CN110953486A - System and method for positioning leakage of pressurized pipeline - Google Patents
System and method for positioning leakage of pressurized pipeline Download PDFInfo
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- CN110953486A CN110953486A CN201911294117.4A CN201911294117A CN110953486A CN 110953486 A CN110953486 A CN 110953486A CN 201911294117 A CN201911294117 A CN 201911294117A CN 110953486 A CN110953486 A CN 110953486A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
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- F17D5/00—Protection or supervision of installations
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Abstract
The application discloses a system and a method for positioning leakage of a pressurized pipeline, wherein the system comprises a host and at least 2 collectors; the host comprises a main control computer, a satellite navigation positioning module and a probe module which are connected with the main control computer; the collector comprises a control module and a vibration sensor connected with the control module; the satellite navigation positioning module is used for determining the position of the host in real time; the probe module is used for transmitting pulse electromagnetic waves, receiving reflected waveforms and identifying pipeline routes; the vibration sensor is used for collecting leakage signals and generating noise data; the main control computer is used for determining the actual position of the pipeline according to the pipeline route and the host position information; and calculating the distance between the leakage point and the vibration sensor by using the noise data, and further calculating the longitude and latitude coordinates of the leakage point according to the actual position of the pipeline. The application also includes a method of applying the system. The technical scheme of this application has solved the difficult problem of location dew point when pipeline routing information is wrong underground.
Description
Technical Field
The application relates to the technical field of detection, in particular to a pressurized pipeline leakage positioning device based on satellite navigation positioning and exploring tube technology.
Background
Underground pipe networks are important infrastructures for survival and development of cities, and normal operation and effective work of the underground pipe networks become important preconditions for sustainable development of the cities. Along with the rapid development of the economy of China and the remarkable improvement of the urbanization degree, the urban scale is continuously enlarged, and a plurality of water supply networks and heating power networks are expanded and newly built according to the urban development requirements so as to meet the requirements of the economic development and the urban construction. However, the urban pipe network leakage problem in China is quite serious. According to relevant data in the national urban underground pipe network statistics yearbook, the leakage rate in the urban water supply pipe network system is generally 15-20%, and the water supplement amount caused by heat pipeline leakage is very large. Leakage of a pipe network has various influences, waste of water resources is caused, city tap water quality is polluted, economic benefits of operation enterprises are directly influenced, and city safety is also endangered. Therefore, the application of a convenient and effective technical method to reduce the leakage of a pipe network is an important content of the management work of the urban pressurized pipeline at present. At present, the pipeline leakage detection method has various advantages and disadvantages. The passive detection method finds water leakage points by means of patrol of special personnel and leakage reporting of citizens, the leakage needs to be developed to a certain degree, and a certain amount of water is formed on the ground. The traditional hand-held listening rod technology carries out listening and detection of water leakage sound at the exposed position of a pipeline, and the application effect of the traditional hand-held listening rod technology is influenced by background noise, pressure in the pipeline and experience of leak detection personnel. The electronic amplification leak detector compares the sound intensity point by point along a pipeline suspected of having leakage with a certain step length, but is difficult to be effectively applied to high-noise environment and busy urban environment, and is influenced by soil performance. The noise recorder installs a plurality of vibration sensors (or hydrophones) in the pipe network exposure place, continuously monitors pipeline sound wave signal and uploads, passes through special processing software on the computer and detects whether to have the leakage fast, but is difficult to monitor tiny noise, and the interference of background noise is also great, and the precision is relevant with recorder quantity, and is expensive, investment recovery period long. The sensor of signal processing and display element is placed inside the pipeline to the intraductal inspection technique, gathers intraductal image and acoustic noise, and then discerns the leakage position, and is more to the branch pipe, and the more serious condition of old and old city pipe network corruption is not suitable for, is not suitable for the small diameter pipeline, has the sensor to retrieve the problem simultaneously. The tracer gas detection method searches for a water leakage point by detecting the change of the concentration of tracer gas along a pipeline, has high sensitivity, but has harsh use conditions, the direction of water flow must be known, and meanwhile, the existence of a branch pipe can cause gas leakage, so that the detection fails. The earth surface radar leak detection method detects an underground pipeline by utilizing an electromagnetic principle, positions a pipeline leakage point by reversely collecting transmitted electromagnetic waves, is suitable for detecting large-diameter or nonmetal pipelines, and has the defects that accurate judgment is difficult at the initial stage of leakage, the image analysis difficulty is high, and data processing is slow. The optical fiber sensing technology method monitors pressure drop and temperature change caused by leakage of a water supply pipeline, has few application cases in engineering, and is mainly caused by the fact that the number of sensors is large, the demodulator is expensive, and meanwhile, the phenomenon of instability exists in engineering practice. The transient current transformation detection method carries out leakage positioning by identifying a pipeline pressure signal, artificially generates a transient current transformation process, compares a transient pressure change process obtained by calculation under the conditions of different leakage point positions and leakage areas with an actually-measured pressure change process, and judges leakage loss. The related analysis method determines the position of a leakage point by using the time delay of the water leakage sound, the positioning is accurate, but the positioning error is caused by the problems of pipe network topological structure error, the existence of branch pipes, large distance measurement error and the like. In conclusion, the related analysis method has the best positioning effect, but the existing problems need to be solved, and a pipeline leakage positioning device based on related analysis, which can detect the topological structure of a pipe network, automatically measure the length of a pipeline and navigate to the position of a leakage point, is urgently needed to eliminate the positioning error caused by the problems that a leakage detector is not standard in use, the field environment is complex, and accurate input parameters cannot be provided, and the like.
Disclosure of Invention
The application provides a system and a method for positioning leakage of a pressurized pipeline, which solve the problem that the leakage point is difficult to position when the routing of an underground pipeline is complex or the routing information is wrong. The wrong routing information of the underground pipeline mainly means that the actual position of the pipeline is different from a design drawing.
The embodiment of the application provides a pressure pipeline leaks positioning system, including host computer, 2 at least collectors, the host computer contains main control computer and the satellite navigation orientation module, probe module and the first wireless communication module that link to each other with the main control computer. The collector comprises a control module, a second wireless communication module and a vibration sensor, wherein the second wireless communication module and the vibration sensor are connected with the control module.
The satellite navigation positioning module is used for determining the position coordinates of the host in real time;
the probe module is used for transmitting pulse electromagnetic waves, receiving reflected waveforms and identifying pipeline routes;
the vibration sensor is used for collecting leakage signals and generating noise data;
the main control computer is used for determining the position coordinates of each point of the pipeline route according to the position coordinates of the host; and calculating the distance between the leakage point and the vibration sensor by using the noise data, and further determining the longitude and latitude coordinates of the leakage point according to the coordinates of each pipeline routing point.
The first wireless communication module and the second wireless communication module are used for realizing information interaction between the host and the collector.
Preferably, the vibration sensor is a piezoelectric ceramic acceleration sensor.
Preferably, the navigation positioning module adopts a Beidou differential technology, comprises a hardware module communicated with a Beidou satellite and a differential station, and is internally provided with a Beidou differential positioning resolving algorithm.
Furthermore, the collector also comprises a power supply module which supplies power to the vibration sensor through a constant current source.
Further, the collector also comprises a storage module for storing noise data from the vibration sensor.
Preferably, the method for calculating the distance between the leakage point and the vibration sensor by the master computer comprises the following steps: measuring two groups of noise data through vibration sensors at two ends of the pipeline; and performing cross-correlation analysis on the two groups of noise data to determine the time difference of the leakage noise reaching the two vibration sensors, and calculating the distance between the leakage point and the two vibration sensors according to the distance between the two vibration sensors and the propagation speed of sound waves in the pipe.
The embodiment of the application further provides a method for positioning leakage of the pressurized pipeline, which comprises the following steps:
starting from a known pipeline position, starting to detect along the designed pipeline routing direction;
identifying the pipeline route by using an electromagnetic pulse detection method and advancing according to the identified pipeline route;
determining the position coordinates of each point of the pipeline route by a satellite navigation positioning method;
collecting leakage signals at two detection points of the pipeline to obtain two groups of noise data;
performing cross-correlation analysis on the two groups of noise data, determining the time difference of the leakage noise reaching the two detection points, and calculating the distance between the leakage point and any one detection point according to the distance between the two detection points and the propagation speed of sound waves in the pipe;
and obtaining the actual position coordinate of the leakage point according to the position coordinate of each point of the pipeline route and the distance between the leakage point and the detection point.
Further, an embodiment of the present application further provides a method for locating a leakage of a pressurized pipeline, where the apparatus according to any of the embodiments of the present application includes the following steps:
starting from a known pipeline position, starting to detect along the designed pipeline routing direction;
identifying pipeline routes through the probe module and advancing according to the prompted routes;
updating position information in real time through a satellite navigation positioning module, and determining a host position coordinate;
recording the position coordinates of each point of the pipeline route according to the position coordinates of the host;
the two collectors synchronously collect leakage signals to obtain two groups of noise data;
performing cross-correlation analysis on the two groups of noise data, determining the time difference of the leakage noise reaching the two vibration sensors, and calculating the distance between the leakage point and any one vibration sensor according to the distance between the two vibration sensors and the propagation speed of sound waves in the pipe;
and obtaining the actual position coordinate of the leakage point according to the position coordinate of each point of the pipeline route and the distance between the leakage point and the vibration sensor.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
the invention aims to solve the difficulty of detecting the leakage of the underground pressurized pipeline, provides a pressurized pipeline leakage positioning device and a pipeline leakage positioning method based on a navigation positioning technology and a pipe exploring technology, has strong practicability and effectively avoids detection errors caused by pipeline routing errors. The invention can convert the detection result into longitude and latitude coordinates, form real route of the pipeline in real time, calculate the actual pipeline length between two end points and provide accurate data for correlation analysis. The longitude and latitude coordinates of the leakage point are calculated along the actual pipeline route, and the accurate position of the leakage point is reached by guiding a detector through navigation, so that the positioning precision can reach 0.1 m. The detection data and the operation process can be traced and examined, and the management level is improved. The invention improves the working efficiency of the instrument, improves the positioning precision of the leakage point of the pipeline leakage monitoring equipment and saves the labor cost.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a diagram of an embodiment of a system of the present application;
FIG. 2 is a schematic diagram of a probe module;
FIG. 3 is a schematic diagram of correlation analysis to determine the location of a leak point;
FIG. 4 is a flowchart of a method for detecting a leakage point according to the present application.
FIG. 5 is a flowchart illustrating another exemplary embodiment of a method for detecting a leakage point according to the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The invention discloses a device and a method for detecting leakage of a pipeline under pressure.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
FIG. 1 is a diagram of an embodiment of a system of the present application.
The embodiment of the application provides a pressure pipeline leakage positioning system, which comprises a host 100 and at least 2 collectors 200, wherein the host comprises a main control computer 101, and a satellite navigation positioning module 102 and a probe module 103 which are connected with the main control computer. The collector comprises a control module 201 and a vibration sensor 202 connected with the control module.
The vibration sensor is used for collecting leakage signals and generating noise data. Preferably, the vibration sensor is a piezoelectric ceramic acceleration sensor. The piezoelectric ceramic acceleration sensor is based on the piezoelectric principle, when a piezoelectric material is subjected to external force, charges are formed on the surface of the piezoelectric material, and the charges are converted into electric quantity output in a direct proportion relation with the external force after being amplified by a charge amplifier and a measuring circuit and impedance conversion. The change rule can be mastered through experiments. The piezoelectric ceramic acceleration sensor has the advantages of light weight, reliable work, simple structure, high signal-to-noise ratio, high sensitivity, wide signal frequency, low cost and the like. The invention tests the leakage noise signal in the actual environment, determines the main performance index required by the sensor, the sensitivity is 50V/g, the measuring range is not less than 0.1g, the frequency range is 20-3000Hz, and the sampling rate is not less than 7500 Hz.
The satellite navigation positioning module is used for determining the position coordinates of the host in real time; preferably, the navigation positioning module adopts a Beidou differential technology, comprises a hardware module communicated with a Beidou satellite and a differential station, and is internally provided with a Beidou differential positioning resolving algorithm. When the Beidou differential technology is used, the satellite navigation positioning module can be called as a Beidou differential positioning module. And calculating the position of the leakage point by using a positioning calculation result according to the pipeline routing position information recorded by the satellite navigation positioning module (or the Beidou differential positioning module), and calculating the longitude and latitude coordinates of the leakage point.
Further preferably, the Beidou differential positioning module comprises a hardware module communicated with the Beidou satellite and the differential station and also comprises a built-in Beidou differential positioning resolving algorithm. The Beidou differential positioning precision is 1cm, the signal updating frequency is 1Hz, the cold start time is less than 60 seconds, the hot start time is less than 10 seconds, and the recapture time is less than 1 second.
The probe module is used for transmitting pulse electromagnetic waves, receiving reflected waveforms and identifying pipeline routes. The exploring tube module utilizes the principles of electromagnetic wave reflection and refraction to explore the route trend of the underground pipeline, for example, high-frequency short pulse electromagnetic waves are emitted, the exploration information is resolved by utilizing a profile method, the miniaturized exploring tube module is convenient to integrate, and the rapid resolution of the exploration information is realized.
The main control computer determines the position coordinates of each point of the pipeline route according to the position coordinates of the host when the host moves along the pipeline route; and calculating the distance between the leakage point and the vibration sensor by using the noise data, and further calculating the longitude and latitude coordinates of the leakage point according to the coordinates of each pipeline routing point. For example, the main control computer is a tablet computer, is internally provided with main control software, controls the normal operation of the whole device, controls the probe module, the navigation positioning module, data communication, data processing, data storage, algorithm calling, output results and the like, and is also a window for a user to input and check detection results; a positioning algorithm is also built in for calculating the location of the leakage point. Preferably, the tablet computer adopts a Windows10 system industrial-grade tablet computer and an Intel i7 eighth-generation processor, so that the running efficiency of complex related positioning calculation is ensured. The shell is designed to be waterproof, dustproof and anti-falling, and the complex use environment of a detection field is fully considered.
Further, a wireless communication module, a Beidou positioning module and a probe tube module can be integrated in the tablet personal computer. The tablet personal computer is connected with the first wireless communication module through a UART interface.
Further, the collector further comprises a power module 203, and the vibration sensor is powered by a constant current source. In the preferred embodiment of the present application, the power module is composed of a constant current source, a rechargeable lithium battery, and a power charging and output management circuit, and is capable of outputting various voltages. The battery is a rechargeable lithium battery with the voltage of 7.2V and the capacity of 20 Ah. The power supply module converts the input 7.2V voltage into 3.3V and 5V required by each internal module. The constant current source supplies 5V of power voltage, outputs 24VDC/4mA, and outputs in a three-wire system.
Further, the collector also includes a storage module 204 for storing noise data from the vibration sensor. In the optimal embodiment of the application, the storage module is used for storing data collected by the sensor and is connected with the control module where the single chip microcomputer is located through the SPI interface; the power module supplies power to the storage module through 3.3V voltage. For example, the storage module is a Flash memory chip W25Q128 BV.
And a control module of the collector, for example, a single chip microcomputer STM32F103RC, is internally provided with a control program and is used for starting the sensor, the second wireless communication module and calling the storage module. For example, the control module is connected with the storage module through an SPI interface and connected with the second wireless communication module through a UART interface.
The host computer and the collector are connected through a communication interface. The communication interface may be, for example, a wired communication interface or a wireless communication interface.
Preferably, the host further comprises a first wireless communication module 104 connected to the host computer; the collector also comprises a second wireless communication module 205 connected with the control module; the first wireless communication module and the second wireless communication module are used for realizing information interaction between the host and the collector. The module can be used for completing synchronous acquisition of data and uploading acquired mass data in real time. Preferably, the first wireless communication module and the second wireless communication module adopt a 433MHz communication mode, the time synchronization precision is controlled within 100 mu s, the transmission rate is adjusted to 200kb/s, and the requirements of well cover penetration, synchronous acquisition and real-time data transmission are met.
It should be noted that, the wireless communication module completes control instruction issuing and execution result and data reply, and adopts 433MHz frequency band, which is free and strong in anti-interference capability, and can effectively penetrate through metal facilities such as well covers, etc., so as to realize wireless communication on ground and underground, and ensure time synchronization precision and communication rate.
Fig. 2 is a schematic diagram of a probe module.
The pipe probing module probes based on the physical property difference between the underground pipeline and the surrounding medium, and the principle is that the pipe probing module probes according to the reflection and refraction of electromagnetic waves, utilizes an electromagnetic wave transmitting device to transmit pulse electromagnetic waves to the underground, and optimally uses high-frequency short-pulse electromagnetic waves. The waveform reflected back to the surface will also change due to the differences in the impedance of the underground pipeline and the ambient wave. Therefore, the position of the pipeline can be determined by estimating from the received radar reflected wave. The schematic diagram is shown in fig. 2.
For example, the probe module comprises a main control unit, a transmitter, a transmitting antenna, a receiver and a receiving antenna. The detection signal is resolved by a profile method, and the transmitting antenna and the receiving antenna move along the measured profile in sequence at the same antenna distance and a certain measuring step distance (measuring point distance) and acquire data, so that radar records on the whole profile are obtained. Only two channels of transmitting and receiving are needed, the system design is relatively simple, and the miniaturization design is convenient. The profile results can be interpreted by simple processing, and the measurement results can be rapidly solved.
FIG. 3 is a schematic diagram of correlation analysis for determining the location of a leak point.
Take the system of the present invention comprising 1 host and 2 collectors (e.g. collector 1 and collector 2 in the figure) as an example. The host computer uses the panel computer as the core, has still included big dipper orientation module, has visited pipe module and first wireless communication module. The collector takes the singlechip as a main control unit and also comprises a second wireless communication module, a storage module, a power supply module and an acceleration sensor.
In the embodiment, the Beidou differential positioning module is used for converting the identified pipeline route into longitude and latitude coordinates, recording key nodes of the underground pipeline, forming pipeline route information which can be described and stored, and calculating the total length of the pipeline section according to the information.
In the embodiment, strong magnets are arranged in 2 collector shells of the system, so that a collector body (a sensor) can be adsorbed on the inner side of a well cover; the device is owing to adopt 433MHz to pierce through wireless communication module by force, can pierce through ordinary well lid and the well lid that has the strengthening rib, carries out signal transmission, consequently can close the well lid after the collector is laid, the security of the on-the-spot non-operation personnel. The collector body and the sensors (sensor 1 and sensor 2) may be connected by, for example, a wired connection, thereby realizing wired communication. The sensor is attached to the outer wall of the pressurized underground pipeline. For example by means of magnets or by means of elastic contacts.
The method for calculating the distance between the leakage point and the vibration sensor by the master control computer comprises the following steps: measuring two groups of noise data through vibration sensors at two ends of the pipeline; and performing cross-correlation analysis on the two groups of noise data to determine the time difference of the leakage noise reaching the two vibration sensors, and calculating the distance between the leakage point and the two vibration sensors according to the distance between the two vibration sensors and the propagation speed of sound waves in the pipe.
The principle is that when a pipe leaks, sound pressure waves with a frequency much higher than that of ordinary underwater sound can be generated and propagated along the pipe. The leakage signal is measured by vibration sensors placed at both ends of the pipe (the leakage point is enclosed in the middle), and the time of propagation of the leakage sound to reach the two sensors is different. By means of cross-correlation analysis of the two columns of signals, the time difference of the arrival of the leakage noise at the two sensors can be determined. According to the time difference, the distance between the leakage point and the two sensors can be calculated through the distance between the two sensors and the propagation speed of the sound wave in the pipe.
It should be noted that the distance between the leakage point and any one of the sensors (or vibration sensors) in this application is "line distance", which is the length of the curve integral along the line route.
A related positioning calculation interface is arranged in the tablet personal computer, and the interface calls a frequency domain filtering algorithm and a cross-correlation analysis algorithm to determine whether leakage exists and the position of a leakage point. The frequency domain filtering algorithm traverses the whole frequency band of 20-3000Hz, the traversal step length is 50Hz, the frequency upper-lower limit interval of the band-pass filter is not less than 200Hz, and the cross-correlation calculation is carried out on two lines of signals in each traversal. After traversing, finding a band-pass filter with the maximum signal-to-noise ratio, if the signal-to-noise ratio is less than 6, judging that no leakage occurs, if the signal-to-noise ratio is more than 6, judging that leakage exists, filtering two rows of noise signals by using the filter, then selecting a point with the maximum cross-correlation coefficient on a cross-correlation calculation map, and using the point as the time delay difference T of the leakage signal transmitted to the two sensorsdReuse of TdThe distance of the leak point from the two sensors is calculated.
The input parameters of the algorithm are the length D of a pipe section to be detected (the length of the pipe section does not refer to the linear distance between two sensors, but refers to the distance of the pipeline), the material of the pipeline, the pipe diameter, noise data and the routing information (the longitude and latitude coordinates of key nodes). Determining the time delay difference T between a leakage signal and two sensors by using a cross-correlation analysis methoddDetermining the sound wave propagation speed V according to the material and the pipe diameter of the pipeline, and calculating the distance between the leakage point and the sensor by adopting the following formula:
L＝/2(D-(V×Td))
furthermore, the main control computer obtains the longitude and latitude coordinates of the actual position of the leakage point according to the coordinates of each point of the pipeline route and the distance between the leakage point and the vibration sensor. The actual position of the pipeline is obtained by utilizing the pipeline routing information and the longitude and latitude coordinates of the pipeline key nodes, and the longitude and latitude coordinates of the leakage point can be further calculated. The pipeline key node here includes the location where the vibration sensor is located.
FIG. 4 is a flowchart of a method for detecting a leakage point according to the present application.
The embodiment of the application also provides a method for positioning leakage of a pressurized pipeline, which comprises the following steps 401 to 406.
for example, the inspector starts the survey from a well head, following the direction of the route in the drawing file.
the principle is to use electromagnetic wave emitter to emit pulse electromagnetic wave to underground, and to detect based on the reflection and refraction of electromagnetic wave, and optimally, to use high frequency short pulse electromagnetic wave. The waveform reflected back to the surface will also change due to the differences in the impedance of the underground pipeline and the ambient wave. Accordingly, the pipeline route can be identified by performing inference based on the received radar reflection waves.
the method comprises the steps of converting an identified pipeline route into longitude and latitude coordinates by using a navigation positioning method, such as a Beidou differential positioning technology, recording key nodes of the underground pipeline to form pipeline route information which can be described and stored, and calculating the total length of a pipeline section, such as the total length of the pipeline section between two detection points (namely the pipeline distance between the two detection points), according to the information.
It should be noted that, at any position of the pipeline route, the position coordinate of the position can be obtained through satellite real-time positioning; when moving along the pipeline route, the position information is generated through satellite real-time positioning, and the position coordinates of each point along the pipeline route can be identified and recorded. Or, it can be said that, by satellite real-time positioning, the position coordinates of any point of the pipeline route can be obtained.
As another alternative embodiment, the position coordinates of at least one point of the pipeline route are obtained through satellite real-time positioning, and then the coordinates of another point are calculated according to the pipeline route drawing.
when the pipeline leaks, sound pressure waves with frequency much higher than that of common underwater sound can be generated and transmitted along the pipeline. For example, vibration of the pipeline may be detected by vibration sensing (or acceleration sensing), and leakage signals may be collected to obtain noise data.
Step 405, performing cross-correlation analysis on the two groups of noise data, determining the time difference of the leakage noise reaching the two detection points, and calculating the distance between the leakage point and any one detection point according to the distance between the two detection points and the propagation velocity of the sound wave in the pipe;
for example, a frequency domain filtering algorithm and a cross-correlation analysis algorithm are used to determine the positions of the leakage and the leakage point respectively.
And 406, obtaining the actual position of the leakage point according to the position coordinates of each point of the pipeline route and the distance between the leakage point and the detection point.
The actual position of the pipeline is described by pipeline routing information and longitude and latitude coordinates of a pipeline key node; the pipeline routing information refers to identified pipeline routing, and at any point of the routing, longitude and latitude coordinates of any point are obtained through a navigation positioning technology. Therefore, the actual position of the pipeline includes the longitude and latitude coordinates of any point on the pipeline route, including the longitude and latitude coordinates of the two detection points and the longitude and latitude coordinates of any point of the pipeline route between the two detection points.
The actual location of the leak point may be expressed in terms of the leak point longitude and latitude coordinates.
In steps 401 to 406, the distance between the two detection points, the leakage point, and the distance between any one of the detection points are all "line distances", that is, the lengths of the leakage point and the detection point integrated along the pipeline routing curve.
FIG. 5 is a flowchart illustrating another exemplary embodiment of a method for detecting a leakage point according to the present disclosure.
The embodiment of the application also provides a method for positioning leakage of a pressurized pipeline, and the device of any embodiment of the application, for example, a tablet computer is internally provided with main control software which controls the work of a host and a collector, and is operated by a detector, and the method at least comprises the following steps 501-507:
for example, the inspector starts the survey from a well head, following the direction of the route in the drawing file.
at the moment, pipeline routing is detected, the computer can prompt the deviation degree, and personnel hold the host computer and advance according to the route according to the prompt.
for example, the position information is updated in real time through the Beidou differential positioning module.
software records key nodes of the pipeline, forms the route of the pipeline to be detected, and calculates the length of the pipeline to be detected.
505, synchronously acquiring leakage signals by two collectors to obtain two groups of noise data;
the master control computer starts a signal acquisition process. For example, an acquisition instruction is issued to enable two collectors to synchronously acquire noise signals, then the collectors upload noise data in a roll call mode, and a CRC (cyclic redundancy check) and retransmission mechanism is used to ensure that the data is correct and complete.
and 507, obtaining the actual position coordinate of the leakage point according to the position coordinate of each point of the pipeline route and the distance between the leakage point and any one vibration sensor.
For example, the actual position of the pipeline can be obtained by using the pipeline routing information and the longitude and latitude coordinates of the pipeline key node, and further the longitude and latitude coordinates of the leakage point can be calculated. The critical node of the pipeline here may be the location where the vibration sensor is located.
In step 507, the main control computer performs real-time positioning calculation, and uses the input parameters and the acquired data to call a related positioning calculation interface to calculate the longitude and latitude coordinates of the leakage point.
Furthermore, the system can be used for leakage point navigation and guiding the detector to reach the position of the leakage point.
Furthermore, the system can be used for realizing the filing of the working process records, and the operation process of a detector, whether pipeline routing detection meets the requirements or not and the detailed information of the detection result can be recorded through the master control computer.
The invention aims to solve the difficulty of leakage detection of underground pressurized pipelines, provides a pressurized pipeline leakage positioning device and a pipeline leakage positioning method based on a navigation positioning technology and a pipe exploring technology, has strong practicability, and can be directly applied to the leakage detection work of water supply companies and heating power companies. The invention automatically detects the precise position and routing trend of the pipeline based on the principles of electromagnetic wave reflection and refraction, does not depend on accurate drawing and a master familiar to the pipeline, and can effectively avoid detection errors caused by pipeline routing errors. The built-in navigation positioning module can convert the detection result of the probe module into longitude and latitude coordinates, and the longitude and latitude coordinates are recorded into the host in real time to form a real pipeline route instead of a straight line connection between two end points, and the actual pipeline length between the two end points can be calculated according to the pipeline route, so that accurate data can be provided for correlation analysis. After the positioning calculation result is obtained, the host can calculate the longitude and latitude coordinates of the leakage point along the actual pipeline route, and guides a detector to reach the accurate position of the leakage point through navigation, wherein the positioning precision can reach 0.1 meter, and the positioning precision is the influence of the Beidou differential positioning precision, the work error of the probe module and the positioning error of noise processing. The generation of longitude and latitude coordinates and routes of pipelines enables the leakage detection work to form an electronic record, the detection data and the operation process can be traced, whether an operator executes an operation process according to the regulations or not can be checked, and the management level of a company is improved. The problems in the aspects are solved, the difficulty in actual operation is reduced, the best effect of the instrument is exerted, and the positioning precision of the leakage point of the pipeline leakage monitoring equipment is improved. The condition that the traditional leak detection equipment needs at least 3 persons to operate is changed, and the whole device is operated by 1 person, so that the labor cost is greatly saved.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A pressurized pipeline leakage positioning system is characterized by comprising a host and at least 2 collectors;
the host comprises a main control computer, a satellite navigation positioning module and a probe module which are connected with the main control computer;
the collector comprises a control module and a vibration sensor connected with the control module;
the satellite navigation positioning module is used for determining the position coordinates of the host in real time;
the probe module is used for transmitting pulse electromagnetic waves, receiving reflected waveforms and identifying pipeline routes;
the vibration sensor is used for collecting leakage signals and generating noise data;
the main control computer is used for determining the position coordinates of each point of the pipeline route according to the position coordinates of the host; and calculating the distance between the leakage point and the vibration sensor by using the noise data, and further determining the longitude and latitude coordinates of the leakage point according to the coordinates of each pipeline routing point.
2. The system of claim 1,
the host also comprises a first wireless communication module connected with the master control computer;
the collector also comprises a second wireless communication module connected with the control module;
the first wireless communication module and the second wireless communication module are used for realizing information interaction between the host and the collector.
3. The system of claim 1,
the vibration sensor is a piezoelectric ceramic acceleration sensor.
4. The system of claim 1,
the navigation positioning module adopts a Beidou differential technology, comprises a hardware module communicated with a Beidou satellite and a differential station, and is internally provided with a Beidou differential positioning resolving algorithm.
5. The system of claim 1,
the collector further comprises a power module which supplies power to the vibration sensor through a constant current source.
6. The system of claim 1,
the collector also includes a storage module for storing noise data from the vibration sensor.
7. The system of claim 1,
the method for calculating the distance between the leakage point and the vibration sensor by the main control computer running a positioning algorithm comprises the following steps:
measuring two groups of noise data through vibration sensors at two ends of the pipeline; and performing cross-correlation analysis on the two groups of noise data to determine the time difference of the leakage noise reaching the two vibration sensors, and calculating the distance between the leakage point and the two vibration sensors according to the distance between the two vibration sensors and the propagation speed of sound waves in the pipe.
8. A method for locating leakage of a pressurized pipeline, which uses the device of any one of claims 1 to 7, and comprises the following steps:
starting from the known pipeline position, starting to detect along the designed pipeline routing direction;
identifying pipeline routes through the probe module and advancing according to the prompted routes;
updating position information in real time through a satellite navigation positioning module, and determining a host position coordinate;
recording the position coordinates of each point of the pipeline route according to the position coordinates of the host;
the two collectors synchronously collect leakage signals to obtain two groups of noise data;
performing cross-correlation analysis on the two groups of noise data, determining the time difference of the leakage noise reaching the two vibration sensors, and calculating the distance between the leakage point and any one vibration sensor according to the distance between the two vibration sensors and the propagation speed of sound waves in the pipe;
and obtaining the actual position coordinate of the leakage point according to the position coordinate of each point of the pipeline route and the distance between the leakage point and the vibration sensor.
9. A method for locating a leak in a pressurized pipeline, comprising the steps of:
starting from the known pipeline position, starting to detect along the designed pipeline routing direction;
identifying the pipeline route by using an electromagnetic pulse detection method and advancing according to the identified pipeline route;
determining the position coordinates of each point of the pipeline route by a satellite navigation positioning method;
collecting leakage signals at two detection points of the pipeline to obtain two groups of noise data;
performing cross-correlation analysis on the two groups of noise data, determining the time difference of the leakage noise reaching the two detection points, and calculating the distance between the leakage point and any one detection point according to the distance between the two detection points and the propagation speed of sound waves in the pipe;
and obtaining the actual position coordinate of the leakage point according to the position coordinate of each point of the pipeline route and the distance between the leakage point and the detection point.
10. The method of claim 9,
the satellite navigation positioning method is Beidou differential positioning.
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