud information into the stereoscopic image information by using a registration splicing algorithm.
Optionally, determining the blocking state of the target object according to the stereo image information and the water flow rate includes:
mapping the stereoscopic image information and the water flow velocity to the same coordinate system;
acquiring a brightness value of the stereoscopic image information, and normalizing the brightness value;
normalizing the water flow rate;
calculating the blocking rate of the target object according to the normalized brightness value and the normalized water flow velocity;
determining a blockage status of the target based on the blockage rate.
Optionally, the method further comprises:
and when the first echo signal does not meet the preset condition, performing phase compensation on the first echo signal.
Optionally, converting the first echo signal into original point cloud image information includes:
performing array element domain data rearrangement on the first echo signal;
calculating the rearranged first echo signals by using a planar array beam forming algorithm;
the first echo signal is converted into a power signal by square detection;
and performing post-processing on the power signal.
Optionally, post-processing the power signal includes:
non-coherent integration is carried out on the power signals, and distance information of each wave beam is obtained;
and selecting the maximum value of the distance information output of each beam, and restoring the maximum value to original coordinates.
According to the nuclear power station cold source water intake interception net state monitoring method, the two echo signals are acquired and analyzed to form the three-dimensional image information corresponding to the target object, and the water flow velocity is calculated, so that the blocking rate of the interception net is obtained, and the blocking state of the interception net is monitored, analyzed and diagnosed.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a schematic diagram of a nuclear power station cold source water intake interception net state monitoring system according to an embodiment of the present application;
fig. 2 is a schematic diagram II of a nuclear power station cold source water intake interception net state monitoring system according to an embodiment of the present application;
fig. 3 is a schematic diagram III of a nuclear power station cold source water intake interception net state monitoring system according to an embodiment of the present application;
FIG. 4 is a flowchart of a method for monitoring a state of a nuclear power station cold source water intake interception net according to an embodiment of the present application;
FIG. 5 is a second flowchart of a method for monitoring a state of a nuclear power station cold source intake interception net according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of a method for monitoring a state of a nuclear power station cold source water intake interception net according to an embodiment of the application;
FIG. 7 is a flow chart of a nuclear power plant cold source water intake interception net state monitoring method according to an embodiment of the present application;
FIG. 8 is a schematic diagram showing the effect of calculating the flow rate of water flowing through a partition by using a broadband flow measurement mode;
FIG. 9 is a flow chart of converting echo signals into stereoscopic images according to an embodiment of the present application;
fig. 10 is a flowchart of a method for post-processing interception net state monitoring of a cold source water intake of a nuclear power station according to an embodiment of the present application.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
The application is described in further detail below in connection with specific examples which are not to be construed as limiting the scope of the application as claimed.
The following describes a nuclear power station cold source water intake interception net state monitoring system and a monitoring method according to an embodiment of the application with reference to the accompanying drawings.
As shown in fig. 1, the nuclear power plant cold source intake interception net state monitoring system comprises a wet end 100 and a dry end 200.
Wherein the wet end 100 is arranged under water and is mainly used for collecting and detecting signals of the underwater interception net; the dry end 200 is arranged on water and is mainly used for completing the functions of data processing, man-machine interaction, graphic visualization and the like of the collected signals. The method specifically comprises image splicing and image recognition, gives a blockage rate detection result by combining with comprehensive analysis of the water flow velocity, monitors the blockage state of the interception net, and sends out early warning information and the like.
The wet end 100 includes an acoustic wave transmitting module 110, an acoustic wave receiving module 120, a signal processing module 130, and a communication module 140.
The acoustic wave transmitting module 110 transmits a first acoustic wave signal, the acoustic wave signal propagates in water, the acoustic wave signal propagation is blocked after encountering an object on the interception net, and the acoustic wave signal is reflected to form an echo signal. In this embodiment, the first acoustic wave signal may be a narrowband acoustic wave signal.
The acoustic wave receiving module 120 receives a first echo signal formed after the first acoustic wave signal contacts the object and is reflected.
The signal processing module 130 is configured to process the first echo signal and generate corresponding stereo image information. In this embodiment, the signal processing module 130 converts the echo signal into a stereo image through a beam forming algorithm, where the positions of pixels in the image represent the positions of the obstacles in the water, and the brightness of the pixels represents the intensity of the reflected sound wave of the obstacles.
In addition, the acoustic wave transmitting module 110 may also transmit a second acoustic signal. The acoustic wave receiving module 120 may receive a second echo signal returned after the second acoustic signal contacts the target object. In this embodiment, the second acoustic signal may be a wideband encoded signal.
The signal processing module 130 calculates a water flow rate through the target object according to the second echo signal. In this embodiment, the signal processing module 130 calculates the second echo signal by a broadband flow measurement mode to obtain the flow velocity of the water flowing through the target object.
The communication module 140 is used for transmitting the stereoscopic image information and the water flow rate information formed by the signal processing module 130 to the dry end 200.
The dry end 200 includes a data processing module 210 and a display module 220. The data processing module 210 is configured to receive the stereoscopic image information and the water flow rate, and calculate a blockage rate of the target object according to the stereoscopic image information and the water flow rate; the display module 220 is used for displaying the blocking state of the target object.
The method has the advantages that the underwater acoustic wave signals are collected and analyzed to form a three-dimensional image of the interception net, the flow velocity of water flowing through the target object is calculated and obtained, the blocking rate of the interception net is obtained, the blocking state of the interception net is monitored in real time, and the monitoring accuracy is improved.
In one embodiment of the application, as shown in FIG. 2, an acoustic wave transmitting module 110 includes a transmitter 111 and a transmitting array 112. The transmitter 111 is configured to generate a first acoustic signal or a second acoustic signal; the transmitting array 112 is used for converting and transmitting the first acoustic signal or the second acoustic signal. In this embodiment, the transmitting array 112 is a single-channel spherical shell array, for example, the operating frequency of the transmitting array may be 750kHz, so that a spherical-crown-shaped acoustic radiation area is obtained.
In another embodiment of the application, as shown in fig. 3, the acoustic wave receiving module 120 includes a receiver 121 and a receiving array 122. The receiving array 122 is a planar array, and is configured to receive the first echo signal or the second echo signal, and convert the first echo signal into a first electrical signal or convert the second echo signal into a second electrical signal. The receiver 121 is used for adjusting and converting the first electric signal into a first digital signal or adjusting and converting the second electric signal into a second digital signal. In this embodiment, the receiving array 122 includes a plurality of array elements, and the plurality of array elements are arranged in an array, for example, the plurality of array elements may be arranged in a 48×96 array.
The nuclear power station cold source water intake interception net state monitoring system provided by the embodiment utilizes the sound wave signals to monitor the blocking state of the interception net, so that the anti-interference performance is strong, and the detection distance is long; the underwater acoustic signals are collected and analyzed to form a stereoscopic image, and the monitoring result is visual and clear; calculating a second echo signal by adopting a broadband current measurement mode; by combining the stereoscopic image and the water flow velocity, the blocking rate of the interception net is comprehensively analyzed, the monitoring accuracy is improved, and the real-time monitoring of the attachment process of the target on the interception net body is realized.
In order to achieve the second purpose, the application further provides a nuclear power station cold source water intake interception net state monitoring method.
The nuclear power station cold source water intake interception net state monitoring method is applied to the nuclear power station cold source water intake interception net state monitoring system of the embodiment.
As shown in fig. 4, the method for monitoring the state of the interception net of the cold source water intake of the nuclear power station comprises the following steps:
step S1, a first echo signal is obtained, and stereo image information corresponding to a target object is generated according to the first echo signal.
In one embodiment of the present application, acquiring the first echo signal and generating stereoscopic image information corresponding to the target object according to the first echo signal may further include the steps of:
s11, transmitting a first sound wave signal through a sound wave transmitting module.
In this embodiment, the first acoustic wave signal is a narrowband acoustic wave signal.
S12, receiving a first echo signal.
The first echo signal is an acoustic wave signal returned after the first acoustic wave signal contacts the target object.
And S13, converting the first echo signal into stereoscopic image information.
Specifically, first echo signals are converted into original point cloud image information, then point cloud information in a predicted range is extracted from the original point cloud image information by using a denoising segmentation algorithm, the point cloud information is separated and reconstructed, so that a plurality of target point cloud information are generated, and finally the plurality of target point cloud information are spliced into three-dimensional image information by using a registration splicing algorithm.
Further, converting the first echo signal into original point cloud image information, including the steps of:
and rearranging array element domain data of the first echo signals, calculating the rearranged first echo signals by utilizing a planar array beam forming algorithm, converting the first echo signals into power signals by adopting square detection, and carrying out post-processing on the power signals.
Wherein post-processing the power signal comprises: and performing incoherent integration on the power signals to obtain the distance information of each beam, selecting the maximum value of the distance information output of each beam, and restoring the maximum value to the original coordinates.
Step S2, a second echo signal is obtained, and the water flow velocity is calculated according to the second echo signal.
In one embodiment of the present application, the second acoustic signal may be transmitted by the acoustic transmitting module and then the second echo signal may be received by the acoustic receiving module. The second echo signal is a sound wave signal returned after the second sound wave signal contacts the target object. After receiving the second echo signal, the flow velocity of the water flowing through the interception net can be calculated by a broadband flow measurement mode.
In this embodiment, the second acoustic signal is a wideband encoded signal.
And S3, determining the blocking state of the target object according to the stereo image information and the water flow velocity.
Specifically, the stereo image information and the water flow velocity can be mapped to the same coordinate system, then the brightness value of the stereo image information is obtained, the brightness value is normalized, then the water flow velocity is normalized, the blockage rate of the target object is calculated according to the normalized brightness value and the normalized water flow velocity, and finally the blockage state of the target object is determined based on the blockage rate.
In one embodiment of the application, as shown in fig. 5, the method for monitoring the interception net state of the cold source intake of the nuclear power station further includes:
and S4, when the first echo signal does not meet the preset condition, performing phase compensation on the first echo signal.
Wherein the preset condition is a far field condition, and the far field condition refers to that the target distance is greater than pi A 2 And (4 lambda) the far field case, where A represents the aperture length of the receive array and lambda represents the signal wavelength. For example, the first echo signal does not meet the far-field condition within the short-distance range of 1-9.25 meters, and Fresnel phase compensation is needed to be performed on the received first echo signal, and the first echo signal is converted into stereoscopic image information after the phase compensation, so that the accuracy of the stereoscopic image is improved.
The following describes a method for monitoring the interception net state of the cold source water intake of the nuclear power station in a specific embodiment.
Fig. 6 is a schematic flow chart of a nuclear power station cold source water intake interception net state monitoring method, which mainly comprises the following steps:
s601 emits a narrow-band signal, S602 receives a reflected signal thereof, S603 performs stereoscopic imaging, and S604 performs post-processing on a stereoscopic image; s605 transmits broadband signals, S606 receives reflected signals thereof, S607 flow velocity is calculated, S608 performs flow field splicing, and S609 forms a three-dimensional flow field. And S610, comprehensively judging the three-dimensional image obtained after the processing and the water flow velocity calculation result, and finally giving the blocking rate of the blocking net by S611.
The details are shown in fig. 7.
Step S701, a specific narrowband acoustic signal is emitted.
The transmitted signal is a set of narrowband acoustic signals q (t), and the signal propagates in an isotropic linearly-varying absorption medium, and the signal arriving at the target scattering point through the propagation medium is obtained by FFT transformation, as shown in equation one:
wherein Q (ω) represents the FFT result of the transmission pulse signal Q (t); alpha (omega) represents the absorption coefficient of underwater sound waves; ω=2pi f, f representing the transmit signal frequency; c represents the sound velocity.
Step S702 receives an echo signal of the transmitted specific narrowband acoustic signal.
After the sound wave is transmitted, the transmitted sound pulse signal is q (t), after being reflected by the scattering point, the sound signal reaching the receiving array p point is obtained through FFT transformation, as shown in a formula II:
wherein a is i Representing the diameter of the scattering point; ρ and ρ i Representing the density of the propagation medium and the scatterer; k and k i Indicating compressibility of the propagation medium and scatterers; θ i Representing vector (P-r) i ) And r i An angle therebetween.
In step S703, the echo signal is converted into a stereoscopic image by a beam forming algorithm.
Step S704, transmitting the wideband code signal.
Step S705, receiving an echo signal of the transmitted coded acoustic wave signal.
Step S706, calculating the flow rate of the water flowing through the interception net by a broadband flow measurement mode.
Step S707, the stereo image and the water flow velocity result are returned to the data processing module at the dry end.
And step S708, comprehensively judging the stereoscopic image and the water flow velocity result to obtain the blocking state.
For example, when the operating frequency of the transmitting array is 750kHz, the diameter of the net rope of the interception net is 5mm, and the mesh width of the interception net is 2.5cm, the blocking state is judged by the stereoscopic image of the interception net as follows: when the blocking net does not have a blocking object, the blocking net stereoscopic image is displayed as discrete net noise points, when the blocking object on the blocking net is gradually increased, the brightness of the blocking net stereoscopic image is gradually increased, but after the blocking object is increased to a certain degree, the blocking net imaging result is discrete sheet, and when the blocking object completely blocks the net, the blocking net imaging result is an integral sheet image with high brightness.
When the flow velocity of the water flow is calculated, the flow field of the whole area of the flow interception net is partitioned, and the flow velocity of the water flow flowing in the partition can be calculated by adopting a broadband flow measurement mode. As shown in fig. 8, the three-dimensional imaging sonar is an array formed by 96×48 array elements, the resolution thickness of the flow layer is 0.5m, the angle of view is 45 ° ×45 °, the angular resolution of the flow field is 2 ° ×2 °, and the number of pixels output by the beamforming algorithm is 24×24. Taking any four beams symmetrical with the z axis, and assuming that the included angle between the beam axis and the z axis of the coordinate system of the flow measurement system is alpha.
Let the flow velocity column vector of a certain depth measuring layer unit under the array be v d The flow field of the measured area is considered to be uniform, i.e. the flow velocity of the water body measured at the same depth is the same as the direction. Three sonic wave beam measured flow velocity v b Can be converted into a flow velocity vector v under the array d . Wherein v is b ＝λ/2×Δf，v d ＝Bv b . Δf is the doppler frequency offset vector, and B is the conversion matrix.
In practice, the measured water flow field is rarely completely uniform, i.e. the three-dimensional beam of the three-dimensional imaging sonar tends to vary in the magnitude and direction of the measured water flow velocity at the same depth. The non-uniformity of the flow field can introduce varying degrees of flow rate inherent errors. Compared with a three-beam Convex array structure, the four-beam Janus array structure can obtain redundant information of the 4 th beam, so that the uniformity condition of the flow field can be verified. To quantify the effects of flow field non-uniformities, a flow rate inherent error equation may be introduced, which is an important factor in assessing whether data quality is valid.
The flow rate inherent error formula is: v error ＝v 1 -v 2 +v 3 -v 4
From analysis, it can be seen that v is swayed no matter how the flow measurement system sways as long as the measured flow field is uniform error All approach zero basically, and four-way echo is considered as effective data; if the measured flow field is not uniform, see v error The method is used for determining the degree of non-uniformity, judging the effectiveness of four-way echo data, judging the abnormal degree of a flow field and judging the blocking degree of an interception net.
The resolution of the flow field is beam width 2 degrees, the flow measurement precision is 0.5%, and the transmitted signal is a coding sequence. The wideband current measurement mode is used to transmit and receive the coded coherent pulse train signal. Compared with a non-coherent flow measurement mode, the broadband flow measurement mode ensures higher accuracy of speed estimation through combination of a high-resolution coding mode and flexible coherent measurement. Compared with a coherent flow measurement mode, the broadband flow measurement mode increases the energy of the signal through coding, thereby ensuring a large measurable distance. Thus, this approach can be seen as a combination of incoherent and coherent flow-measuring approaches.
The coding sequence needs to be independently transmitted during flow measurement, and the flow measurement and the imaging are carried out in a time sharing mode, unlike single-frequency narrow pulses during imaging. The blocking net plug has a corresponding relation with the flow velocity of the flow field, and when the plug is increased, the flow velocity of the corresponding flow field is reduced. And superposing the flow field flow velocity and the interception net imaging result under the same coordinate system through three-dimensional space mapping and registration, and combining the flow field flow velocity and the interception net imaging result to obtain the blocking rate state of the interception net. The brightness value of the interception net imaging result ranges from 0 to L. Normalizing the brightness value of the interception net imaging result to be 1 at the highest brightness, wherein the highest brightness represents that the adhesion degree of the blocking object is L, the lowest brightness is 0, and the lowest adhesion degree; the flow velocity of the flow field is normalized within the range of 0.1-S (unit m/S), the highest flow velocity (S m/S) is 1, and the lowest flow velocity is 0.1. The blockage index is L/S, and the higher the index, the higher the blockage is.
As shown in fig. 9, the step S703 of converting the echo signal into a stereoscopic image by a beam forming algorithm specifically includes:
step S801, analyzing the array element domain data type.
The application adopts a broadband current measurement mode to transmit and receive and process the coded coherent pulse train signals, thereby ensuring that the speed estimation has higher precision and large measurable distance. Thus, the signals of the array element domain need to be mixed and downsampled before being processed in the next step. According to different functions, when three-dimensional imaging is carried out, a single-frequency pulse signal is emitted, and when current measurement is carried out, a coded coherent pulse train signal is adopted, and after mixing and downsampling processing, serial-parallel conversion is needed to be carried out on the data.
In step S802, near field phase compensation is performed.
Within the short distance range of 1-9.25 meters, the echo signal does not meet the far field condition (far field condition means that the target distance is greater than pi A) 2 And (4 lambda) the far field case, where A represents the aperture length of the receive array and lambda represents the signal wavelength. ) Then Fresnel phase compensation is required on the received signal as shown in equation three:
the underwater target has M scattering points, and the ith scattering point is positioned at r i ＝(x i ,y i ,z i ) At a distance r from the scattering point i ＝|r i The emitted sound pulse signal is q (t), and after being reflected by the scattering point, the sound signal reaching the receiving array p point is obtained by the above processing, as shown in formula four:
for target distances greater than pi A 2 In the far field condition at/(4λ), the received signal of the far field condition is obtained as shown in the formula five:
wherein, the liquid crystal display device comprises a liquid crystal display device,fixed parameter delta 2 Representing the influence of the absorption coefficient of the medium, Q (ω) represents the FFT result of the transmitted pulse signal Q (t); ω=2pi f, f representing the transmit signal frequency; c represents the sound velocity.
Step S803, array element domain data rearrangement.
The system is provided with 4608 paths of array elements (96 multiplied by 48), the plane array is subjected to sparsification processing by adopting a genetic algorithm, and 1024 paths of array elements are selected to participate in imaging processing. Before planar array beam forming, array metadata are rearranged in sequence and the original positions are restored.
In step S804, a planar array beam is formed.
And adopting a beam forming algorithm, and carrying out frequency domain beam forming by utilizing two-dimensional fast Fourier transform to form 128×128 paths of 16384 planar array beams.
And S805, square detection.
The beamformed signal is a complex signal and needs to be square detected to be a power signal.
Step S806, post-processing.
In this embodiment, as shown in fig. 10, the post-processing includes the following steps:
step S901, denoising segmentation.
And extracting the target point cloud within a certain distance range from the huge original point cloud through a denoising segmentation algorithm to obtain a simplified point cloud and remove abnormal points.
And step S902, reconstructing the point cloud.
Reconstructing the obtained point cloud to realize the separation reconstruction of a plurality of targets.
Step S903, registration stitching.
And merging and unifying the point clouds obtained from each view angle or multiple frames into a coordinate system through a registration and splicing algorithm to form a complete point cloud.
Step S904, visual rendering.
Graphics for UI display are generated through a visual rendering process.
According to the nuclear power station cold source water intake interception net state monitoring method, the blocking state of the interception net is monitored by collecting and analyzing the sound wave signals, the anti-interference performance is high, and the detection distance is long; the underwater acoustic signals are collected and analyzed to form a stereoscopic image, and the monitoring result is visual and clear; calculating a second echo signal by adopting a broadband current measurement method; by combining the stereoscopic image and the water flow velocity, the blocking rate of the interception net is comprehensively analyzed, the monitoring accuracy is improved, and the real-time monitoring of the attachment process of the target on the interception net body is realized.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
It should be noted that in the description of the present specification, descriptions of terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Claims (12)
1. A nuclear power station cold source water intake interception net state monitoring system is characterized by comprising a wet end (100) and a dry end (200),
wherein the wet end (100) is arranged under water and comprises an acoustic wave transmitting module (110), an acoustic wave receiving module (120), a signal processing module (130) and a communication module (140);
the sound wave transmitting module (110) is used for transmitting a first sound wave signal;
the sound wave receiving module (120) is used for receiving a first echo signal, wherein the first echo signal is a sound wave signal returned after the first sound wave signal contacts a target object;
the signal processing module (130) is used for processing the first echo signal and generating corresponding stereoscopic image information;
the sound wave transmitting module (110) is further used for transmitting a second sound wave signal;
the sound wave receiving module (120) is further configured to receive a second echo signal, where the second echo signal is a sound wave signal returned after the second sound wave signal contacts the target object;
the signal processing module (130) is further configured to calculate a flow rate of the water flowing through the target object according to the second echo signal;
-the communication module (140) is configured to send the stereoscopic image information and the water flow rate to the dry end (200);
the dry end (200) is arranged on water and comprises a data processing module (210) and a display module (220);
the data processing module (210) is used for receiving the stereoscopic image information and the water flow rate and calculating the blockage rate of the target object according to the stereoscopic image information and the water flow rate;
the data processing module (210) is used for mapping the stereo image information and the water flow velocity to the same coordinate system; acquiring a brightness value of the stereoscopic image information, and normalizing the brightness value; normalizing the water flow rate; calculating the blocking rate of the target object according to the normalized brightness value and the normalized water flow velocity; determining a blockage status of the target based on the blockage rate;
the display module (220) is used for displaying the blocking state of the target object.
2. The system of claim 1, wherein the acoustic wave transmitting module (110) comprises a transmitter (111) and a transmitting array (112),
-the transmitter (111) is for generating the first acoustic signal or the second acoustic signal;
the transmitting array (112) is used for converting and transmitting the first sound wave signal or the second sound wave signal.
3. The system of claim 2, wherein the transmitting array (112) is a single channel spherical shell array.
4. The system of claim 1, wherein the acoustic wave receiving module (120) comprises a receiver (121) and a receiving array (122),
the receiving array (122) is a planar array, and is configured to receive the first echo signal or the second echo signal, and convert the first echo signal into a first electrical signal or convert the second echo signal into a second electrical signal;
the receiver (121) is configured to adjust and convert the first electrical signal into a first digital signal or to adjust and convert the second electrical signal into a second digital signal.
5. The system of claim 4, wherein said receiving array (122) comprises a plurality of array elements, a plurality of said array elements being arranged in an array.
6. A method for monitoring the state of a nuclear power station cold source water intake interception net, which is applied to the system as claimed in any one of claims 1 to 5, and is characterized by comprising the following steps:
acquiring a first echo signal, and generating stereoscopic image information corresponding to a target object according to the first echo signal;
acquiring a second echo signal, and calculating the flow velocity of water flow according to the second echo signal;
and determining the blocking state of the target object according to the stereoscopic image information and the water flow velocity.
7. The method of claim 6, wherein acquiring a first echo signal and generating stereoscopic image information corresponding to a target object from the first echo signal comprises:
transmitting a first acoustic signal through an acoustic transmitting module;
receiving the first echo signal, wherein the first echo signal is an acoustic wave signal returned after the first acoustic wave signal contacts the target object;
the first echo signal is converted into the stereoscopic image information.
8. The method of claim 7, wherein converting the first echo signal into the stereoscopic image information comprises:
converting the first echo signal into original point cloud image information;
extracting point cloud information in a predicted range from the original point cloud image information by using a denoising segmentation algorithm;
separating and reconstructing the point cloud information to generate a plurality of target point cloud information;
and splicing the plurality of target point cloud information into the stereoscopic image information by using a registration splicing algorithm.
9. The method of claim 6, wherein determining the occlusion state of the target object based on the stereoscopic image information and the water flow rate comprises:
mapping the stereoscopic image information and the water flow velocity to the same coordinate system;
acquiring a brightness value of the stereoscopic image information, and normalizing the brightness value;
normalizing the water flow rate;
calculating the blocking rate of the target object according to the normalized brightness value and the normalized water flow velocity;
determining a blockage status of the target based on the blockage rate.
10. The method as recited in claim 6, further comprising:
and when the first echo signal does not meet the preset condition, performing phase compensation on the first echo signal.
11. The method of claim 8, wherein converting the first echo signal to raw point cloud image information comprises:
performing array element domain data rearrangement on the first echo signal;
calculating the rearranged first echo signals by using a planar array beam forming algorithm;
the first echo signal is converted into a power signal by square detection;
and performing post-processing on the power signal.
12. The method of claim 11, wherein post-processing the power signal comprises:
non-coherent integration is carried out on the power signals, and distance information of each wave beam is obtained;
and selecting the maximum value of the distance information output of each beam, and restoring the maximum value to original coordinates.
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