CN114414164A - Pipeline leakage monitoring method and system - Google Patents

Pipeline leakage monitoring method and system Download PDF

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Publication number
CN114414164A
CN114414164A CN202111586657.7A CN202111586657A CN114414164A CN 114414164 A CN114414164 A CN 114414164A CN 202111586657 A CN202111586657 A CN 202111586657A CN 114414164 A CN114414164 A CN 114414164A
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module
time
signal
message
clock module
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施剑
张世照
罗宇
王浩
李诗文
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
    • G01M3/24—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
    • G01M3/243—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations for pipes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
    • F17D5/00—Protection or supervision of installations
    • F17D5/02—Preventing, monitoring, or locating loss
    • F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Abstract

The invention provides a pipeline leakage monitoring method and a system, which are used for realizing high-precision time synchronization between a server and a plurality of clients in a satellite-free time correction environment and monitoring the leakage position of a pipeline, wherein the monitoring system comprises the server and the clients; the server side comprises a single chip microcomputer, a power supply module, a timing signal generation module, a main clock module and an interface module; the client comprises a processing module, a power supply module, a slave clock module, an acoustic wave sensor array and an interface module; the acoustic wave sensor arrays of the plurality of clients are fixedly arranged on the outer walls of different positions of the pipeline; the server side is connected with a plurality of client sides through the Ethernet. The pipeline leakage monitoring method and the pipeline leakage monitoring system provided by the invention can complete accurate time synchronization between the master clock module and the slave clock module and accurate positioning of a pipeline leakage position in a GPS/Beidou satellite timing-free environment, and the like, thereby saving the production cost to a great extent.

Description

Pipeline leakage monitoring method and system
Technical Field
The invention relates to the field of pipeline leakage monitoring, in particular to a method and a monitoring system for carrying out accurate time synchronization and pipeline leakage position monitoring in a satellite-free timing environment.
Background
The monitoring and positioning of pipeline leakage of various pipelines for gas and liquid transmission are important guarantee links of safe production and transmission, a plurality of terminals comprising sound sensors are generally placed at different positions of the pipelines by the existing pipeline monitoring technology based on sound signals, and the main server monitors and positions the pipeline leakage position through the time difference of the pipeline leakage sound signals transmitted to different sound sensors.
In the above technical solution, in order to locate the position of the pipeline leakage, accurate time synchronization needs to be performed between the server and the plurality of terminals, for example, the server and each terminal perform time synchronization by decoding the acquired timing signals sent by the satellites such as GPS and beidou. However, in some cases, such as when the pipeline and the server are located in an extremely deep underground and cannot receive the timing signal transmitted by the satellite, the existing technical solution needs to be improved to meet the requirement of precise time synchronization.
Disclosure of Invention
In order to solve the problems in the prior art, an object of the present application is to provide a method and a system for monitoring leakage of a pipeline, so as to implement high-precision time synchronization between a server and a plurality of clients and monitoring of leakage positions of the pipeline in a satellite-free time calibration environment.
One aspect of the application provides a pipeline leakage monitoring method, which is used for realizing high-precision time synchronization between a server and a plurality of clients in a satellite-free time correction environment and monitoring leakage positions of pipelines, wherein the server comprises a single chip microcomputer, a power supply module, a time correction signal generation module, a master clock module and an interface module; each client comprises a processing module, a power supply module, a slave clock module, an acoustic wave sensor array and an interface module; the acoustic wave sensor arrays of the plurality of clients are fixedly arranged on the outer walls of different positions of the pipeline; the server is connected with the plurality of clients through Ethernet; the method comprises the following steps:
s100: the timing signal generating module generates a timing signal and outputs the timing signal to a main clock module, and the main clock module performs timing according to the timing signal, wherein the timing signal comprises a 1PPS signal and a TOD signal;
s200: the master clock module performs time synchronization with the plurality of slave clock modules according to the first synchronous message, the second synchronous message, the fourth synchronous messages sent to the plurality of slave clock modules and the third synchronous messages received from the plurality of slave clock modules;
s300: each acoustic wave sensor array acquires pipeline leakage acoustic signals monitored at respective positions;
s400: each processing module determines the arrival time of the pipeline leakage sound signal according to the pipeline leakage sound signal and the 1PPS signal and sends the arrival time to the server;
s500: and the single chip microcomputer determines the position of the pipeline leakage according to the arrival time of the pipeline leakage acoustic signals sent by the plurality of processing modules.
Further, the TOD signal includes UTC time information.
Further, the step S200 further includes the steps of:
s210: the master clock module sends a first synchronization message to the plurality of slave clock modules and marks and stores a local time for sending the first synchronization message as a first hardware timestamp t1；
S220: each slave clock module marks and stores the local time of the received first synchronous message as the respective second hardware time stamp t2；
S230: the master clock module immediately sends a second synchronous message to the plurality of slave clock modules after sending the first synchronous message, wherein the second synchronous message comprises the t1；
S240: each slave clock module immediately sends respective third synchronous message to the master clock module after receiving the second synchronous message, and the master clock module sends the third synchronous messageGround time is stamped and saved as respective third hardware time stamp t3And stores t contained in the second synchronization message1；
S250: the master clock module marks and stores a plurality of local time stamps of a plurality of received third synchronous messages as a plurality of fourth hardware time stamps t corresponding to a plurality of slave clock modules4；
S260: the master clock module sends a plurality of corresponding fourth synchronous messages to the plurality of slave clock modules, and each fourth synchronous message comprises t corresponding to each slave clock module4；
S270: each said slave clock module receives t4Then according to the t1、t2、t3And t4Calculating a time offset t from the master clock moduleoffsetAnd a message delay time tdelayAnd according to said toffsetAnd said tdelayTime synchronization with the master clock module is performed.
Further, the t isoffsetIs determined by the following formula:
Figure BDA0003423977210000021
said t isdelayIs determined by the following formula:
Figure BDA0003423977210000022
preferably, said t1、t2、t3And t4And marking at a media access control layer of the Ethernet.
Further, step S200 is performed once every fixed time T.
Preferably, the master clock module continuously transmits a 1PPS signal to a plurality of the slave clock modules.
Further, the client further includes a data acquisition board and an AD module, and the step S400 further includes the following steps:
s410: each data acquisition board receives a corresponding time message sent by the slave clock module and a pipeline leakage sound signal acquired by the corresponding sound wave sensor array, and sends the time message to the AD conversion module, wherein the time message contains local time information of the 1PPS signal received by the corresponding slave clock module;
s420: each AD conversion module converts the time message and the pipeline leakage sound signal into digital signals and sends the digital signals to the corresponding processing module;
s430: each slave clock module sends the received 1PPS signal to a corresponding processing module;
s440: and each processing module determines the local time of the pipeline leakage acoustic signal reaching the corresponding acoustic wave sensor array according to the 1PPS signal and the time message signal.
Another aspect of the present application further provides a pipeline leakage monitoring system, configured to monitor a leakage position of a pipeline in a satellite-free timing environment, including a server and a plurality of clients, where the server includes a single chip, a power module, a timing signal generation module, a master clock module, and an interface module; each client comprises a processing module, a power supply module, a slave clock module, an acoustic wave sensor array and an interface module; the acoustic wave sensor arrays of the plurality of clients are fixedly arranged on the outer walls of different positions of the pipeline; the server is connected with the plurality of clients through Ethernet;
the timing signal generating module generates a timing signal and outputs the timing signal to a main clock module, and the main clock module performs timing according to the timing signal, wherein the timing signal comprises a 1PPS signal and a TOD signal;
the master clock module performs time synchronization with the plurality of slave clock modules according to the first synchronous message, the second synchronous message, the fourth synchronous messages sent to the plurality of slave clock modules and the third synchronous messages received from the plurality of slave clock modules;
each acoustic wave sensor array acquires pipeline leakage acoustic signals monitored at respective positions;
each processing module determines the arrival time of the pipeline leakage sound signal according to the pipeline leakage sound signal and the 1PPS signal and sends the arrival time to the server;
and the single chip microcomputer determines the position of the pipeline leakage according to the arrival time of the pipeline leakage acoustic signals sent by the plurality of processing modules.
Further, the client also comprises a data acquisition board and an AD module;
each data acquisition board receives a corresponding time message sent by a slave clock module and a pipeline leakage sound signal acquired by a corresponding sound wave sensor array, and sends the time message to an AD conversion module, wherein the time message comprises local time information of the slave clock module receiving the 1PPS signal;
each AD conversion module converts the time message and the pipeline leakage sound signal into digital signals and sends the digital signals to the corresponding processing module;
each slave clock module sends the received 1PPS signal to a corresponding processing module;
and each processing module determines the local time of the pipeline leakage acoustic signal reaching the corresponding acoustic wave sensor array according to the 1PPS signal and the time message signal.
The pipeline leakage monitoring method and the pipeline leakage monitoring system provided by the embodiment of the application have the following beneficial effects:
(1) the accurate time synchronization between the master clock module and the slave clock module can be finished under the satellite timing environment without GPS/Beidou and the like, so that the production cost is saved to a great extent;
(2) the single chip microcomputer simulates a timing signal transmitted by a GPS and the like to send a 1PPS + TOD clock reference source to the master clock module, the slave clock module and the master clock module carry out a method of synchronizing messages for many times, time information and a 1PPS pulse signal transmitted by the master clock module are analyzed and recovered, the system calculates the time delay of a master line and a slave line and the time difference of the master line and the slave line according to the time information, and the local time is adjusted by utilizing the time difference to keep the time of the slave equipment consistent with the time of the master equipment;
(3) a plurality of hardware timestamps generated by the master clock module and the slave clock module during time synchronization are marked on a media access control layer of the Ethernet, and the precision can reach nanosecond level, so that the precision of time synchronization of the master clock module and the slave clock module is further improved;
(4) the slave clock module receives a 1PPS signal continuously sent by the master clock module and outputs a 1PPS time reference signal and a time message corresponding to time information, the 1PPS signal is accessed to a data acquisition board of the data sensor, a 1PPS pulse signal is converted into an analog signal, the analog signal and a pipeline leakage sound signal acquired by the sound wave sensor are transmitted to the processing module after being subjected to AD conversion, the time message is directly transmitted to the processing module, and the time message can be used for recording the time information of the 1PPS pulse signal; the consistency of data acquisition and transmission of each client on time is guaranteed.
Drawings
FIG. 1 is a block diagram of a pipeline leakage monitoring system according to the present application;
FIG. 2 is a flow chart of a method for monitoring pipeline leakage according to the present application;
FIG. 3 is a diagram of a time synchronized hardware architecture for a pipeline leak monitoring system according to an exemplary embodiment of the present application;
FIG. 4 is a flowchart illustrating the detailed steps of step S200 in FIG. 2;
FIG. 5 is a process diagram of time synchronization provided by an exemplary embodiment of the present application;
fig. 6 is a schematic diagram of a structure of a PTP packet according to a specific embodiment of the present application;
FIG. 7 is a flowchart illustrating the detailed steps of step S400 in FIG. 2;
FIG. 8 is a schematic illustration of a 1PPS signal and a pipe leak acoustic signal provided by an embodiment of the present application;
FIG. 9 is a schematic diagram of a duct leak location provided by a particular embodiment of the present application.
Detailed Description
Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings.
In addition, for convenience of understanding, various components on the drawings are enlarged (thick) or reduced (thin), but this is not intended to limit the scope of the present application.
Singular references also include plural references and vice versa.
In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the products of the embodiments of the present application are used, the description is only for convenience and simplicity, but the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, the application cannot be construed as being limited. Moreover, the terms first, second, etc. may be used in the description to distinguish between different elements, but these should not be limited by the order of manufacture or by importance to be understood as indicating or implying any particular importance, and their names may differ from their names in the detailed description of the application and the claims.
The terminology used in the description is for the purpose of describing the embodiments of the application and is not intended to be limiting of the application. It is also to be understood that, unless otherwise expressly stated or limited, the terms "disposed," "connected," and "connected" are intended to be open-ended, i.e., may be fixedly connected, detachably connected, or integrally connected; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present application will be specifically understood by those skilled in the art.
In an aspect of the real-time embodiment of the present application, a method for monitoring pipeline leakage is provided, which is used to implement high-precision time synchronization between a server and multiple clients and monitor leakage positions of pipelines in a satellite-free timing environment, where fig. 1 is an architecture diagram of a pipeline leakage system used in the method for monitoring pipeline leakage, as shown in fig. 1, the pipeline leakage monitoring system is composed of a server and multiple clients, and the server includes a single chip, a power module, a timing signal generation module, a master clock module, and an interface module; each client comprises a processing module, a power supply module, a slave clock module, an acoustic wave sensor array and an interface module; the acoustic wave sensor arrays of the plurality of clients are fixedly arranged on the outer walls of different positions of the pipeline; the server side is connected with a plurality of client sides through the Ethernet.
Specifically, the single chip of the server is configured to control the timing signal generation module to generate a 1PPS signal (Pulse Per Second, abbreviated as 1PPS) and a TOD signal (Time of Day, abbreviated as TOD) as timing signals, the master clock module receives the timing signals and decodes the TOD signals to obtain Time information contained therein, the server and the plurality of clients are connected to the ethernet through a plurality of interface modules for data transmission, the master clock module and the plurality of slave clock modules perform Time synchronization by receiving and sending synchronization messages for multiple times and calculating a plurality of corresponding hardware timestamps, after the Time synchronization is completed, the processing module of each client determines accurate Time when an acoustic signal leaked from a pipeline reaches the acoustic sensor matrix through the local Time recorded by the slave clock module and sends the arrival Time of the respective recorded acoustic signal to the server, and the position of the pipeline leakage is calculated by a singlechip at the server end.
Fig. 2 is a flowchart of a method for monitoring pipeline leakage according to an embodiment of the present application, as shown in fig. 2, including the following steps:
s100: the timing signal generating module generates a timing signal and outputs the timing signal to a main clock module, and the main clock module performs timing according to the timing signal, wherein the timing signal comprises a 1PPS signal and a TOD signal;
s200: the master clock module performs time synchronization with the plurality of slave clock modules according to the first synchronous message, the second synchronous message, the fourth synchronous messages sent to the plurality of slave clock modules and the third synchronous messages received from the plurality of slave clock modules;
s300: each acoustic wave sensor array acquires pipeline leakage acoustic signals monitored at respective positions;
s400: each processing module determines the arrival time of the pipeline leakage sound signal according to the pipeline leakage sound signal and the 1PPS signal and sends the arrival time to the server;
s500: and the single chip microcomputer determines the position of the pipeline leakage according to the arrival time of the pipeline leakage acoustic signals sent by the plurality of processing modules.
The following describes in detail the embodiments of the above steps with reference to preferred examples of the present application.
Step S100 is a step of generating a timing signal for time synchronization and timing the local time of the master clock module, and specifically, when the monitoring system is in an extremely deep underground environment, because the monitoring system cannot receive a satellite timing signal such as GPS and beidou, and the server and the plurality of clients cannot perform respective direct timing, the single-chip microcomputer of the server needs to control the timing signal generation module to generate a 1PPS signal and a TOD signal as timing signals, the master clock module firstly uses the timing signal to perform timing on the local time, and then uses the timing signal to perform time synchronization between the master clock module and the plurality of slave clock modules.
Fig. 3 shows a time synchronization hardware architecture diagram of a pipeline leakage monitoring system according to a preferred embodiment of the present application, as shown in fig. 3, a single-chip microcomputer at a server end has a model of STC8G1K08, a master clock module and a slave clock module respectively adopt a SYN2407E type master clock module and a SYN2407F type industrial slave clock module, an antenna input end of the SYN2407E type master clock module is connected to an output end of a master clock module evaluation board, the STC8G1K08 single-chip microcomputer controls the master clock module evaluation board to generate a 1PPS signal and a TOD signal and output the signals to the SYN240E type master clock module, and the SYN240E type master clock module and a plurality of SYN2407F type industrial slave clock modules are all connected to an ethernet.
Further, the TOD signal includes UTC time information. The UTC time is the universal standard time, and the time correcting signal generating module corrects the local time of the main clock module by generating the TOD signal containing the UTC time information.
In a preferred embodiment of the present application, the TOD signal generated by the timing signal generation module adopts the same rmc (utc) format as the GPS/beidou timing signal, and the specific format is as follows:
<1> UTC time, hhmmss format;
the positioning state is <2>, A is effective positioning, and V is ineffective positioning;
<3> latitude ddmm. mmmm format (the previous 0 is also transmitted);
<4> latitude hemisphere N (northern hemisphere), S (southern hemisphere);
mmmm format (< 5> longitude dddmm) (the previous 0 is also transmitted);
<6> longitudinal hemisphere E (eastern hemisphere), W (western hemisphere);
<7> ground speed (000.0 ~ 999.9 knots, the front 0 is also transmitted)
<8> ground heading (000.0-359.9 degrees, with true north as reference, the front 0 is also transmitted);
<9> UTC date, ddmmyy format;
<10> declination (000.0-180.0 degrees, the first 0 is also transmitted);
<11> declination direction, E (east) or W (west);
<12> mode indicates that a is autonomous positioning, D is differential, E is estimated, and N is data invalid.
After the TOD signal and the 1PPS signal in the RMC format are input to the master clock module, the master clock module decodes the TOD signal and sets the local time according to the UTC time included in the TOD signal.
Hereinafter, an implementation of step S200 will be described in detail.
Step S200 is a step of performing time synchronization between the master clock module and the plurality of slave clock modules, fig. 4 is a flowchart of specific steps of S200, and as shown in fig. 4, step S200 includes the following steps:
s210: the master clock module sends a first synchronization message to the plurality of slave clock modules and marks and stores a local time for sending the first synchronization message as a first hardware timestamp t1；
S220: each one of which isThe slave clock modules respectively receive the local time marks of the first synchronous messages and store the local time marks as respective second hardware time stamps t2；
S230: the master clock module immediately sends a second synchronous message to the plurality of slave clock modules after sending the first synchronous message, wherein the second synchronous message comprises the t1；
S240: each slave clock module immediately sends respective third synchronous message to the master clock module after receiving the second synchronous message, and local time for sending the third synchronous message is marked and stored as respective third hardware timestamp t3And stores t contained in the second synchronization message1；
S250: the master clock module marks and stores a plurality of local time stamps of a plurality of received third synchronous messages as a plurality of fourth hardware time stamps t corresponding to a plurality of slave clock modules4；
S260: the master clock module sends a plurality of corresponding fourth synchronous messages to the plurality of slave clock modules, and each fourth synchronous message comprises t corresponding to each slave clock module4；
S270: each said slave clock module receives t4Then according to the t1、t2、t3And t4Calculating a time offset t from the master clock moduleoffsetAnd a message delay time tdelayAnd according to said toffsetAnd said tdelayTime synchronization with the master clock module is performed.
Further, the t isoffsetIs determined by the following formula:
Figure BDA0003423977210000061
said t isdelayIs determined by the following formula:
Figure BDA0003423977210000071
specifically, in a preferred embodiment of the present application, time synchronization is performed between the master clock module and the plurality of slave clock modules based on IEEE1588 protocol, and fig. 5 is a schematic process diagram of time synchronization.
As shown in fig. 5, the specific time synchronization process is as follows:
firstly, a master clock sends a synchronization request message Sync (namely a first synchronization message) to each slave clock, and simultaneously, a local clock is used as a reference, and a hardware timestamp t is marked on the sending moment of the Sync message1And recorded on the master clock side. Each slave clock records the local time of the received Sync message sent by the master clock as a hardware timestamp t2And stored in the respective slave clock side;
secondly, after sending out the Sync message, the master clock sends out Follow-UP message (i.e. second Sync message) to each slave clock, and the message carries hardware time stamp t1The information of (1). After each slave clock receives the Follow _ UP message, the hardware timestamp t is marked1Stored in the respective slave clock side;
thirdly, after each slave clock receives the Follow _ UP message sent by the master clock, the slave clock sends a Delay _ Req message (namely a third synchronous message) to the master clock, and simultaneously, a hardware timestamp t is marked3And stored on the respective slave clock side. When the master clock receives Delay _ Req messages of a plurality of slave clocks, a hardware timestamp t corresponding to each slave clock is marked4And stored in the master clock side;
fourthly, the master clock lays down the hardware time stamp t4Then, a Delay _ Resp message (i.e. a fourth synchronization message) is sent to each slave clock, wherein a hardware timestamp t corresponding to each slave clock is carried4The information of (a); after each clock receives the Delay _ Resp message, the hardware timestamp t in the Delay _ Resp message is marked4Is recorded on the respective slave clock side.
Each of the above-mentioned synchronous messages to be transmitted and received is set by using PTP protocol, and fig. 6 shows a schematic diagram of a composition structure of the message.
Through the receiving and sending of 4 messages between the master clock and the slave clock, each slave clock stores 4 hardware timestamps t1-t4Let t be the time deviation between the master and slave clocksoffsetThe delay time of message transmission is tdelayThe synchronization procedure according to IEEE1588 protocol may result in:
t1-toffset+tdelay＝t2
t3+toffest+tdelay＝t4
from the above two formulae, one can obtain:
Figure 1
each slave clock module gets its own toffsetAnd tdelayAnd then, the phase synchronization of the clocks of the master node and the slave node can be achieved by adjusting the phase of the hardware time stamp of the slave clock.
According to the embodiment of the application, a single chip microcomputer simulates a timing signal transmitted by a GPS (global positioning system) and the like to send a 1PPS (pulse per second) + TOD (time of flight detector) clock reference source to a master clock module, a slave clock module and the master clock module carry out a method of synchronizing messages for many times, time information and a 1PPS (pulse per second) pulse signal transmitted by the master clock module are analyzed and recovered, the system calculates time delay of a master line and a slave line and time difference of the master line and the slave line according to the time reference source, and adjusts local time by utilizing the time difference to keep the time of slave equipment consistent with that of the master equipment, so that accurate time synchronization between the master clock module and the slave clock module can be completed in a satellite timing environment without GPS (global positioning system)/Beidou and the like, and the production cost is saved to a great extent.
Preferably, the hardware time stamp t1、t2、t3And t4The synchronization is performed on an Ethernet media access control layer (MAC layer), and the hardware time stamp is marked on the MAC layer, so that the synchronization precision can be greatly improved.
Further, step S200 is performed once every fixed time T. The time synchronization is carried out at fixed intervals, and the local time of the server and each client can be calibrated in time, so that the precision of pipeline leakage monitoring is improved.
Preferably, the master clock module continuously transmits a 1PPS signal to a plurality of the slave clock modules. The slave clock module can accurately record the local time corresponding to the rising edge of each 1PPS signal according to the 1PPS signal continuously sent by the master clock module, so that the precision of pipeline leakage monitoring is improved.
Step S300 is a step of acquiring a pipe leakage acoustic signal.
Specifically, the acoustic sensor array corresponding to each client is fixedly arranged on the outer walls of different positions of the pipeline, continuously monitors acoustic signals of the positions of the clients, and acquires pipeline leakage acoustic signals monitored at the positions of the clients when the pipeline leaks.
Step S400 will be described in detail below, and fig. 7 is a flowchart illustrating the specific steps of step S400.
As shown in fig. 1, the client of the pipeline leakage monitoring system of the present application further includes a data acquisition board and an AD module, and as shown in fig. 7, step S400 further includes the following steps:
s410: each data acquisition board receives a corresponding time message sent by the slave clock module and a pipeline leakage sound signal acquired by the corresponding sound wave sensor array, and sends the time message to the AD conversion module, wherein the time message contains local time information of the 1PPS signal received by the corresponding slave clock module;
s420: each AD conversion module converts the time message and the pipeline leakage sound signal into digital signals and sends the digital signals to the corresponding processing module;
s430: each slave clock module sends the received 1PPS signal to a corresponding processing module;
s440: and each processing module determines the local time of the pipeline leakage acoustic signal reaching the corresponding acoustic wave sensor array according to the 1PPS signal and the time message signal.
Fig. 8 shows a schematic diagram of a pipe leakage acoustic signal acquired by a certain acoustic wave sensor array and a corresponding 1PPS signal received from a clock module in a specific embodiment of the present application. As shown in fig. 8, when a leak occurs, the processing module can accurately obtain the local time when the acoustic signal of the pipe leak reaches the client by combining the local time information corresponding to the 1PPS signal included in the time message sent from the clock module according to the time difference Δ T between the time T2 when the acoustic signal of the leak reaches the acoustic sensor array and the time T1 when the previous 1PPS signal rises.
According to the embodiment of the application, the slave clock module of each client receives the 1PPS signal continuously sent by the master clock module and outputs the 1PPS time reference signal and the time message corresponding to the time information, the 1PPS signal is accessed to the data acquisition board of the data sensor, the 1PPS pulse signal is converted into an analog signal, the analog signal and the pipeline leakage sound signal acquired by the sound wave sensor are transmitted to the processing module after being subjected to AD conversion, the time message is directly transmitted to the processing module, and the time information of the 1PPS pulse signal can be recorded; the consistency of data acquisition and transmission of each client on time is guaranteed.
Step S500 is a step of locating the pipe leakage position by the time when the pipe leakage acoustic signal reaches each client. Fig. 9 shows a schematic diagram of positioning a pipeline leakage position, and as shown in fig. 9, when a pipeline leaks, the processing module of each client obtains the local time when the respective acoustic wave sensor array receives a pipeline leakage acoustic signal, and sends the local time to the single chip microcomputer at the server, and according to the pipeline leakage positioning and monitoring principle, the time difference between the acoustic wave propagating from the leakage point to the multiple clients can be calculated, so that the leakage point can be accurately positioned.
The embodiment of the application also provides a pipeline leakage monitoring system, which is used for monitoring the leakage position of the pipeline in a satellite-free timing environment and comprises a server side and a plurality of client sides, wherein the server side comprises a single chip microcomputer, a power supply module, a timing signal generation module, a main clock module and an interface module; each client comprises a processing module, a power supply module, a slave clock module, an acoustic wave sensor array and an interface module; the acoustic wave sensor arrays of the plurality of clients are fixedly arranged on the outer walls of different positions of the pipeline; the server side is connected with the plurality of client sides through the Ethernet. Fig. 1 is an architecture diagram of a pipeline leak detection system according to an embodiment of the present application.
The timing signal generating module generates a timing signal and outputs the timing signal to a main clock module, and the main clock module performs timing according to the timing signal, wherein the timing signal comprises a 1PPS signal and a TOD signal;
the master clock module performs time synchronization with the plurality of slave clock modules according to the first synchronous message, the second synchronous message, the fourth synchronous messages sent to the plurality of slave clock modules and the third synchronous messages received from the plurality of slave clock modules;
each acoustic wave sensor array acquires pipeline leakage acoustic signals monitored at respective positions;
each processing module determines the arrival time of the pipeline leakage sound signal according to the pipeline leakage sound signal and the 1PPS signal and sends the arrival time to the server;
and the single chip microcomputer determines the position of the pipeline leakage according to the arrival time of the pipeline leakage acoustic signals sent by the plurality of processing modules.
Further, the client also comprises a data acquisition board and an AD module;
each data acquisition board receives a corresponding time message sent by the slave clock module and a pipeline leakage sound signal acquired by the corresponding sound wave sensor array, and sends the time message to the AD conversion module, wherein the time message contains local time information of the 1PPS signal received by the corresponding slave clock module;
each AD conversion module converts the time message and the pipeline leakage sound signal into digital signals and sends the digital signals to the corresponding processing module;
each slave clock module sends the received 1PPS signal to a corresponding processing module;
and each processing module determines the local time of the pipeline leakage acoustic signal reaching the corresponding acoustic wave sensor array according to the 1PPS signal and the time message signal.
The detailed structure and function of the pipeline leakage monitoring system are described in detail, and are not described herein again.
While the present invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope thereof as defined in the appended claims.

Claims (10)

1. A pipeline leakage monitoring method is used for realizing high-precision time synchronization between a server end and a plurality of client ends in a satellite-free time correction environment and monitoring leakage positions of pipelines, wherein the server end comprises a single chip microcomputer, a power supply module, a time correction signal generation module, a main clock module and an interface module; each client comprises a processing module, a power supply module, a slave clock module, an acoustic wave sensor array and an interface module; the acoustic wave sensor arrays of the plurality of clients are fixedly arranged on the outer walls of different positions of the pipeline; the server is connected with the plurality of clients through Ethernet; characterized in that the method comprises the following steps:
s100: the timing signal generating module generates a timing signal and outputs the timing signal to a main clock module, and the main clock module performs timing according to the timing signal, wherein the timing signal comprises a 1PPS signal and a TOD signal;
s200: the master clock module performs time synchronization with the plurality of slave clock modules according to the first synchronous message, the second synchronous message, the fourth synchronous messages sent to the plurality of slave clock modules and the third synchronous messages received from the plurality of slave clock modules;
s300: each acoustic wave sensor array acquires pipeline leakage acoustic signals monitored at respective positions;
s400: each processing module determines the arrival time of the pipeline leakage sound signal according to the pipeline leakage sound signal and the 1PPS signal and sends the arrival time to the server;
s500: and the single chip microcomputer determines the position of the pipeline leakage according to the arrival time of the pipeline leakage acoustic signals sent by the plurality of processing modules.
2. The pipe leakage monitoring method of claim 1, wherein:
the TOD signal includes UTC time information.
3. The pipe leakage monitoring method according to claim 1, wherein said step S200 further comprises the steps of:
s210: the master clock module sends a first synchronization message to the plurality of slave clock modules and marks and stores a local time for sending the first synchronization message as a first hardware timestamp t1；
S220: each slave clock module marks and stores the local time of the received first synchronous message as the respective second hardware time stamp t2；
S230: the master clock module immediately sends a second synchronous message to the plurality of slave clock modules after sending the first synchronous message, wherein the second synchronous message comprises the t1；
S240: each slave clock module immediately sends respective third synchronous message to the master clock module after receiving the second synchronous message, and local time for sending the third synchronous message is marked and stored as respective third hardware timestamp t3And stores t contained in the second synchronization message1；
S250: the master clock module marks and stores a plurality of local time stamps of a plurality of received third synchronous messages as a plurality of fourth hardware time stamps t corresponding to a plurality of slave clock modules4；
S260: the master clock module sends a plurality of corresponding fourth synchronous messages to the plurality of slave clock modules, and each fourth synchronous message comprises t corresponding to each slave clock module4；
S270: each said slave clock module receives t4Then according to the t1、t2、t3And t4Calculating a time offset t from the master clock moduleoffsetAnd a message delay time tdelayAccording to the positionT is describedoffsetAnd said tdelayTime synchronization with the master clock module is performed.
4. A pipeline leak monitoring method as claimed in claim 3, wherein:
said t isoffsetIs determined by the following formula:
Figure FDA0003423977200000021
said t isdelayIs determined by the following formula:
Figure FDA0003423977200000022
5. the pipe leakage monitoring method according to claim 3 or claim 4, wherein:
said t is1、t2、t3And t4And marking at a media access control layer of the Ethernet.
6. The pipe leakage monitoring method of claim 1, wherein:
step S200 is performed every fixed time T.
7. The pipe leak monitoring method of claim 1, wherein:
the master clock module continuously transmits a 1PPS signal to a plurality of the slave clock modules.
8. The pipe leak monitoring method according to claim 7, wherein:
the client further includes a data acquisition board and an AD module, and the step S400 further includes the steps of:
s410: each data acquisition board receives a corresponding time message sent by the slave clock module and a pipeline leakage sound signal acquired by the corresponding sound wave sensor array, and sends the time message to the AD conversion module, wherein the time message contains local time information of the 1PPS signal received by the corresponding slave clock module;
s420: each AD conversion module converts the time message and the pipeline leakage sound signal into digital signals and sends the digital signals to the corresponding processing module;
s430: each slave clock module sends the received 1PPS signal to a corresponding processing module;
s440: and each processing module determines the local time of the pipeline leakage acoustic signal reaching the corresponding acoustic wave sensor array according to the 1PPS signal and the time message signal.
9. A pipeline leakage monitoring system is used for monitoring the leakage position of a pipeline in a satellite-free timing environment and comprises a server side and a plurality of client sides, wherein the server side comprises a single chip microcomputer, a power supply module, a timing signal generation module, a main clock module and an interface module; each client comprises a processing module, a power supply module, a slave clock module, an acoustic wave sensor array and an interface module; the acoustic wave sensor arrays of the plurality of clients are fixedly arranged on the outer walls of different positions of the pipeline; the server is connected with the plurality of clients through Ethernet; the method is characterized in that:
the timing signal generating module generates a timing signal and outputs the timing signal to a main clock module, and the main clock module performs timing according to the timing signal, wherein the timing signal comprises a 1PPS signal and a TOD signal;
the master clock module performs time synchronization with the plurality of slave clock modules according to the first synchronous message, the second synchronous message, the fourth synchronous messages sent to the plurality of slave clock modules and the third synchronous messages received from the plurality of slave clock modules;
each acoustic wave sensor array acquires pipeline leakage acoustic signals monitored at respective positions;
each processing module determines the arrival time of the pipeline leakage sound signal according to the pipeline leakage sound signal and the 1PPS signal and sends the arrival time to the server;
and the single chip microcomputer determines the position of the pipeline leakage according to the arrival time of the pipeline leakage acoustic signals sent by the plurality of processing modules.
10. The pipe leak monitoring system of claim 9, wherein:
the client further comprises a data acquisition board and an AD module;
each data acquisition board receives a corresponding time message sent by the slave clock module and a pipeline leakage sound signal acquired by the corresponding sound wave sensor array, and sends the time message to the AD conversion module, wherein the time message contains local time information of the 1PPS signal received by the corresponding slave clock module;
each AD conversion module converts the time message and the pipeline leakage sound signal into digital signals and sends the digital signals to the corresponding processing module;
each slave clock module sends the received 1PPS signal to a corresponding processing module;
and each processing module determines the local time of the pipeline leakage acoustic signal reaching the corresponding acoustic wave sensor array according to the 1PPS signal and the time message signal.
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