CN117869809A - Pipeline leakage positioning method, device, chip and terminal - Google Patents
Pipeline leakage positioning method, device, chip and terminal Download PDFInfo
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Abstract
The embodiment of the invention discloses a pipeline leakage positioning method, a device, a chip and a terminal, which are applied to a leakage positioning system, wherein the method comprises the steps of S11 obtaining attribute parameters of a target pipeline, S12 reading a first sound signal and a second sound signal, S13 dividing the sound signal into I frequency bands with equal widths and generating J first time delay interval numbers, S14 obtaining the actual sound signal delay interval numbers through preliminary filtering and secondary filtering, S15 positioning leakage positions according to sound speed values of an ith frequency band, the linear relation and the actual sound signal delay interval numbers of the ith frequency band, obtaining leakage position positioning results based on the I frequency bands, and S16 weighted average processing to obtain leakage positions of the target pipeline. The invention can effectively improve the leakage positioning effect.
Description
Technical Field
The present invention relates to the field of fault diagnosis technologies, and in particular, to a method, an apparatus, a chip, and a terminal for positioning leakage of a pipeline.
Background
The pipeline network in the chemical plant is easy to creep crack and corrode and age due to long-term high temperature, high pressure and high corrosion environment, so that the pipeline is leaked, and safety accidents such as fire, explosion and poisoning are further caused.
The acoustic detection positioning method is widely applied in the pipeline leakage positioning due to the advantages of high detection sensitivity, small positioning error, high response speed, low cost and the like, but is limited by the signal-to-noise ratio of leakage acoustic signals, and particularly in a chemical production environment, the noise is complex and changeable, and the positioning error is increased. In order to solve the above problems, the current common methods include using wavelet transform and blind source separation to implement interference cancellation and audio source separation so as to improve positioning accuracy; or a method based on empirical mode decomposition and mutual time spectrum is used, so that the accuracy of feature extraction is improved, and the positioning accuracy is further improved. However, the above-mentioned method is only aimed at specific or several noise types, and it is difficult to achieve the leakage positioning effect meeting engineering requirements for complex and variable non-stationary noise in a chemical plant.
Disclosure of Invention
Based on the above, the invention provides a pipeline leakage positioning method, a device, a chip and a terminal, which can solve the problem that the existing acoustic detection positioning method cannot effectively improve the leakage positioning effect in pipeline leakage positioning.
In a first aspect, a method for positioning leakage of a pipeline is provided, the method is applied to a leakage positioning system, the leakage positioning system comprises a first sensor, a second sensor and a data acquisition unit connected with the first sensor and the second sensor, the first sensor is arranged at a first preset position on the outer surface of a target pipeline, the second sensor is arranged at a second preset position on the outer surface of the target pipeline, a straight line where the first sensor and the second sensor are located coincides with a projection of the central line of the target pipeline in the vertical direction, and a distance between the first preset position and the second preset position is greater than 0;
The pipeline leakage positioning method comprises the following steps:
s11: acquiring attribute parameters of a target pipeline, wherein the attribute parameters comprise average sound velocity in the target pipeline, sound velocity values based on I frequency bands and weight coefficients of each frequency band, and the weight coefficients of the ith frequency band are used for adjusting weights of leakage position positioning results based on the ith frequency band in leakage position positioning results based on the I frequency bands; the average sound velocity in the target pipeline is solved according to the linear relation between the leakage position and the time delay;
s12: reading a first sound signal acquired by the first sensor and a second sound signal acquired by the second sensor from the data acquisition unit; the time delay in S11 is the difference between the time of receiving the first sound signal and the time of receiving the second sound signal;
s13: dividing the first sound signal and the second sound signal into I frequency bands with equal widths; restoring the signal into a time domain signal in an ith frequency band, dividing the time domain signal into different time periods, obtaining a first sound signal after division and a second sound signal after division, and correlating and generating J first time delay interval numbers from different time periods through a cross-correlation technology;
S14: performing preliminary filtration on J first time delay interval numbers of the ith frequency band through the average sound velocity, and performing secondary filtration after the preliminary filtration, wherein the secondary filtration principle is to keep the first time delay interval number with highest occurrence frequency as the actual sound signal delay interval number;
s15: for the ith frequency band, positioning the leakage position according to the sound speed value of the ith frequency band, the linear relation and the actual sound signal delay interval number of the ith frequency band, and obtaining a leakage position positioning result based on the I frequency band;
s16: according to the weight coefficient, the leakage position positioning result based on the I frequency bands is processed through weighted average, and the leakage position of the target pipeline is obtained;
wherein I and J are positive integers, and I is a positive integer less than or equal to I.
Optionally, before S11, the method includes:
detecting whether a leakage positioning system is installed on a target pipeline for the first time;
if yes, executing step S11;
and if not, measuring the attribute parameters of the target pipeline.
Optionally, measuring the attribute parameter of the target pipeline includes:
s21: manufacturing a simulated sound wave at a marking position of the target pipeline, and reading a first simulated sound wave signal acquired by the first sensor and a second simulated sound wave signal acquired by the second sensor from the data acquisition unit;
S22: repeating the step S1 for M times to obtain M groups of analog data, wherein the analog data comprise marking positions, first analog acoustic wave signals and second analog acoustic wave signals, and M is a positive integer;
s23: fitting a linear relationship between the marker position and a time delay, which is the difference between the time of receiving the first analog acoustic wave signal and the time of receiving the second analog acoustic wave signal, according to the M groups of analog data;
s24: dividing the first analog acoustic wave signal and the second analog acoustic wave signal into I frequency bands with equal widths respectively, restoring the signals into time domain signals in the ith frequency band, dividing the time domain signals into different time periods to obtain divided first analog acoustic wave signals and divided second analog acoustic wave signals, and correlating the first analog acoustic wave signals and the divided second analog acoustic wave signals through a cross-correlation technology to generate J second time delay interval numbers from different time periods;
s25: calculating the average sound velocity in the target pipeline according to the linear relation, and calculating sound velocity values based on I frequency bands;
s26: performing preliminary filtration on J second time delay interval numbers of the ith frequency band through the average sound velocity, and performing secondary filtration after the preliminary filtration, wherein the secondary filtration principle is to keep the second time delay interval number with highest occurrence frequency as an analog weight calculation index;
S27: and for the ith frequency band, the sound velocity value of the ith frequency band, the linear relation and the simulation weight calculation index of the ith frequency band are used for positioning the leakage position, and the simulation positioning error rate of the ith frequency band is recorded through the marking position, wherein the simulation positioning error rate of the ith frequency band is used for calculating the weight coefficient of the ith frequency band.
Optionally, the linear relation between the leakage position and the time delay is calculated as:
where L is the distance between the first preset position and the second preset position, c is the average sound velocity in the target pipe, Δt is the time delay, and x is the leakage position.
Optionally, in S13, the calculation formula for any one of the first time delay interval numbers is:
wherein R (N) is a CC function, s1 (m+n) is a first sound signal, s2 (m) is a second sound signal in an ith frequency band, m represents a discrete time sequence index of the signal, N is a first time delay interval number of two sound sequences in the ith frequency band and in any time period, N is a total length of the signal, and a time delay between the divided first sound signal and the divided second sound signal is equal to a value of N when the CC function R (N) reaches its maximum value.
Optionally, in S14, performing preliminary filtering on the J first time delay intervals of the ith frequency band through the average sound speed includes:
Wherein L is the distance between the first preset position and the second preset position, F s Representing the sampling frequency, c is the average speed of sound within the target pipe.
Optionally, the step S15 includes:
and representing the time delay between the divided first sound signal and the divided second sound signal by the actual sound signal delay interval number, wherein the time delay is as follows:
wherein F is s Representing the sampling frequency;
for the ith frequency band, n is used for positioning the leakage position according to the sound speed value of the ith frequency band, the linear relation and the actual sound signal delay interval number of the ith frequency band i Indicating the number of actual sound signal delay intervals for the i-th frequency band,
wherein n is ij A first time delay interval number representing the ith frequency band and the jth period, R ij The number of first time delay intervals when the CC function representing the ith frequency band and the jth period reaches its maximum value is n ij MF represents the actual number of sound signal delay intervals, i.e., the i-th frequency band, selected from J first numbers of time delay intervals from different periods of time, J being a positive integer less than or equal to J;
and according to the linear relation between the leakage position and the time delay, completing the leakage position positioning based on the ith frequency band.
The second aspect provides a pipeline leakage positioning device, which is applied to a leakage positioning system, wherein the leakage positioning system comprises a first sensor, a second sensor and a data acquisition unit connected with the first sensor and the second sensor, the first sensor is arranged at a first preset position on the outer surface of a target pipeline, the second sensor is arranged at a second preset position on the outer surface of the target pipeline, a straight line where the first sensor and the second sensor are located coincides with the projection of the central line of the target pipeline in the vertical direction, and the distance between the first preset position and the second preset position is larger than 0;
The pipe leakage positioning device includes:
the system comprises an attribute parameter acquisition module, a target pipeline acquisition module and a target pipeline acquisition module, wherein the attribute parameter acquisition module is used for acquiring an attribute parameter of the target pipeline, the attribute parameter comprises an average sound velocity in the target pipeline, an acoustic velocity value based on an I frequency band and a weight coefficient of each frequency band, and the weight coefficient of the I frequency band is used for adjusting the weight of a leakage position positioning result based on the I frequency band in a leakage position positioning result based on the I frequency band; the average sound velocity in the target pipeline is solved according to the linear relation between the leakage position and the time delay;
the sound signal reading module is used for reading the first sound signal acquired by the first sensor and the second sound signal acquired by the second sensor from the data acquisition unit; the time delay in the attribute parameter acquisition module is the difference between the time of receiving the first sound signal and the time of receiving the second sound signal;
the signal segmentation module is used for segmenting the first sound signal and the second sound signal into I frequency bands with equal widths; restoring the signal into a time domain signal in an ith frequency band, dividing the time domain signal into different time periods, obtaining a first sound signal after division and a second sound signal after division, and correlating and generating J first time delay interval numbers from different time periods through a cross-correlation technology;
The filtering module is used for carrying out preliminary filtering on J first time delay interval numbers of the ith frequency band through the average sound velocity, and carrying out secondary filtering after the preliminary filtering, wherein the principle of the secondary filtering is to keep the first time delay interval number with highest occurrence frequency as the actual sound signal delay interval number;
the ith frequency band leakage position positioning module is used for positioning the leakage position of the ith frequency band according to the sound speed value of the ith frequency band, the linear relation and the actual sound signal delay interval number of the ith frequency band to obtain a leakage position positioning result based on the I frequency band;
and the leakage position calculation module of the target pipeline is used for carrying out weighted average processing on the leakage position positioning results based on the I frequency bands according to the weight coefficient, and obtaining the leakage position of the target pipeline.
In a third aspect, a chip is provided comprising a first processor for calling and running a computer program from a first memory, such that a device on which the chip is mounted performs the steps of the pipe leakage localization method as described above.
In a fourth aspect, there is provided a terminal comprising a second memory, a second processor and a computer program stored in said second memory and executable on said second processor, the second processor implementing the steps of the pipe leak location method as described above when said computer program is executed.
According to the pipeline leakage positioning method, device, chip and terminal, firstly, attribute parameters of a target pipeline are acquired, then, a first sensor and a second sensor are read to acquire current leakage voiceprint data of the target pipeline, namely, a first sound signal and a second sound signal, the current leakage voiceprint data are divided into I frequency bands with equal widths according to a spectrogram, correlation technology is used for correlation, J first time delay interval numbers are generated, the difference between the time of receiving the first sound signal and the time of receiving the second sound signal is used for solving, and then, the attribute parameters are combined, leakage position positioning is performed based on data of the I frequency band, the leakage position positioning result based on the I frequency bands is obtained after the leakage position positioning is performed for I times, and finally, the leakage position positioning result based on the I frequency bands is processed through weighted average according to the weight coefficient, and the leakage position of the target pipeline is obtained. The first sound signal and the second sound signal in different frequency bands have different statistical characteristics such as correlation, time delay, sound velocity value, frequency component and the like, and the embodiment of the invention represents the statistical characteristics through the weight coefficient of each frequency band, so that leakage signals can be adaptively separated from high background noise, and the problem of large positioning error caused by the dispersion of the leakage sound signals is effectively solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a basic flow diagram of a method for locating a pipe leak according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a leak location system according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a basic flow of a method for locating a pipe leakage according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a complete flow of a method for locating a pipe leak according to an embodiment of the present invention;
FIG. 5 is a basic block diagram of a pipe leakage positioning device according to an embodiment of the present invention;
fig. 6 is a basic structural block diagram of a terminal according to an embodiment of the present invention.
Detailed Description
In order to enable those skilled in the art to better understand the present invention, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present invention with reference to the accompanying drawings.
In some of the flows described in the specification and claims of the present invention and in the foregoing figures, a plurality of operations occurring in a particular order are included, but it should be understood that the operations may be performed out of order or performed in parallel, with the order of operations such as 101, 102, etc., being merely used to distinguish between the various operations, the order of the operations themselves not representing any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention based on the embodiments of the present invention.
The embodiment of the application can acquire and process the related data based on the artificial intelligence technology. Among them, artificial intelligence (AI: artificial Intelligence) is a theory, method, technique and application system that simulates, extends and expands human intelligence using a digital computer or a machine controlled by a digital computer, perceives the environment, acquires knowledge and uses the knowledge to obtain the best result.
Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a robot technology, a biological recognition technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.
Referring to fig. 1 specifically, fig. 1 is a basic flow chart of a pipe leakage positioning method according to the present embodiment, which is applied to a leakage positioning system 100 shown in fig. 2, where the leakage positioning system 100 at least includes a first sensor 101, a second sensor 102, and a data acquisition unit 103 connected to the first sensor 101 and the second sensor 102, in fig. 2, the first sensor 101 is disposed at a first preset position D1 on an outer surface of a target pipe a, the second sensor 102 is disposed at a second preset position D2 on an outer surface of the target pipe a, a straight line where the first sensor 101 and the second sensor 102 are located is L1, and a center line of the target pipe a is projected and overlapped with the L2 in a vertical direction, and it is to be noted that, when the first sensor 101 and the second sensor 102 are disposed, a distance L between the first preset position D1 and the second preset position D2 needs to be greater than 0.
In one embodiment, the first sensor 101 and the second sensor 102 are acceleration sensors.
As shown in fig. 1, a method for locating a pipe leakage includes:
s11: and acquiring attribute parameters of the target pipeline, wherein the attribute parameters comprise average sound velocity in the target pipeline, sound velocity values based on I frequency bands and weight coefficients of each frequency band.
The weight coefficient of the ith frequency band is used for adjusting the weight of the leakage position locating result based on the ith frequency band in the leakage position locating result based on the I frequency band; the average sound velocity within the target pipe is solved according to the linear relationship between the leak location and the time delay.
When the average sound velocity in the target pipe is solved, the leak position is known, such as a simulated leak position. The time delay is a difference between a time when the first sound signal is received and a time when the second sound signal is received.
In the embodiment of the invention, if the leakage occurs at a distance x from the first sensor, the sound wave generated at the leakage point will propagate towards both sensors with a certain velocity c along both directions of the pipe. The propagation of sound waves can be described by the following two equations:
x＝c·t 1 ；
for sound waves directed towards the first sensor, where t 1 Is the time required for the wave to cover the distance between the leak and the first sensor location, and has:
L-x＝c·t 2 ；
for sound waves propagating towards the second sensor, where t 2 Is the time required for the acoustic wave (from the point of leakage) to reach the second sensor. Therefore, by subtracting (1) and (2) to solve for x, a linear relationship between leak location and time delay is obtained, with the calculation formula:
Where L is the distance between the first preset position and the second preset position, c is the average sound velocity in the target pipe, Δt is the time delay, and x is the leakage position.
Based on the linear relation, for the sound velocity value of the I frequency band, the sound velocity value of the ith frequency band is c i The calculation mode is as follows:
wherein Δt is i Time delay of the i-th frequency band.
In the embodiment of the present invention, the average sound velocity, the sound velocity value based on the I frequency bands, and the weight coefficient of each frequency band are unique attribute parameters of the target pipeline, if the leak location system 100 is installed on another pipeline, the other pipeline is the target pipeline, and the attribute parameters of the different pipelines are all different. Therefore, if the leak location system 100 is first installed on a pipe, the property parameters of the pipe need to be measured and stored, so that the property parameters can be directly called when the pipe is leak located.
S12: and reading the first sound signal acquired by the first sensor and the second sound signal acquired by the second sensor from the data acquisition unit.
It is understood that the step S12 is preceded by setting the sampling frequency of the data acquisition unit.
S13: dividing the first sound signal and the second sound signal into I frequency bands with equal widths; and restoring the signal into a time domain signal in the ith frequency band, dividing the time domain signal into different time periods, obtaining a divided first sound signal and a divided second sound signal, and correlating and generating J first time delay interval numbers from different time periods through a cross-correlation technology.
In the step S13, the signals are first divided into different frequency bands, and after the signals are restored into time domain signals in each frequency band, the signals in different time periods in the same frequency band are divided into different time periods, and the signals in different time periods are cross-correlated to obtain the first time delay interval number of different time periods. In the embodiment of the invention, the sound signal is divided into a plurality of frequency bands, so that each frequency band can be independently processed, and the method is suitable for complex and changeable environments in chemical pipelines.
It should be noted that, according to the linear relation between the leakage position and the time delay, the time delay is an important parameter for solving the leakage position to complete the positioning of the pipeline leakage. Thus, embodiments of the present invention treat the pipe leak location as a problem looking for the location of the leak, and answer the time delay between the signals received from the two sensors. Whereas the first sound signal and the second sound signal are two similar but time-shifted discrete-time signals, the CC (Cross Correlation, cross-correlation) function is used in the embodiment of the invention to calculate the time delay.
In the ith frequency band, the divided first sound signal and the divided second sound signal are obtained first, then the divided first sound signal and the divided second sound signal are correlated through a cross-correlation technology and a plurality of first time delay interval numbers from different time periods are generated, and for any one first time delay interval number, the calculation formula is as follows:
Wherein R (N) is a CC function, s1 (m+n) is a first sound signal, s2 (m) is a second sound signal in an ith frequency band, m represents a discrete time sequence index of the signal, N is a first time delay interval number of two sound sequences in the ith frequency band and in any time period, N is a total length of the signal, and a time delay between the divided first sound signal and the divided second sound signal is equal to a value of N when the CC function R (N) reaches its maximum value.
S14: and performing primary filtration on J first time delay interval numbers of the ith frequency band through the average sound velocity, and performing secondary filtration after the primary filtration, wherein the secondary filtration principle is to keep the first time delay interval number with the highest occurrence frequency as the actual sound signal delay interval number.
In a specific application, the leakage position is located for each frequency band, and the value of the obtained leakage position (x) should be between 0 and L, so in the above step S14, the principle of the preliminary filtering is to reject the outlier of n, expressed by the formula:
wherein L is the distance between the first preset position and the second preset position, F s Representing the sampling frequency, c is the average speed of sound within the target pipe.
In the step S14, the first time delay interval number with the highest occurrence frequency is taken as the actual sound signal delay interval number, and the time period where the most frequently occurring value is selected is taken as the representative of the ith frequency band.
S15: and for the ith frequency band, positioning the leakage position according to the sound speed value of the ith frequency band, the linear relation and the actual sound signal delay interval number of the ith frequency band, and obtaining a leakage position positioning result based on the I frequency band.
In the step S15, the leakage position positioning result based on the I frequency bands is obtained after the leakage position positioning is performed I times. And the leakage position is positioned according to the sound speed value of the ith frequency band, the linear relation and the actual sound signal delay interval number of the ith frequency band, so that the time delay estimation and the corresponding sound wave speed under different frequency bands are fully considered, and the leakage positioning problem under high background noise and sound wave dispersion can be effectively solved.
The number of delay intervals of the actual audio signal in the i-th frequency band, or the value of the first time delay interval n when the CC function R (n) reaches its maximum value, cannot be directly equivalent to the time delay. Thus, S15 includes:
and representing the time delay between the divided first sound signal and the divided second sound signal by the actual sound signal delay interval number, wherein the time delay is as follows:
wherein F is s Representing the sampling frequency;
for the ith frequency band, n is used for positioning the leakage position according to the sound speed value of the ith frequency band, the linear relation and the actual sound signal delay interval number of the ith frequency band i Indicating the number of actual sound signal delay intervals for the i-th frequency band,
wherein n is ij A first time delay interval number representing the ith frequency band and the jth period, R ij The number of first time delay intervals when the CC function representing the ith frequency band and the jth period reaches its maximum value is n ij MF represents the actual number of sound signal delay intervals, i.e., the i-th frequency band, selected from J first numbers of time delay intervals from different periods of time, J being a positive integer less than or equal to J;
and according to the linear relation between the leakage position and the time delay, completing the leakage position positioning based on the ith frequency band, and finally obtaining the leakage position positioning result based on the I frequency bands.
Exemplary, leak location x based on the ith band i The following are provided:
wherein c i The sound velocity value of the i-th frequency band.
S16: according to the weight coefficient, the leakage position positioning result based on the I frequency bands is processed through weighted average, and the leakage position of the target pipeline is obtained;
wherein I and J are positive integers, and I is a positive integer less than or equal to I.
According to the above step S11, the weight coefficient of the I-th frequency band is used to adjust the weight of the leakage position location result based on the I-th frequency band in the leakage position location result based on the I-th frequency band, and the weight coefficient indicates the reliability of each band.
In combination with the step S15, in the step S16, the final value of the leak location positioning, that is, the leak location x of the target pipe is:
through the steps S11 to S16, the frequency band division and the time segment division of the sound signal are included, wherein the frequency band division is actually frequency spectrum-based division, so as to help reduce the negative influence on the positioning accuracy of the sound frequency dispersion, the time segment division is actually the division of the time domain leakage signal, so as to help improve the randomness of processing the signal, and the weight coefficient increases the adaptability of the leakage positioning method, so that the method is applied to pipeline systems in different environments.
The embodiment of the present invention further describes a manner in which the leak location system 100 is first installed on a pipe, and the attribute parameters of the pipe are measured.
In combination with the step S11 to the step S16, the method for positioning the leakage of the pipeline according to the embodiment of the present invention includes, before the step S11:
detecting whether a leakage positioning system is installed on a target pipeline for the first time;
if yes, executing step S11;
and if not, measuring the attribute parameters of the target pipeline.
As shown in fig. 3, measuring the attribute parameters of the target pipeline includes:
s21: and manufacturing a simulated sound wave at the marked position of the target pipeline, and reading a first simulated sound wave signal acquired by the first sensor and a second simulated sound wave signal acquired by the second sensor from the data acquisition unit.
In step S21, the marking position simulates the pipe leakage position, and the simulated sound wave may be manufactured by generating some impact at the assumed pipe leakage position, that is, the marking position, and then collecting the impact by the first sensor and the second sensor.
S22: and repeating the step S1 for M times to obtain M groups of analog data, wherein the analog data comprise marking positions, first analog acoustic wave signals and second analog acoustic wave signals, and M is a positive integer.
S23: a linear relationship between the marker position and a time delay, which is the difference between the time of receiving the first analog acoustic signal and the time of receiving the second analog acoustic signal, is fitted according to the M sets of analog data.
According to the linear relationship between the leakage position and the time delay, in the step S23, the linear relationship between the mark position and the time delay fitted according to the M sets of analog data is calculated as:
where L is the distance between the first preset position and the second preset position, c is the average sound velocity in the target pipe, Δt is the time delay, and x is the marker position.
It will be appreciated that x is a marker position to represent the position of the leak as a known number, so that the average speed of sound within the target pipe is an unknown number, where the linear relationship is used to solve for the average speed of sound within the target pipe.
S24: dividing the first analog acoustic wave signal and the second analog acoustic wave signal into I frequency bands with equal widths respectively, restoring the signals into time domain signals in the ith frequency band, dividing the time domain signals into different time periods, obtaining the divided first analog acoustic wave signal and the divided second analog acoustic wave signal, and correlating the first analog acoustic wave signal and the divided second analog acoustic wave signal through a cross-correlation technology to generate J second time delay interval numbers from different time periods.
The second number of time delay intervals obtained in step S24 is the same as the first number of time delay intervals obtained in step S13, and is used to calculate the time delay between the signals received by the two sensors, such as the first sound signal and the second sound signal, and the first analog sound signal and the second analog sound signal.
S25: and calculating the average sound velocity in the target pipeline according to the linear relation, and calculating sound velocity values based on the I frequency bands.
Based on the linear relation, for the sound velocity value of the I frequency band, the sound velocity value of the ith frequency band is c i The calculation mode is as follows:
wherein Δt is i Time delay of the i-th frequency band.
S26: and performing preliminary filtration on J second time delay interval numbers of the ith frequency band through the average sound velocity, and performing secondary filtration after the preliminary filtration, wherein the secondary filtration principle is to keep the second time delay interval number with the highest occurrence frequency as an analog weight calculation index.
In the step S26, the second time delay interval number with the highest occurrence frequency is used as an analog weight calculation index to represent the ith frequency band and calculate a time delay, and the time delay is an important parameter for solving the leakage position to complete the positioning of the pipeline leakage, and the step S21 simulates the pipeline leakage position by marking the position, so as to obtain the weight coefficients used in the steps S11 to S16 by evaluating the analog weight calculation index as follows in step S27.
S27: and for the ith frequency band, the sound velocity value of the ith frequency band, the linear relation and the simulation weight calculation index of the ith frequency band are used for positioning the leakage position, and the simulation positioning error rate of the ith frequency band is recorded through the marking position, wherein the simulation positioning error rate of the ith frequency band is used for calculating the weight coefficient of the ith frequency band.
In the step S27, the simulated positioning error rate of the ith frequency band is recorded through the marker position, and the influence factors of each frequency band after the frequency band is segmented, namely, the influence of high background noise under different environments and different pipeline conditions on the statistical characteristics of correlation, time delay, sound velocity value, frequency component and the like in the ith frequency band is completely reflected.
The calculation formula of the weight coefficient of the ith frequency band is as follows:
where ω (i) is the weight coefficient of the i-th frequency band, err (i) is the error rate of the i-th frequency band in estimating the reference leakage position. The inverse square root in the above equation can prevent the difference between the values of the weight coefficients from becoming very high, avoiding the disappearance of some low coefficient bands.
In addition, it should be noted that, the implementation manner of the correlation between the first sound signal after being divided and the second sound signal after being divided in S24 and the J first time delay interval numbers generated by the correlation technique is the same as the implementation manner of the correlation between the first sound signal after being divided and the second sound signal after being divided in S13 and the J first time delay interval numbers generated by the correlation technique; in S26, performing preliminary filtration on the J second time delay interval numbers of the ith frequency band through the average sound velocity, wherein the implementation mode of performing preliminary filtration on the J first time delay interval numbers of the ith frequency band through the average sound velocity in S14 is the same; and S27, calculating indexes of sound velocity values of the ith frequency band, the linear relation and simulation weights of the ith frequency band, and positioning leakage positions, wherein the implementation mode of positioning the leakage positions is the same as that of S15 according to the sound velocity values of the ith frequency band, the linear relation and the actual sound signal delay intervals of the ith frequency band. Therefore, detailed implementation of the above steps will not be repeated here.
The embodiment of the present invention also shows the implementation flowcharts of step S21 to step S27 in combination with the above-described step S11 to step S16, as shown in fig. 4, in combination with the pipe leakage positioning methods shown in fig. 1 and 3. Fig. 4 shows steps S21 to S27 as an initial stage, and steps S11 to S16 as a main stage, in which the main purpose is to measure attribute parameters of a target pipe, such as calculation of an average sound velocity of the target pipe, calculation of a weight coefficient, and a sound velocity value of each frequency band. In a main stage, the main purpose is to perform pipeline leakage positioning, firstly, the attribute parameters measured in an initial stage are required to be taken, then, a sound signal is divided into I frequency bands with the same width in the initial stage, the I frequency band is restored to a time domain signal and then divided into different time periods, a divided first sound signal and a divided second sound signal are obtained, J first time delay interval numbers from different time periods are associated through a cross-correlation technology and generated, the J first time delay interval numbers are filtered twice, an important parameter of pipeline leakage positioning is obtained, namely, the actual sound signal delay interval number used for calculating time delay, so that leakage position positioning can be performed according to the sound speed value of the I frequency band, the linear relation and the actual sound signal delay interval number of the I frequency band, the leakage position positioning result based on the I frequency band is obtained after I time positioning, finally, the leakage position positioning result based on the I frequency band is processed in a weighted average mode according to a weight coefficient, and the leakage position of a target pipeline is obtained.
In order to solve the technical problems, the embodiment of the invention also provides a pipeline leakage positioning device. Referring specifically to fig. 5, fig. 5 is a basic block diagram of a pipe leakage positioning device according to the present embodiment, and the pipe leakage positioning device 50 is applied to the leakage positioning system shown in fig. 2, and includes:
the attribute parameter obtaining module 51 is configured to obtain attribute parameters of the target pipeline, where the attribute parameters include an average sound velocity in the target pipeline, an acoustic velocity value based on the I frequency bands, and a weight coefficient of each frequency band, and the weight coefficient of the I frequency band is used to adjust a weight of a leakage position location result based on the I frequency band in a leakage position location result based on the I frequency bands; the average sound velocity in the target pipeline is solved according to the linear relation between the leakage position and the time delay;
a sound signal reading module 52, configured to read, from the data acquisition unit, a first sound signal acquired by the first sensor and a second sound signal acquired by the second sensor; the time delay in the attribute parameter acquisition module is the difference between the time of receiving the first sound signal and the time of receiving the second sound signal;
a signal dividing module 53, configured to divide the first sound signal and the second sound signal into I frequency bands with equal widths; restoring the signal into a time domain signal in an ith frequency band, dividing the time domain signal into different time periods, obtaining a first sound signal after division and a second sound signal after division, and correlating and generating J first time delay interval numbers from different time periods through a cross-correlation technology;
The filtering module 54 is configured to perform preliminary filtering on the J first time delay intervals of the ith frequency band by using the average sound velocity, and perform secondary filtering after the preliminary filtering, where a principle of the secondary filtering is to keep the first time delay interval number with the highest occurrence frequency therein as an actual sound signal delay interval number;
the ith frequency band leakage position positioning module 55 is configured to perform leakage position positioning on the ith frequency band according to the sound velocity value of the ith frequency band, the linear relationship and the actual sound signal delay interval number of the ith frequency band, so as to obtain a leakage position positioning result based on the I frequency bands;
and the leakage position calculation module 56 of the target pipeline is configured to perform weighted average processing on the leakage position positioning result based on the I frequency bands according to the weight coefficient, and obtain the leakage position of the target pipeline.
In order to solve the above technical problems, the embodiment of the present invention further provides a chip, where the chip may be a general-purpose processor or a special-purpose processor. The chip includes a processor for supporting the terminal to perform the above-described related steps, such as calling and running a computer program from a memory, so that a device on which the chip is mounted executes to implement the pipe leakage localization method in the above-described respective embodiments.
Optionally, in some examples, the chip further includes a transceiver, which is controlled by the processor, and is configured to support the terminal to perform the related steps, so as to implement the pipe leakage positioning method in the foregoing embodiments.
Optionally, the chip may further comprise a storage medium.
It should be noted that the chip may be implemented using the following circuits or devices: one or more field programmable gate arrays (field programmable gate array, FPGA), programmable logic devices (programmablelogic device, PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuit or combination of circuits capable of performing the various functions described throughout this application.
The invention also provides a terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the pipe leakage localization method according to any one of claims 1 to 7 when the computer program is executed.
Referring specifically to fig. 6, fig. 6 is a basic block diagram illustrating a terminal including a processor, a nonvolatile storage medium, a memory, and a network interface connected by a system bus. The nonvolatile storage medium of the terminal stores an operating system, a database and a computer readable instruction, the database can store a control information sequence, and the computer readable instruction can enable the processor to realize a pipeline leakage positioning method when the computer readable instruction is executed by the processor. The processor of the terminal is operative to provide computing and control capabilities supporting the operation of the entire terminal. The memory of the terminal may have stored therein computer readable instructions that, when executed by the processor, cause the processor to perform a pipe leak location method. The network interface of the terminal is used for connecting and communicating with the terminal. It will be appreciated by those skilled in the art that the structures shown in the drawings are block diagrams of only some of the structures associated with the aspects of the present application and are not intended to limit the terminals to which the aspects of the present application may be applied, and that a particular terminal may include more or less components than those shown, or may combine some of the components, or have a different arrangement of components.
As used herein, a "terminal" or "terminal device" includes both a device of a wireless signal receiver having no transmitting capability and a device of receiving and transmitting hardware having electronic devices capable of performing two-way communication over a two-way communication link, as will be appreciated by those skilled in the art. Such an electronic device may include: a cellular or other communication device having a single-line display or a multi-line display or a cellular or other communication device without a multi-line display; a PCS (Personal Communications Service, personal communication system) that may combine voice, data processing, facsimile and/or data communication capabilities; a PDA (Personal Digital Assistant ) that can include a radio frequency receiver, pager, internet/intranet access, web browser, notepad, calendar and/or GPS (Global Positioning System ) receiver; a conventional laptop and/or palmtop computer or other appliance that has and/or includes a radio frequency receiver. As used herein, "terminal," "terminal device" may be portable, transportable, installed in a vehicle (aeronautical, maritime, and/or land-based), or adapted and/or configured to operate locally and/or in a distributed fashion, to operate at any other location(s) on earth and/or in space. The "terminal" and "terminal device" used herein may also be a communication terminal, a network access terminal, and a music/video playing terminal, for example, may be a PDA, a MID (Mobile Internet Device ), and/or a mobile phone with a music/video playing function, and may also be a smart tv, a set top box, and other devices.
The present invention also provides a storage medium storing computer readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the pipe leak location method of any of the embodiments described above.
The present embodiment also provides a computer program which can be distributed on a computer readable medium and executed by a computable device to implement at least one step of the above-described pipe leakage localization method; and in some cases at least one of the steps shown or described may be performed in a different order than that described in the above embodiments.
The present embodiment also provides a computer program product comprising computer readable means having stored thereon a computer program as shown above. The computer readable means in this embodiment may comprise a computer readable storage medium as shown above.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored in a computer-readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a nonvolatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a random access Memory (Random Access Memory, RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The pipeline leakage positioning method is characterized by being applied to a leakage positioning system, wherein the leakage positioning system comprises a first sensor, a second sensor and a data acquisition unit connected with the first sensor and the second sensor, the first sensor is arranged at a first preset position on the outer surface of a target pipeline, the second sensor is arranged at a second preset position on the outer surface of the target pipeline, the straight line of the first sensor and the second sensor coincides with the projection of the central line of the target pipeline in the vertical direction, and the distance between the first preset position and the second preset position is larger than 0;
the pipeline leakage positioning method comprises the following steps:
s11: acquiring attribute parameters of a target pipeline, wherein the attribute parameters comprise average sound velocity in the target pipeline, sound velocity values based on I frequency bands and weight coefficients of each frequency band, and the weight coefficients of the ith frequency band are used for adjusting weights of leakage position positioning results based on the ith frequency band in leakage position positioning results based on the I frequency bands; the average sound velocity in the target pipeline is solved according to the linear relation between the leakage position and the time delay;
s12: reading a first sound signal acquired by the first sensor and a second sound signal acquired by the second sensor from the data acquisition unit; the time delay in S11 is the difference between the time of receiving the first sound signal and the time of receiving the second sound signal;
S13: dividing the first sound signal and the second sound signal into I frequency bands with equal widths; restoring the signal into a time domain signal in an ith frequency band, dividing the time domain signal into different time periods, obtaining a first sound signal after division and a second sound signal after division, and correlating and generating J first time delay interval numbers from different time periods through a cross-correlation technology;
s14: performing preliminary filtration on J first time delay interval numbers of the ith frequency band through the average sound velocity, and performing secondary filtration after the preliminary filtration, wherein the secondary filtration principle is to keep the first time delay interval number with highest occurrence frequency as the actual sound signal delay interval number;
s15: for the ith frequency band, positioning the leakage position according to the sound speed value of the ith frequency band, the linear relation and the actual sound signal delay interval number of the ith frequency band, and obtaining a leakage position positioning result based on the I frequency band;
s16: according to the weight coefficient, the leakage position positioning result based on the I frequency bands is processed through weighted average, and the leakage position of the target pipeline is obtained;
wherein I and J are positive integers, and I is a positive integer less than or equal to I.
2. The pipe leakage localization method of claim 1, comprising, prior to S11:
Detecting whether a leakage positioning system is installed on a target pipeline for the first time;
if yes, executing step S11;
and if not, measuring the attribute parameters of the target pipeline.
3. The pipe leak location method as defined in claim 2, wherein measuring the property parameter of the target pipe comprises:
s21: manufacturing a simulated sound wave at a marking position of the target pipeline, and reading a first simulated sound wave signal acquired by the first sensor and a second simulated sound wave signal acquired by the second sensor from the data acquisition unit;
s22: repeating the step S1 for M times to obtain M groups of analog data, wherein the analog data comprise marking positions, first analog acoustic wave signals and second analog acoustic wave signals, and M is a positive integer;
s23: fitting a linear relationship between the marker position and a time delay, which is the difference between the time of receiving the first analog acoustic wave signal and the time of receiving the second analog acoustic wave signal, according to the M groups of analog data;
s24: dividing the first analog acoustic wave signal and the second analog acoustic wave signal into I frequency bands with equal widths respectively, restoring the signals into time domain signals in the ith frequency band, dividing the time domain signals into different time periods to obtain divided first analog acoustic wave signals and divided second analog acoustic wave signals, and correlating the first analog acoustic wave signals and the divided second analog acoustic wave signals through a cross-correlation technology to generate J second time delay interval numbers from different time periods;
S25: calculating the average sound velocity in the target pipeline according to the linear relation, and calculating sound velocity values based on I frequency bands;
s26: performing preliminary filtration on J second time delay interval numbers of the ith frequency band through the average sound velocity, and performing secondary filtration after the preliminary filtration, wherein the secondary filtration principle is to keep the second time delay interval number with highest occurrence frequency as an analog weight calculation index;
s27: and for the ith frequency band, the sound velocity value of the ith frequency band, the linear relation and the simulation weight calculation index of the ith frequency band are used for positioning the leakage position, and the simulation positioning error rate of the ith frequency band is recorded through the marking position, wherein the simulation positioning error rate of the ith frequency band is used for calculating the weight coefficient of the ith frequency band.
4. The pipe leak location method as defined in claim 1, wherein the linear relationship between the leak location and the time delay is calculated by the following formula:
where L is the distance between the first preset position and the second preset position, c is the average sound velocity in the target pipe, Δt is the time delay, and x is the leakage position.
5. The pipe leakage positioning method according to claim 1, wherein in S13, the calculation formula for any one of the first time delay intervals is:
Wherein R (N) is a CC function, s1 (m+n) is a first sound signal, s2 (m) is a second sound signal in an ith frequency band, m represents a discrete time sequence index of the signal, N is a first time delay interval number of two sound sequences in the ith frequency band and in any time period, N is a total length of the signal, and a time delay between the divided first sound signal and the divided second sound signal is equal to a value of N when the CC function R (N) reaches its maximum value.
6. The pipe leakage localization method according to claim 1, wherein in S14, performing preliminary filtering on J first time delay intervals of the ith frequency band by the average sound velocity comprises:
wherein L is the distance between the first preset position and the second preset position, F s Representing the sampling frequency, c is the average speed of sound within the target pipe.
7. The pipe leakage localization method according to claim 1, wherein said S15 comprises:
and representing the time delay between the divided first sound signal and the divided second sound signal by the actual sound signal delay interval number, wherein the time delay is as follows:
wherein F is s Representing the sampling frequency;
for the ith frequency band, n is used for positioning the leakage position according to the sound speed value of the ith frequency band, the linear relation and the actual sound signal delay interval number of the ith frequency band i Indicating the number of actual sound signal delay intervals for the i-th frequency band,wherein n is ij A first time delay interval number representing the ith frequency band and the jth period, R ij The number of first time delay intervals when the CC function representing the ith frequency band and the jth period reaches its maximum value is n ij MF represents the actual number of sound signal delay intervals, i.e., the i-th frequency band, selected from J first numbers of time delay intervals from different periods of time, J being a positive integer less than or equal to J;
and according to the linear relation between the leakage position and the time delay, completing the leakage position positioning based on the ith frequency band.
8. The pipeline leakage positioning device is characterized by being applied to a leakage positioning system, wherein the leakage positioning system comprises a first sensor, a second sensor and a data acquisition unit connected with the first sensor and the second sensor, the first sensor is arranged at a first preset position on the outer surface of a target pipeline, the second sensor is arranged at a second preset position on the outer surface of the target pipeline, the straight line where the first sensor and the second sensor are located coincides with the projection of the central line of the target pipeline in the vertical direction, and the distance between the first preset position and the second preset position is larger than 0;
The pipe leakage positioning device includes:
the system comprises an attribute parameter acquisition module, a target pipeline acquisition module and a target pipeline acquisition module, wherein the attribute parameter acquisition module is used for acquiring an attribute parameter of the target pipeline, the attribute parameter comprises an average sound velocity in the target pipeline, an acoustic velocity value based on an I frequency band and a weight coefficient of each frequency band, and the weight coefficient of the I frequency band is used for adjusting the weight of a leakage position positioning result based on the I frequency band in a leakage position positioning result based on the I frequency band; the average sound velocity in the target pipeline is solved according to the linear relation between the leakage position and the time delay;
the sound signal reading module is used for reading the first sound signal acquired by the first sensor and the second sound signal acquired by the second sensor from the data acquisition unit; the time delay in the attribute parameter acquisition module is the difference between the time of receiving the first sound signal and the time of receiving the second sound signal;
the signal segmentation module is used for segmenting the first sound signal and the second sound signal into I frequency bands with equal widths; restoring the signal into a time domain signal in an ith frequency band, dividing the time domain signal into different time periods, obtaining a first sound signal after division and a second sound signal after division, and correlating and generating J first time delay interval numbers from different time periods through a cross-correlation technology;
The filtering module is used for carrying out preliminary filtering on J first time delay interval numbers of the ith frequency band through the average sound velocity, and carrying out secondary filtering after the preliminary filtering, wherein the principle of the secondary filtering is to keep the first time delay interval number with highest occurrence frequency as the actual sound signal delay interval number;
the ith frequency band leakage position positioning module is used for positioning the leakage position of the ith frequency band according to the sound speed value of the ith frequency band, the linear relation and the actual sound signal delay interval number of the ith frequency band to obtain a leakage position positioning result based on the I frequency band;
and the leakage position calculation module of the target pipeline is used for carrying out weighted average processing on the leakage position positioning results based on the I frequency bands according to the weight coefficient, and obtaining the leakage position of the target pipeline.
9. A chip, comprising: a first processor for calling and running a computer program from a first memory, so that a device on which the chip is mounted performs the respective steps of the pipe leakage localization method according to any one of claims 1 to 7.
10. A terminal comprising a second memory, a second processor and a computer program stored in the second memory and executable on the second processor, characterized in that the second processor implements the steps of the pipe leakage localization method according to any one of claims 1 to 7 when the computer program is executed by the second processor.
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