CN117168716A - Hydrogen leakage on-line monitoring and positioning device and method based on sound array - Google Patents
Hydrogen leakage on-line monitoring and positioning device and method based on sound array Download PDFInfo
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Abstract
The application provides a device and a method for on-line monitoring and positioning of hydrogen leakage based on a sound array, and relates to the technical field of hydrogen safety application. The device comprises: the system comprises a signal acquisition module, a signal conditioning module, an A/D conversion module, an image acquisition module, a central processing unit and a visualization module; the signal acquisition module comprises a far-field multi-frequency spectrum sound wave receiving array unit and a near-end hydrogen pipeline signal acquisition module; the central processing unit comprises a signal processing module and an information fusion module. The method provided by the application determines the position information of the leakage point through a beam forming algorithm, fuses the position information of the leakage point with the background model through an ant colony optimization algorithm to obtain the position of the leakage point in the background model, improves the detection precision of hydrogen leakage, and combines the acquired far-end acoustic signal and near-end acoustic signal to determine the position information of the leakage point by respectively processing the acquired far-end acoustic signal and near-end acoustic signal and combining the processed far-end digital signal and near-end digital signal, thereby expanding the coverage range of the acoustic sensor and having high applicability.
Description
Technical Field
The application relates to the technical field of hydrogen safety application, in particular to a device and a method for on-line monitoring and positioning of hydrogen leakage based on a sound array.
Background
The application of traditional energy sources causes various problems of environmental pollution, ecological damage and the like, and the development of clean, efficient and renewable new energy sources is imperative. The hydrogen energy is one of the most promising new energy sources with the advantages of zero carbon, no pollution, high heat value and the like. However, the extremely low ignition energy of about 0.02MJ limits the use of hydrogen in industrial production, especially relatively closed industrial plants, due to the very wide explosion limit of 4% -75% for gaseous hydrogen. Therefore, by the necessary technical means, the safety level of the hydrogen applied to the industrial production process is improved, and the safe application of the hydrogen energy in the industrial production is very important.
The existing hydrogen monitoring sensor mainly comprises a catalytic type sensor, an electrochemical type sensor, an electrical type sensor, an optical type sensor and the like. The catalytic sensor is limited by sensing materials, has short service life, is difficult to run for a long time, and has high maintenance cost for on-line monitoring; the electrochemical and electrical sensors are mostly used for monitoring the hydrogen condition by generating an electric signal through adsorption of metal compounds, and the efficiency of the sensors is easily reduced due to long-term accumulation of hydrogen molecules on the surfaces of the sensors; the optical sensor monitors the spectrum information of the hydrogen more, is easily influenced by factors such as illumination, interference light and the like, and causes the problems of false alarm, missing alarm and the like.
Because the existing hydrogen monitoring sensors (such as catalytic combustion, electrochemistry and the like) are mostly in a contact monitoring mode, and early warning information can be sent only when hydrogen is diffused to a sensor area, the hydrogen monitoring sensors are difficult to be suitable for industrial factory building environments in a large space, and because the hydrogen is colorless gas, video image monitoring means are difficult to play a role. In the face of conditions such as pipeline is complicated, work platform is densely distributed in the industrial factory building, current monitoring mode is difficult to monitor hydrogen leakage accurately fast, and can't fix a position the leakage source, can't support the hydrogen leakage monitoring of industrial factory building.
Disclosure of Invention
In view of the defects in the prior art, the method provided by the application provides an on-line hydrogen leakage monitoring and positioning device and method based on a sound array, and aims to solve the problems that the existing hydrogen leakage detection technology is low in detection precision and difficult to position fault points.
In order to solve the above technical problems, a first aspect of the present application provides an on-line hydrogen leakage monitoring and positioning device based on a sound array, the device comprising: the system comprises a signal acquisition module, a signal conditioning module, an A/D conversion module, an image acquisition module, a central processing unit and a visualization module; the output end of the signal acquisition module is electrically connected with the input end of the signal conditioning module, the output end of the signal conditioning module is electrically connected with the input end of the A/D conversion module, the output end of the A/D conversion module and the output end of the image acquisition module are both electrically connected with the input end of the central processing unit, and the output end of the central processing unit is electrically connected with the input end of the visualization module;
the signal acquisition module is used for acquiring a far-end sound signal and a near-end sound signal of the gas leakage monitoring area in real time; converting the acquired far-end acoustic signals and near-end acoustic signals into far-end electric signals and near-end electric signals respectively; transmitting both the far-end electrical signal and the near-end electrical signal to a signal conditioning module;
further, the signal acquisition module includes:
the far-field multi-frequency spectrum sound wave receiving array unit is composed of N sound sensors which are distributed and installed at the top points and the side lines of the gas leakage monitoring area in the industrial factory building space and is used for collecting far-end sound signals of the gas leakage monitoring area in real time, converting the obtained far-end sound signals into far-end electric signals and transmitting the converted far-end electric signals to the signal conditioning module; and the N acoustic sensors are called far-end acoustic sensors;
the near-end hydrogen pipeline signal acquisition module is composed of M acoustic sensors which are distributed and installed near pipeline valves and flange interfaces and is used for acquiring near-end acoustic signals in a gas leakage monitoring area in real time, analyzing the sound intensity and frequency information of the acquired near-end acoustic signals, converting the acquired near-end acoustic signals into near-end electrical signals and transmitting the converted near-end electrical signals to the signal conditioning module; and the M acoustic sensors are called near-end acoustic sensors;
the signal conditioning module is used for receiving the far-end electric signal and the near-end electric signal from the signal acquisition module, simultaneously carrying out filtering and amplifying treatment on the received far-end electric signal and the received near-end electric signal, and transmitting the treated far-end electric signal and the treated near-end electric signal to the A/D conversion module;
the A/D conversion module is used for carrying out analog-to-digital conversion on the far-end electric signal and the near-end electric signal received from the signal conditioning module and sending the converted far-end digital signal and the converted near-end digital signal to the central processing unit;
the image acquisition module is used for acquiring image signals of the gas leakage monitoring area and transmitting the acquired image signals to the central processing unit;
further, the image acquisition module is composed of two vertically intersected wide-angle cameras arranged in the gas leakage monitoring area;
the central processing unit is used for a) receiving the far-end digital signal and the near-end digital signal transmitted by the A/D conversion module, determining a leakage point response signal according to the near-end digital signal, and determining a leakage point azimuth signal according to the far-end digital signal; b) Receiving an image signal transmitted from an image acquisition module, extracting image information of a gas leakage monitoring area and establishing a background model of the gas leakage monitoring area; c) The position of the leakage point is determined by combining the obtained background model, the leakage point response signal and the leakage point azimuth signal, so that the positioning of the leakage point in the gas leakage monitoring area is realized;
further, the central processing unit includes:
the signal processing module is used for a) receiving the far-end digital signal and the near-end digital signal transmitted by the A/D conversion module, and screening out the near-end digital signal which is larger than a preset response threshold value from the near-end digital signal as a leakage point response signal; determining a leakage point azimuth signal according to the far-end digital signal; b) Receiving an image signal sent by an image acquisition module, extracting image information of a gas leakage monitoring area, establishing a background model of the gas leakage monitoring area, and dividing the background model into areas; c) Transmitting the obtained response signals of the leakage points, azimuth signals of the leakage points and the background model of the gas leakage monitoring area to a signal fusion module;
the information fusion module is used for receiving the response signals of the leakage points, the azimuth signals of the leakage points and the background model of the gas leakage monitoring area; fusing the azimuth signal of the leakage point and the response signal of the leakage point to determine the spatial position information of the leakage point; the position information of the leakage point is fused with a background model of the gas leakage monitoring area, so that the position of the leakage point is determined, and the positioning of the leakage point in the gas leakage monitoring area is realized;
the visualization module is used for displaying a background model of the gas leakage monitoring area and the position of the leakage point in the gas leakage monitoring area, and realizing the visual display of the leakage point.
The second aspect of the application provides a method for on-line monitoring and positioning of hydrogen leakage based on a sound array, comprising the following steps:
step 1: acquiring a distal sound signal and a proximal sound signal of the gas leakage monitoring area in real time by using an acoustic sensor, and referring to the acoustic sensor for acquiring the distal sound signal as a distal acoustic sensor and referring to the acoustic sensor for acquiring the proximal sound signal as a proximal acoustic sensor;
step 2: preprocessing a far-end sound signal and a near-end sound signal acquired in real time respectively to correspondingly obtain a far-end digital signal and a near-end digital signal;
further, the preprocessing includes: converting the far-end acoustic signal and the near-end acoustic signal into a far-end electric signal and a near-end electric signal respectively, filtering and amplifying the converted far-end electric signal and the converted near-end electric signal, and performing digital-to-analog conversion on the processed far-end electric signal and the processed near-end electric signal respectively to obtain a far-end digital signal and a near-end digital signal;
step 3: setting a response threshold, screening a near-end digital signal larger than the response threshold from the near-end digital signal to serve as a leakage point response signal, and calculating the sound intensity and the sound frequency of the leakage point response signal according to a near-end electric signal corresponding to the leakage point response signal;
further, the response threshold is set according to plant pipeline types and hydrogen pipeline pressures in different industrial plants;
step 4: collecting image information of a gas leakage monitoring area, establishing a background model of the monitoring area, and dividing the background model of the gas leakage monitoring area into a plurality of subspace areas according to leakage point response signals;
step 4.1: acquiring image information of a gas leakage monitoring area, acquiring building information model BIM data of the gas leakage monitoring area, and establishing a background model I of the monitoring area according to the image information of the gas leakage monitoring area and the building information model BIM data back ；
Step 4.2: connecting the vertex of the background model of the gas leakage monitoring area with the position point of the near-end acoustic sensor corresponding to the leakage point response signal, and obtaining a background model I back Divided into M subspace regions, denoted as I back1 、I back2 、…、I backM ；
Step 5: performing band-pass filtering on the far-end digital signal according to the sound wave frequency of the leakage point response signal to determine the far-end digital signal of the leakage point;
step 6: calculating a leakage point azimuth signal by using a beam forming algorithm according to the obtained far-end digital signal of the leakage point;
step 6.1: carrying out beam forming on the digital signal at the far end of the leakage point by utilizing a narrow-band beam forming algorithm, and obtaining a narrow-band beam according to a formula (2);
wherein y is Narrow band Is a narrow-band beam of the leakage point obtained by a narrow-band beam forming algorithm; i is the number of remote acoustic sensors used for calculation; i is the distal acoustic sensor at the ith location; f (F) i The sound intensity information of the frequency corresponding to the far-end digital signal corresponding to the far-end acoustic sensor at the ith position in the frequency domain; epsilon is the weight value of the far-end acoustic sensor;is the direction angle of the near-end acoustic sensor corresponding to the leakage point response signal relative to the far-end acoustic sensor at the ith position;
step 6.2: determining a broadband beam from the narrowband beam using a broadband beam forming algorithm;
wherein y is Broadband device The method comprises the steps of obtaining a broadband beam by forming a narrowband beam obtained by a narrowband beam forming algorithm through the broadband beam; l is the number of far-end acoustic sensors for which the far-end digital signal is greater than the response threshold; f corresponds to the acquisition frequency of the near-end acoustic signal; fmax is the maximum value of f; epsilon Broadband device Is the weight value of the broadband beam; m is the m-th sensor that takes the maximum value;
step 6.3: determining a leakage point azimuth signal according to the narrow-band wave beam and the broadband wave beam;
step 7: determining a subspace region of the leakage point in the background model as an initial value of a corresponding space position of the leakage point in the background model according to an image of the gas leakage monitoring region and the sound intensity of the leakage point response signal, correcting the initial value of the corresponding space position of the leakage point in the background model according to the leakage point response signal and the leakage point azimuth signal, and determining the position of the leakage point;
step 7.1: drawing a sound intensity response spectrogram according to the image of the gas leakage monitoring area and the sound intensity of the leakage point response signal, determining a subspace area where the position of the largest sound intensity in the sound intensity spectrogram is located in the background model, and taking the subspace area as an initial value of a corresponding space position of the leakage point in the background model;
step 7.2: correcting initial values of corresponding spatial positions of the leakage points in the background model according to the leakage point response signals and the leakage point azimuth signals to obtain corresponding position information of the leakage points in the background model;
step 7.3: fusing the image information of the gas leakage monitoring area with the corresponding position information of the leakage point in the background model to determine the position of the leakage point;
step 8: and (3) outputting the position of the leakage point obtained in the step (7), and visually displaying the position of the leakage point to realize the accurate positioning of the leakage point.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in:
compared with the prior art, the device and the method of the application determine the position information of the leakage point through the beam forming algorithm, and further realize the fusion of the position information of the leakage point and the background model through the ant colony optimization algorithm, so as to obtain the position of the leakage point in the background model, improve the detection precision of hydrogen leakage and realize the accurate positioning of the leakage point.
The device and the method of the application use the acoustic sensor to collect the signal, because the acoustic sensor passively receives the sound wave generated by the airflow vibration of the gas leakage point, the electric excitation signal is generated at the sensor to realize the monitoring of the leakage point, which belongs to the corresponding energy signal monitoring, and is different from the traditional hydrogen sensor such as electrochemistry, catalytic combustion and the like, the application has the advantages of low cost, long service time and the like by the monitoring mode of absorbing hydrogen molecules or generating reaction with the leaked hydrogen.
The sensitivity of the acoustic sensor is high, so that the occurrence of hydrogen leakage can be rapidly monitored, and the timeliness is high; and because only the acoustic oscillations of different frequency spectrums generated by the rapid flow of the hydrogen in the hydrogen leakage detection process are considered, the influence of interference factors is effectively reduced, and the conditions of missing report and false report are avoided.
The device and the method respectively process the acquired far-end sound signal and the near-end sound signal, and combine the far-end digital signal and the near-end digital signal obtained after the processing to determine the position information of the leakage point, thereby expanding the coverage range of the acoustic sensor, and leading the device and the method to be capable of monitoring hydrogen leakage in the industrial factory building environment with high space and high applicability.
The device and the method realize the visualization of hydrogen leakage monitoring by simultaneously collecting the image signals in the industrial factory building and establishing the background model to fuse with the positions of the leakage points.
Drawings
Fig. 1 is a block diagram of an on-line monitoring and positioning device for hydrogen leakage based on an acoustic array in this embodiment
Fig. 2 is a diagram showing a structure of a far-field multi-spectrum acoustic wave receiving array unit in the present embodiment;
fig. 3 is a block diagram of a proximal signal acquisition module of a hydrogen pipeline in the present embodiment;
fig. 4 is a circuit connection diagram of the signal conditioning module in the present embodiment;
fig. 5 is a flowchart of a method for online monitoring and positioning of hydrogen leakage based on an acoustic array in the present embodiment.
Detailed Description
In order that the application may be readily understood, a more particular description of the application will be rendered by reference to specific embodiments that are illustrated in the appended drawings. The following embodiments are illustrative of the present application, but are not intended to limit the scope of the application. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
The device for on-line monitoring and positioning of hydrogen leakage based on the sound array in this embodiment, as shown in fig. 1, includes a signal acquisition module, a signal conditioning module, an a/D conversion module, an image acquisition module, a central processing unit and a visualization module. The output end of the signal acquisition module is electrically connected with the input end of the signal conditioning module, the output end of the signal conditioning module is electrically connected with the input end of the A/D conversion module, the output end of the A/D conversion module and the output end of the image acquisition module are both electrically connected with the input end of the central processing unit, and the output end of the central processing unit is electrically connected with the input end of the visualization module;
the signal acquisition module is used for acquiring a far-end sound signal and a near-end sound signal of the gas leakage monitoring area in real time; converting the acquired far-end acoustic signals and near-end acoustic signals into far-end electric signals and near-end electric signals respectively; transmitting both the far-end electrical signal and the near-end electrical signal to a signal conditioning module;
the signal acquisition module further comprises:
the far-field multi-frequency spectrum sound wave receiving array unit is composed of N sound sensors which are distributed and installed at the top points and the side lines of the gas leakage monitoring area in the industrial factory building space and used for collecting far-end sound signals of the gas leakage monitoring area in real time, converting the obtained far-end sound signals into far-end electric signals and transmitting the converted far-end electric signals to the signal conditioning module.
In the far-field multi-spectrum sound wave receiving array unit in the embodiment, as shown in fig. 2, N sound sensors are mounted in the gas leakage monitoring area in the industrial factory building space, wherein one sound sensor is mounted at all vertexes of the gas leakage monitoring area, a plurality of sound sensors are mounted on each side line along the hydrogen pipeline direction, in order to ensure the monitoring effect, the distance between two adjacent sound sensors is not more than 15m, the sound sensors adopt 8-12 kHz sensors of MEMS, and the center frequency is 10kHz. And the N acoustic sensors will be referred to as the far-end acoustic sensors hereinafter for convenience of description.
The near-end hydrogen pipeline signal acquisition module is composed of M acoustic sensors which are distributed and installed near pipeline valves and flange interfaces and is used for acquiring near-end acoustic signals in a gas leakage monitoring area in real time, analyzing the sound intensity and frequency information of the acquired near-end acoustic signals, converting the acquired near-end acoustic signals into near-end electrical signals and transmitting the converted near-end electrical signals to the signal conditioning module.
In the near-end hydrogen pipeline signal acquisition module in the embodiment, as shown in fig. 3, an acoustic sensor is respectively installed at a pipeline valve and a flange interface of each hydrogen pipeline, M acoustic sensors are installed in total, the distance between the installed acoustic sensors and the pipeline valve and between the installed acoustic sensors and the flange interface is not more than 5M, wherein the acoustic sensors adopt MEMS (micro electro mechanical systems) frequency ranges of 1-3 kHz, and the center frequency is 2 kHz. The M acoustic sensors will be referred to below as proximal acoustic sensors for convenience of description.
The signal conditioning module comprises two groups of filtering and amplifying circuits, and is used for receiving the far-end electric signals and the near-end electric signals from the signal acquisition module, simultaneously carrying out filtering and amplifying processing on the received far-end electric signals and the received near-end electric signals, and transmitting the processed far-end electric signals and the processed near-end electric signals to the A/D conversion module.
In this embodiment, the filter amplifier circuit, as shown in fig. 4, sends the electric signal received from the signal acquisition module to the input terminal V in Then connected to the co-directional input terminal 1, input terminal V, of an operational amplifier model LM1875 via a capacitance E2 of 10 mu in One end of a resistor R4 with the resistance value of 1M is also connected, and the other end of the resistor R4 is grounded; the homodromous input end 1 of the LM1875 is also connected with one end of a resistor R3 with a resistance value of 22K, the other end of the resistor R3 is connected with one end of a resistor R1 with a resistance value of 22K, the other end of the resistor R1 is grounded, a capacitor E4 with 10 mu is connected with the resistor R1 in parallel, the other end of the resistor R3 is also connected with one end of a resistor R2 with a resistance value of 22K, the other end of the resistor R2 is connected with a power supply VCC, and the power supply VCC is 16V-60V; the reverse input end 2 of the LM1875 is sequentially connected with a resistor R5 with the resistance value of 10K and one end of a capacitor E3 with the resistance value of 10 mu, and the other end of the capacitor E3 is grounded; the output end 4 of the LM1875 is sequentially connected with a 2200 mu capacitor E1 and one end of a loudspeaker, the other end of the loudspeaker is grounded, and a resistor R6 with a resistance value of 200K is connected between the reverse input end 2 of the LM1875 and the output end 4 of the LM 1875.
The A/D conversion module is used for carrying out analog-to-digital conversion on the far-end electric signal and the near-end electric signal received from the signal conditioning module and sending the converted far-end digital signal and the converted near-end digital signal to the central processing unit;
in this embodiment, the a/D conversion module is an analog-to-digital converter, model ADX516ASOP 28.
The image acquisition module is used for acquiring image signals of the gas leakage monitoring area and transmitting the acquired image signals to the central processing unit;
further, the image acquisition module is composed of two vertically intersected wide-angle cameras arranged in the gas leakage monitoring area;
the central processing unit is used for a) receiving the far-end digital signal and the near-end digital signal transmitted by the A/D conversion module, determining a leakage point response signal according to the near-end digital signal, and determining a leakage point azimuth signal according to the far-end digital signal; b) Receiving an image signal transmitted from an image acquisition module, extracting image information of a gas leakage monitoring area and establishing a background model of the gas leakage monitoring area; c) The position of the leakage point is determined by combining the obtained background model, the leakage point response signal and the leakage point azimuth signal, so that the positioning of the leakage point in the gas leakage monitoring area is realized;
the central processing unit further includes:
the signal processing module is used for a) receiving the far-end digital signal and the near-end digital signal transmitted by the A/D conversion module, and screening out the near-end digital signal which is larger than a preset response threshold value from the near-end digital signal as a leakage point response signal; determining a leakage point azimuth signal according to the far-end digital signal; b) Receiving an image signal sent by an image acquisition module, extracting image information of a gas leakage monitoring area, establishing a background model of the gas leakage monitoring area, and dividing the background model into areas; c) Transmitting the obtained response signals of the leakage points, azimuth signals of the leakage points and the background model of the gas leakage monitoring area to a signal fusion module;
the information fusion module is used for receiving the response signals of the leakage points, the azimuth signals of the leakage points and the background model of the gas leakage monitoring area; fusing the azimuth signal of the leakage point and the response signal of the leakage point to determine the spatial position information of the leakage point; the position information of the leakage point is fused with a background model of the gas leakage monitoring area, so that the position of the leakage point is determined, and the positioning of the leakage point in the gas leakage monitoring area is realized;
the visualization module is used for displaying a background model of the gas leakage monitoring area and the position of the leakage point in the gas leakage monitoring area, and realizing the visual display of the leakage point.
The method for on-line monitoring and positioning of hydrogen leakage based on a sound array according to the second aspect of the present embodiment, as shown in fig. 5, includes the following steps:
step 1: acquiring a distal sound signal and a proximal sound signal of the gas leakage monitoring area in real time by using an acoustic sensor, and referring to the acoustic sensor for acquiring the distal sound signal as a distal acoustic sensor and referring to the acoustic sensor for acquiring the proximal sound signal as a proximal acoustic sensor;
in the present embodiment, as shown in fig. 2, in the gas leakage monitoring area, a three-dimensional coordinate system is established with the lower vertex on the left front side in fig. 2 as the origin of coordinates, the acoustic sensor of the far-field multi-spectral acoustic wave receiving array mounted in the gas leakage monitoring area is encoded by position, and the far-end acoustic sensor at the i-th position is defined as MIC i Where i=1, 2,3, …, N;
step 2: preprocessing a far-end sound signal and a near-end sound signal acquired in real time respectively to correspondingly obtain a far-end digital signal and a near-end digital signal;
further, the preprocessing includes: converting the far-end acoustic signal and the near-end acoustic signal into a far-end electric signal and a near-end electric signal respectively, filtering and amplifying the converted far-end electric signal and the converted near-end electric signal, and performing digital-to-analog conversion on the processed far-end electric signal and the processed near-end electric signal respectively to obtain a far-end digital signal and a near-end digital signal;
step 3: setting a response threshold, screening out a near-end digital signal larger than the response threshold from the near-end digital signals as a leakage point response signal, and calculating the sound intensity and the sound frequency of the measured leakage point response signal according to a near-end electric signal corresponding to the leakage point response signal;
the response threshold is set according to plant pipeline types and hydrogen pipeline pressures in different industrial plants;
in the present embodiment, the response range is set to 2-12kHz according to the type of plant pipeline and the pressure of hydrogen pipeline inside different industrial plants, and the response threshold of the acoustic sensor is recorded as Signal alarm ；
Signal alarm ＝f(ρ,p,d) (1)
Wherein ρ is the material density of the hydrogen pipeline, p is the gas pressure in the hydrogen pipeline, and d is the parameter of the acoustic sensor from the pipeline valve; f (·) represents the adaptive function of the response threshold;
wherein the distance from the near-end acoustic sensor to the pipeline valve is denoted as d1, the distance from the far-end acoustic sensor to the pipeline valve is denoted as d2, and the response threshold calculated according to the distance is calculated, namely the response threshold of the near-end acoustic sensor is denoted as Signal alarm1 Response threshold Signal of remote acoustic sensor alarm2 ；
Therefore, in the present embodiment, the response threshold of the near-end acoustic sensor is set to Signal alarm1 And screening out Signal greater than response threshold from near-end digital signals alarm1 As a leak point response signal;
step 4: collecting image information of a gas leakage monitoring area, establishing a background model of the monitoring area, and dividing the background model of the gas leakage monitoring area into a plurality of subspace areas according to leakage point response signals;
step 4.1: acquiring image information of a gas leakage monitoring area, acquiring building information model BIM data of the gas leakage monitoring area, and establishing a background model I of the monitoring area according to the image information of the gas leakage monitoring area and the building information model BIM data back ；
In the embodiment, building information model BIM data of a gas leakage monitoring area in an industrial plant is obtained through a building design unit or self-modeling, a background model of the gas leakage monitoring area is built by combining the collected image information of the gas leakage monitoring area, the background model of the gas leakage monitoring area comprises pipelines, walls and windows in the industrial plant, and each vertex of the industrial plant is used as each vertex of the background model;
step 4.2: connecting the vertex of the background model of the gas leakage monitoring area with the position point of the near-end acoustic sensor corresponding to the leakage point response signal, and obtaining a background model I back Divided into M subspace regions, denoted as I respectively back1 、I back2 、…、I backM ；
In the present embodiment, a position point where a near-end acoustic sensor corresponding to a leak point response signal is located is determined, and the position point is connected to the vertex of a background model to obtain a background model I back Dividing into M subspace regions, wherein each subspace is internally provided with only 1 near-end acoustic sensor;
step 5: performing band-pass filtering on the far-end digital signal according to the sound wave frequency of the leakage point response signal to determine the far-end digital signal of the leakage point;
in this embodiment, since the sound intensities of the gas leaked from different pipe positions attenuate along with the propagation, but the sound wave frequency is unchanged, the far-end digital signal is bandpass filtered according to the sound wave frequency of the leakage point response signal, so as to filter the background interference signal, and obtain the far-end digital signal corresponding to the leakage point, where the passband frequency of the bandpass filter is the same as the response threshold of the acoustic sensor corresponding to the far-end digital signal;
step 6: calculating a leakage point azimuth signal by using a beam forming algorithm according to the obtained far-end digital signal of the leakage point;
step 6.1: carrying out beam forming on the digital signal at the far end of the leakage point by utilizing a narrow-band beam forming algorithm, and obtaining a narrow-band beam according to a formula (2);
wherein y is Narrow band Is a narrow-band beam of the leakage point obtained by a narrow-band beam forming algorithm; i is the number of remote acoustic sensors used for calculation; i is the distal acoustic sensor at the ith location; f (F) i The sound intensity information of the frequency corresponding to the far-end digital signal corresponding to the far-end acoustic sensor at the ith position in the frequency domain; epsilon is the weight value of the far-end acoustic sensor;is the direction angle of the near-end acoustic sensor corresponding to the leakage point response signal relative to the far-end acoustic sensor at the ith position;
step 6.2: determining a broadband beam from the narrowband beam using a broadband beam forming algorithm;
wherein y is Broadband device The method comprises the steps of obtaining a broadband beam by forming a narrowband beam obtained by a narrowband beam forming algorithm through the broadband beam; x is the number of far-end acoustic sensors for which the far-end digital signal is greater than the response threshold; f is the acquisition frequency of the near-end acoustic signal; fmax is the maximum value of f; epsilon Broadband device Is the weight value of the broadband beam; m is the m-th sensor that takes the maximum value;a processing formula for maximum value homogenization;
step 6.3: determining a leakage point azimuth signal according to the narrow-band wave beam and the broadband wave beam;
step 7: determining a subspace region of the leakage point in the background model as an initial value of a corresponding space position of the leakage point in the background model according to an image of the gas leakage monitoring region and the sound intensity of the leakage point response signal, correcting the initial value of the corresponding space position of the leakage point in the background model according to the leakage point response signal and the leakage point azimuth signal, and determining the position of the leakage point;
step 7.1: drawing a sound intensity response spectrogram according to the image of the gas leakage monitoring area and the sound intensity of the leakage point response signal, determining a subspace area where the position of the largest sound intensity in the sound intensity spectrogram is located in the background model, and taking the subspace area as an initial value of a corresponding space position of the leakage point in the background model;
step 7.2: correcting initial values of corresponding spatial positions of the leakage points in the background model according to the leakage point response signals and the leakage point azimuth signals to obtain corresponding position information of the leakage points in the background model;
step 7.3: fusing the image information of the gas leakage monitoring area with the corresponding position information of the leakage point in the background model to determine the position of the leakage point;
in the embodiment, the image information of the gas leakage monitoring area and the corresponding position information of the leakage point in the background model are fused by utilizing an ant colony algorithm, and the position of the leakage point is determined; the basic idea of the ant colony algorithm is: the walking path of the ants is used for representing the feasible solution of the problem to be optimized, and all paths of the whole ant group form a solution space of the problem to be optimized; the amount of pheromone released by ants with shorter paths is more, the concentration of the pheromone accumulated on the shorter paths is gradually increased along with the advancement of time, and the number of ants selecting the paths is increased; finally, the whole ant group is concentrated on the optimal path under the action of positive feedback, and the optimal solution of the problem to be optimized is correspondingly obtained.
In the present embodiment, the position information of the leak points in the background model is numbered and denoted as ε 1 ，ε 2 ，ε 3 ，……，ε k And correspondingly setting the number of ants as k; the number of the position of the first leakage point determined according to the beam forming algorithm is taken as one starting point in the ant colony algorithm.
Due toIn the background model, an angle range is corresponding, so thatThe acoustic sensor in the angle range is to be screened, and the leakage point positions are sequentially screened by utilizing an ant colony algorithm, and the process is as follows:
step A, initializing parameters: initializing related parameters, namely setting the related parameters to be zero, wherein the related parameters comprise: the direction angle, the pheromone factor, the heuristic function factor, the pheromone volatilization factor, the pheromone constant and the maximum iteration number are correspondingly screened according to the ant quantity;
step B, constructing a solution space: numbering the position information of the leakage points in the background model, randomly selecting different numbers to be used as starting points for random placement of the ants, calculating the position of the next leakage point to be reached by each ant, constructing a walking path of each ant until all ants visit all the positions of the leakage points, and constructing a solution space according to all the walking paths in the ant group;
and C, updating the pheromone: taking the process that ants return to the starting point after starting from the starting point as a completion iteration process, calculating the walking path length L of each ant, and recording the optimal solution, namely the shortest path, in the current iteration process; establishing a record table of the ant passing path; updating the pheromone concentration on each walking path;
step D, judging whether iteration is terminated or not: if the iteration times are smaller than the maximum iteration times, adding one to the iteration times, clearing a record table of the ant passing path, and returning to the step B; otherwise, stopping calculation, and outputting an optimal solution after multiple iterations are completed, namely the position of the leakage point where leakage is most likely to occur;
step 8: and (3) outputting the position of the leakage point obtained in the step (7), and visually displaying the position of the leakage point to realize the accurate positioning of the leakage point.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions, which are defined by the scope of the appended claims.
Claims (10)
1. Hydrogen leakage on-line monitoring and positioning device based on sound array, characterized by that, this device includes: the system comprises a signal acquisition module, a signal conditioning module, an A/D conversion module, an image acquisition module, a central processing unit and a visualization module; the output end of the signal acquisition module is electrically connected with the input end of the signal conditioning module, the output end of the signal conditioning module is electrically connected with the input end of the A/D conversion module, the output end of the A/D conversion module and the output end of the image acquisition module are both electrically connected with the input end of the central processing unit, and the output end of the central processing unit is electrically connected with the input end of the visualization module;
the signal acquisition module is used for acquiring a far-end sound signal and a near-end sound signal of the gas leakage monitoring area in real time; converting the acquired far-end acoustic signals and near-end acoustic signals into far-end electric signals and near-end electric signals respectively; transmitting both the far-end electrical signal and the near-end electrical signal to a signal conditioning module;
the signal conditioning module is used for receiving the far-end electric signal and the near-end electric signal from the signal acquisition module, simultaneously carrying out filtering and amplifying treatment on the received far-end electric signal and the received near-end electric signal, and transmitting the treated far-end electric signal and the treated near-end electric signal to the A/D conversion module;
the A/D conversion module is used for carrying out analog-to-digital conversion on the far-end electric signal and the near-end electric signal received from the signal conditioning module and sending the converted far-end digital signal and the converted near-end digital signal to the central processing unit;
the image acquisition module is used for acquiring image signals of the gas leakage monitoring area and transmitting the acquired image signals to the central processing unit;
the central processing unit is used for a) receiving the far-end digital signal and the near-end digital signal transmitted by the A/D conversion module, determining a leakage point response signal according to the near-end digital signal, and determining a leakage point azimuth signal according to the far-end digital signal; b) Receiving an image signal transmitted from an image acquisition module, extracting image information of a gas leakage monitoring area and establishing a background model of the gas leakage monitoring area; c) The position of the leakage point is determined by combining the obtained background model, the leakage point response signal and the leakage point azimuth signal, so that the positioning of the leakage point in the gas leakage monitoring area is realized;
the visualization module is used for displaying a background model of the gas leakage monitoring area and the position of the leakage point in the gas leakage monitoring area, and realizing the visual display of the leakage point.
2. The on-line monitoring and positioning device for hydrogen leakage based on sound array of claim 1, wherein the signal acquisition module comprises:
the far-field multi-frequency spectrum sound wave receiving array unit is composed of N sound sensors which are distributed and installed at the top points and the side lines of the gas leakage monitoring area in the industrial factory building space and is used for collecting far-end sound signals of the gas leakage monitoring area in real time, converting the obtained far-end sound signals into far-end electric signals and transmitting the converted far-end electric signals to the signal conditioning module; and the N acoustic sensors are called far-end acoustic sensors;
the near-end hydrogen pipeline signal acquisition module is composed of M acoustic sensors which are distributed and installed near pipeline valves and flange interfaces and is used for acquiring near-end acoustic signals in a gas leakage monitoring area in real time, analyzing the sound intensity and frequency information of the acquired near-end acoustic signals, converting the acquired near-end acoustic signals into near-end electrical signals and transmitting the converted near-end electrical signals to the signal conditioning module; and the M acoustic sensors are referred to as proximal acoustic sensors.
3. The voice array based hydrogen leakage on-line monitoring and positioning device of claim 1, wherein the image acquisition module is comprised of two vertically intersecting wide angle cameras disposed in the gas leakage monitoring area.
4. The voice array based hydrogen leakage on-line monitoring and locating device of claim 1, wherein the central processing unit comprises:
the signal processing module is used for a) receiving the far-end digital signal and the near-end digital signal transmitted by the A/D conversion module, and screening out the near-end digital signal which is larger than a preset response threshold value from the near-end digital signal as a leakage point response signal; determining a leakage point azimuth signal according to the far-end digital signal; b) Receiving an image signal sent by an image acquisition module, extracting image information of a gas leakage monitoring area, establishing a background model of the gas leakage monitoring area, and dividing the background model into areas; c) Transmitting the obtained response signals of the leakage points, azimuth signals of the leakage points and the background model of the gas leakage monitoring area to a signal fusion module;
the information fusion module is used for receiving the response signals of the leakage points, the azimuth signals of the leakage points and the background model of the gas leakage monitoring area; fusing the azimuth signal of the leakage point and the response signal of the leakage point to determine the spatial position information of the leakage point; and fusing the position information of the leakage point with a background model of the gas leakage monitoring area to determine the position of the leakage point, so as to realize the positioning of the leakage point in the gas leakage monitoring area.
5. The on-line hydrogen leakage monitoring and positioning method based on the sound array is characterized by comprising the following steps of:
step 1: acquiring a distal sound signal and a proximal sound signal of the gas leakage monitoring area in real time by using an acoustic sensor, and referring to the acoustic sensor for acquiring the distal sound signal as a distal acoustic sensor and referring to the acoustic sensor for acquiring the proximal sound signal as a proximal acoustic sensor;
step 2: preprocessing a far-end sound signal and a near-end sound signal acquired in real time respectively to correspondingly obtain a far-end digital signal and a near-end digital signal;
step 3: setting a response threshold, screening a near-end digital signal larger than the response threshold from the near-end digital signal to serve as a leakage point response signal, and calculating the sound intensity and the sound frequency of the leakage point response signal according to a near-end electric signal corresponding to the leakage point response signal;
step 4: collecting image information of a gas leakage monitoring area, establishing a background model of the monitoring area, and dividing the background model of the gas leakage monitoring area into a plurality of subspace areas according to leakage point response signals;
step 5: performing band-pass filtering on the far-end digital signal according to the sound wave frequency of the leakage point response signal to determine the far-end digital signal of the leakage point;
step 6: calculating a leakage point azimuth signal by using a beam forming algorithm according to the obtained far-end digital signal of the leakage point;
step 7: determining a subspace region of the leakage point in the background model as an initial value of a corresponding space position of the leakage point in the background model according to an image of the gas leakage monitoring region and the sound intensity of the leakage point response signal, correcting the initial value of the corresponding space position of the leakage point in the background model according to the leakage point response signal and the leakage point azimuth signal, and determining the position of the leakage point;
step 8: and (3) outputting the position of the leakage point obtained in the step (7), and visually displaying the position of the leakage point to realize the accurate positioning of the leakage point.
6. The method for on-line monitoring and locating hydrogen leakage based on acoustic array of claim 5, wherein the preprocessing comprises: the far-end sound signal and the near-end sound signal are respectively converted into a far-end electric signal and a near-end electric signal, the converted far-end electric signal and the converted near-end electric signal are both subjected to filtering amplification treatment, and the processed far-end electric signal and the processed near-end electric signal are respectively subjected to digital-to-analog conversion to obtain a far-end digital signal and a near-end digital signal.
7. The method for on-line monitoring and positioning of hydrogen leakage based on acoustic array according to claim 6, wherein the response threshold is set according to the type of plant pipe and hydrogen pipe pressure inside different industrial plants.
8. The method for on-line monitoring and positioning of hydrogen leakage based on acoustic array according to claim 5, wherein said step 4 comprises:
step 4.1: acquiring image information of a gas leakage monitoring area, acquiring building information model BIM data of the gas leakage monitoring area, and establishing a background model I of the monitoring area according to the image information of the gas leakage monitoring area and the building information model BIM data back ；
Step 4.2: connecting the vertex of the background model of the gas leakage monitoring area with the position point of the near-end acoustic sensor corresponding to the leakage point response signal, and obtaining a background model I back Divided into M subspace regions, denoted as I respectively back1 、I back2 、…、I backM 。
9. The method for on-line monitoring and positioning of hydrogen leakage based on acoustic array according to claim 5, wherein said step 6 comprises:
step 6.1: carrying out beam forming on the digital signal at the far end of the leakage point by utilizing a narrow-band beam forming algorithm, and obtaining a narrow-band beam according to a formula (2);
wherein y is Narrow band Is a narrow-band beam of the leakage point obtained by a narrow-band beam forming algorithm; i is the number of remote acoustic sensors used for calculation; i is the distal acoustic sensor at the ith location; f (F) i The sound intensity information of the frequency corresponding to the far-end digital signal corresponding to the far-end acoustic sensor at the ith position in the frequency domain; epsilon is the weight value of the far-end acoustic sensor;is near-end sound sensing corresponding to leakage point response signalsThe directional angle of the transducer relative to the distal acoustic sensor at the i-th position;
step 6.2: determining a broadband beam from the narrowband beam using a broadband beam forming algorithm;
wherein y is Broadband device The method comprises the steps of obtaining a broadband beam by forming a narrowband beam obtained by a narrowband beam forming algorithm through the broadband beam; l is the number of far-end acoustic sensors for which the far-end digital signal is greater than the response threshold; f corresponds to the acquisition frequency of the near-end acoustic signal; fmax is the maximum value of f; epsilon Broadband device Is the weight value of the broadband beam; m is the m-th sensor that takes the maximum value;
step 6.3: the leak point azimuth signal is determined from the narrowband beam and the wideband beam.
10. The method for on-line monitoring and positioning of hydrogen leakage based on acoustic array according to claim 5, wherein said step 7 comprises:
step 7.1: drawing a sound intensity response spectrogram according to the image of the gas leakage monitoring area and the sound intensity of the leakage point response signal, determining a subspace area where the position of the largest sound intensity in the sound intensity spectrogram is located in the background model, and taking the subspace area as an initial value of a corresponding space position of the leakage point in the background model;
step 7.2: correcting initial values of corresponding spatial positions of the leakage points in the background model according to the leakage point response signals and the leakage point azimuth signals to obtain corresponding position information of the leakage points in the background model;
step 7.3: and fusing the image information of the gas leakage monitoring area with the corresponding position information of the leakage point in the background model to determine the position of the leakage point.
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| CN117739289B (en) * | 2024-02-20 | 2024-04-26 | 齐鲁工业大学(山东省科学院) | Leakage detection method and system based on sound-image fusion |
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