CN111963909B - Method and system for positioning leakage point of underground pipeline - Google Patents
Method and system for positioning leakage point of underground pipeline Download PDFInfo
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- CN111963909B CN111963909B CN202010810034.2A CN202010810034A CN111963909B CN 111963909 B CN111963909 B CN 111963909B CN 202010810034 A CN202010810034 A CN 202010810034A CN 111963909 B CN111963909 B CN 111963909B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/06—Accessories therefor, e.g. anchors
- F16L1/11—Accessories therefor, e.g. anchors for the detection or protection of pipes in the ground
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Abstract
The invention discloses a method and a system for positioning leakage points of underground pipelines, wherein the positioning method comprises the following steps: 1. arranging a sensor node at each node of the underground pipeline network, wherein each sensor node comprises an acoustic vector sensor and a noise sensor; 2. when the pipeline leaks, the acoustic vector sensor detects a leakage signal and obtains the incident angle of the leakage signal to the acoustic vector sensor, and a straight line is drawn according to the position of the acoustic vector sensor and the incident angle of the leakage signal to obtain an acoustic vector intersection point, namely a primary positioning position of the leakage point; 3. if only one primary positioning leakage point exists or a plurality of primary positioning leakage points exist, any two leakage points in the plurality of leakage points are not in the same or adjacent pipeline sections, and the accurate positions of the leakage points are determined according to the pipeline length between the noise sensors at the two ends of the pipeline section where the leakage points are located and the time difference of the received leakage noise signals. The method improves the positioning precision of the leakage point through two-stage processing of initial positioning and accurate positioning of the leakage point.
Description
Technical Field
The invention belongs to the technical field of pipeline leakage detection, and particularly relates to a method and a system for positioning underground pipeline leakage points by using an acoustic vector sensor and a noise sensor.
Background
The rapid development of the urban water supply pipeline network improves the quality of life of people on one hand and also brings important problems on the other hand. Because underground water supply pipe is pressure pipeline, except will receiving the effect of the pressure of water, still will receive the effect of external pressure, in addition pipeline ageing and the inside water quality of pipeline corrodes the influence, often can lead to underground piping to take place to leak. The leakage of the underground pipeline not only can cause the waste of water resources, but also can reduce the life quality of people. How to rapidly locate the leakage position and reduce the resource waste has important significance.
In the prior art, a mature method is provided for a single leakage point of the same pipeline section of an underground pipeline, but an effective method is not provided at present when a plurality of leakage points appear in the pipeline section.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention discloses a method for positioning leakage points of an underground pipeline, which can accurately position a plurality of leakage points of the same pipeline section.
The technical scheme is as follows: the invention discloses a method for positioning a leakage point of an underground pipeline on one hand, which comprises the following steps:
(1) arranging a sensor node at each node of the underground pipeline network, wherein each sensor node comprises an acoustic vector sensor and a noise sensor; the acoustic vector sensor is used for acquiring an incident angle of a leakage signal to a sensor node, and the noise sensor is used for acquiring the time of the noise of a leakage point reaching the sensor node;
(2) when the pipeline leaks, the at least two acoustic vector sensors detect a leakage signal and acquire the incident angle of the leakage signal to the acoustic vector sensors, and a straight line is drawn according to the position of the acoustic vector sensors and the incident angle of the leakage signal to acquire at least one acoustic vector intersection point; the intersection point of the acoustic vectors is a primary positioning position of a leakage point;
(3) if only one leakage point is preliminarily positioned or a plurality of leakage points are preliminarily positioned, and the preliminarily positioned positions of any two leakage points in the plurality of leakage points are not in the same or adjacent pipeline sections, the accurate position of the leakage point is determined according to the length of the pipeline between the noise sensors at the two ends of the pipeline section where the leakage point is positioned and the time difference of the received leakage noise signal.
The preliminarily positioned leakage points obtained in the step (2) are multiple, two or more preliminarily positioned leakage points are positioned in the same or adjacent pipeline sections, and the step of determining the accurate positions of the leakage points comprises the following steps:
judging whether the noise sensors at two ends of each preliminarily positioned leakage point receive leakage noise signals or not, if so, performing frequency domain analysis on the received leakage noise signals, extracting frequency domain characteristics, and if the signal frequencies received by adjacent noise sensors are the same, determining that a pair of leakage noise signal pairs exist;
and determining the accurate position of the leakage point according to the time difference of each pair of leakage noise signals reaching the noise sensor and the length of the pipeline between the noise sensors.
And (3) after the acoustic vector intersection point is obtained in the step (2), if a pipeline exists in the neighborhood range of the acoustic vector intersection point, the initial positioning position of the leakage point is the pipeline position in the neighborhood range of the acoustic vector intersection point.
In the step (3), the position of the leakage point is determined according to the length of the pipeline between the noise sensors at the two ends of the initial positioning position of the leakage point and the time difference of the received leakage noise signal, and the specific steps are as follows:
(3.1) if the moments when the noise sensors i and j at the two ends of the initial positioning position of the leakage point receive the leakage noise signals are the same, the leakage point is positioned at the midpoint of the pipeline between the noise sensors i and j;
(3.2) setting noise sensors i and j at two ends of the initial positioning position of the leakage point to be in sequence with TiAnd TjThe moment of reception of the leakage noise signal, Tj>TiThen the leak point is closer to the noise sensor i, and the distance from the leak point to the noise sensor i is:
where l is the length of the pipe between the noise sensors i and j, v is the transmission speed of the leakage noise signal in the pipe,△T＝Tj-Ti。
on the other hand, the invention also discloses an underground pipeline leakage point positioning system, which comprises:
the system comprises an acoustic vector sensor and a noise sensor, wherein the acoustic vector sensor and the noise sensor are arranged at each node of an underground pipeline network, the acoustic vector sensor is used for acquiring an incident angle of a leakage signal to the sensor node, and the noise sensor is used for acquiring the time of the noise of a leakage point reaching the sensor node;
the leakage point primary positioning module is used for obtaining at least one acoustic vector intersection point according to the incident angle of a leakage signal detected by at least two acoustic vector sensors to the leakage point and the position of the acoustic vector sensor when the pipeline leaks; the intersection point of the acoustic vectors is a primary positioning position of a leakage point;
the accurate leakage point positioning module is used for determining the accurate position of the leakage point: if there is only one initially positioned leak, or there are multiple initially positioned leaks, and any two of the multiple leaks are not in the same or adjacent pipeline segment, the precise location of the leak is determined according to the length of the pipeline between the noise sensors at the two ends of the pipeline segment where the leak is located and the time difference of the received leakage noise signal.
If the initial positioning leakage point obtained by the initial leakage point positioning module is multiple, and two or more initial leakage point positioning positions are in the same or adjacent pipeline sections, the step of determining the accurate leakage point position by the accurate leakage point positioning module is as follows:
judging whether the noise sensors at two ends of each leakage point preliminarily positioned receive leakage noise signals or not, if so, performing frequency domain analysis on the received leakage noise signals, extracting frequency domain characteristics, and if the main frequencies of the signals received by adjacent noise sensors are the same, determining that a pair of leakage noise signal pairs exist;
and determining the position of the leakage point according to the time difference of each pair of leakage noise signals reaching the noise sensor and the length of the pipeline between the noise sensors.
And the initial leakage point positioning module is used for acquiring the acoustic vector intersection point, and if a pipeline exists in the neighborhood range of the acoustic vector intersection point, the initial leakage point positioning position is the pipeline position in the neighborhood range of the acoustic vector intersection point.
The leakage point accurate positioning module determines the position of a leakage point according to the length of a pipeline between noise sensors at two ends of the initial positioning position of the leakage point and the time difference of a received leakage noise signal, and the specific steps are as follows:
(3.1) if the moments when the noise sensors i and j at the two ends of the initial positioning position of the leakage point receive the leakage noise signals are the same, the leakage point is positioned at the midpoint of the pipeline between the noise sensors i and j;
(3.2) setting leakage Point preliminaryNoise sensors i and j at two ends of the positioning position are arranged in sequence with TiAnd TjThe moment of reception of the leakage noise signal, Tj>TiThen the leak point is closer to the noise sensor i, and the distance from the leak point to the noise sensor i is:
where l is the length of the pipe between the noise sensors i and j, v is the transmission speed of the leakage noise signal in the pipe,△T＝Tj-Ti。
has the advantages that: compared with the prior art, the method for positioning the leakage point of the underground pipeline improves the accuracy of detection and positioning by two-stage processing of primary positioning and accurate positioning of the leakage point; in addition, the method disclosed by the invention can be used for detecting and positioning a plurality of leakage points in the same section of pipeline, and has stronger practicability.
Drawings
FIG. 1 is a flow chart of a method for locating a leak point in an underground pipe according to the present disclosure;
FIG. 2 is a schematic diagram of the initial location of a leak;
FIG. 3 is a schematic view of the precise location of the leak point in the first case;
FIG. 4 is a schematic view of the precise location of a leak point in a second case;
FIG. 5 is a block diagram of a system for locating a leak point in an underground pipe according to the present disclosure.
Detailed Description
The invention is further elucidated with reference to the drawings and the detailed description.
The invention discloses a method for positioning a leakage point of an underground pipeline, which comprises the following steps of:
(1) arranging a sensor node at each node of the underground pipeline network, wherein each sensor node comprises an acoustic vector sensor and a noise sensor; the acoustic vector sensor is used for acquiring an incident angle of a leakage signal to a sensor node, and the noise sensor is used for acquiring the time of the noise of a leakage point reaching the sensor node;
(2) when the pipeline leaks, the at least two acoustic vector sensors detect a leakage signal and acquire the incident angle of the leakage signal to the acoustic vector sensors, and a straight line is drawn according to the position of the acoustic vector sensors and the incident angle of the leakage signal to acquire at least one acoustic vector intersection point; if a pipeline exists in the neighborhood range of the acoustic vector intersection, the initial positioning position of the leakage point is the position of the pipeline in the neighborhood range of the acoustic vector intersection, as shown in fig. 2, a circle in the figure is a sensor node, a solid line is a pipeline, and a dotted line is a straight line drawn according to the position of the acoustic vector sensor and the incident angle of the leakage signal. In fig. 2- (a), the intersection point of the acoustic vector is located on the pipeline, and the intersection point X is the initial location position of the leakage point, in fig. 2- (b), the intersection point Y of the acoustic vector is not located on the pipeline, but the pipeline is located in the neighborhood range of the intersection point, so that the leakage possibility exists in the pipelines in the neighborhood range, and the initial location position of the leakage point is a section of pipeline in the neighborhood range of the intersection point Y. The size of the intersection neighborhood can be selected according to empirical values. In this embodiment, the neighborhood of the intersection point Y is a circular region with the intersection point Y as a circle center and a radius R, and the value of the radius R is 2 times of the diameter of the pipeline.
(3) If only one leakage point is preliminarily positioned or a plurality of leakage points are preliminarily positioned, and the preliminarily positioned positions of any two leakage points in the plurality of leakage points are not in the same or adjacent pipeline sections, the accurate position of the leakage point is determined according to the length of the pipeline between the noise sensors at the two ends of the pipeline section where the leakage point is positioned and the time difference of the received leakage noise signal. As shown in fig. 3, there is a preliminarily located leak between sensors Si and Sj, Sm and Sn, respectively, which are not in the same pipe segment nor in an adjacent pipe segment, and the precise location of P1 is determined according to the length of the pipe between sensors Si and Sj and the time difference of the received leakage noise signal, and the precise location of P2 is determined according to the length of the pipe between sensors Sm and Sn and the time difference of the received leakage noise signal, and the following specific steps are described by taking P1 as an example:
(3.1) if the moments when the noise sensors i and j at the two ends of the initial leakage point location position receive the leakage noise signals are the same, the leakage point P1 is located at the middle point of the pipeline between the noise sensors i and j;
(3.2) setting noise sensors i and j at two ends of the initial positioning position of the leakage point to be in sequence with TiAnd TjThe moment of reception of the leakage noise signal, Tj>TiBecause the leakage noise signal is transmitted from the leakage point to the sensors at two ends, the leakage point is closer to the noise sensor i, and the distance from the leakage point to the noise sensor i is as follows:
where l is the length of the pipe between the noise sensors i and j, v is the transmission speed of the leakage noise signal in the pipe,△T＝Tj-Ti。
if there are multiple initially located leaks, and there are two or more initially located leaks in the same or adjacent pipeline sections, as shown in fig. 4, there are two initially located leaks P1 and P3 between sensors Si and Sj, and there is one initially located leak P4 between sensors Sj and Sk, then sensor Si will receive the leak signals of P1 and P3, and sensor Sj will receive the leak signals of P1, P3, and P4, in which case the step of determining the precise location of the leak is:
judging whether the noise sensors at two ends of each preliminarily positioned leakage point receive leakage noise signals or not, if so, performing frequency domain analysis on the received leakage noise signals, extracting frequency domain characteristics, and if the signal frequencies received by adjacent noise sensors are the same, determining that a pair of leakage noise signal pairs exist; in the example of fig. 4, the leakage signal received by Si has primary frequencies f1、f3The main frequency of the leakage signal received by Sj is f1、f3、f4The dominant frequency of the received leakage signal is f4Thereby obtaining a leakage noise signal pair between the sensors Si and Sj and a leakage signal pair between Sj and Sk, and determining the position of the leakage point according to the time difference of each pair of leakage noise signal pairs reaching the noise sensor and the length of the pipeline between the noise sensorsThe steps are the same as (3.1) - (3.2).
The invention also discloses a positioning system for realizing the method for positioning the leakage point of the underground pipeline, which comprises the following steps as shown in figure 5: the system comprises an acoustic vector sensor and a noise sensor, wherein the acoustic vector sensor and the noise sensor are arranged at each node of an underground pipeline network, the acoustic vector sensor is used for acquiring an incident angle of a leakage signal to the sensor node, and the noise sensor is used for acquiring the time of the noise of a leakage point reaching the sensor node;
the leakage point primary positioning module is used for obtaining at least one acoustic vector intersection point according to the incident angle of a leakage signal detected by at least two acoustic vector sensors to the leakage point and the position of the acoustic vector sensor when the pipeline leaks; and if a pipeline exists in the neighborhood range of the acoustic vector intersection, the initial positioning position of the leakage point is the pipeline position in the neighborhood range of the acoustic vector intersection.
The accurate leakage point positioning module is used for determining the accurate position of the leakage point: if only one leakage point is preliminarily positioned or a plurality of leakage points are preliminarily positioned, and the preliminarily positioned positions of any two leakage points in the plurality of leakage points are not in the same or adjacent pipeline sections, the accurate position of the leakage point is determined according to the length of the pipeline between the noise sensors at the two ends of the pipeline section where the leakage point is positioned and the time difference of the received leakage noise signal, and the specific steps are as the steps (3.1) and (3.2).
If the initial positioning leakage point obtained by the initial leakage point positioning module is multiple, and two or more initial leakage point positioning positions are in the same or adjacent pipeline sections, the step of determining the accurate leakage point position by the accurate leakage point positioning module is as follows:
judging whether the noise sensors at two ends of each preliminarily positioned leakage point receive leakage noise signals or not, if so, performing frequency domain analysis on the received leakage noise signals, extracting frequency domain characteristics, and if the signal frequencies received by adjacent noise sensors are the same, determining that a pair of leakage noise signal pairs exist;
and determining the position of the leakage point according to the time difference of each pair of leakage noise signals reaching the noise sensor and the length of the pipeline between the noise sensors.
In practical application, a node in the underground pipeline network is used as a main station, the initial leakage point positioning module and the accurate leakage point positioning module are arranged on the main station, and the position of the leakage point is detected by the main station. In order to improve the detection accuracy, another node is selected as a secondary main station, and a leakage point primary positioning module and a leakage point precise positioning module are also arranged on the secondary main station to detect the position of a leakage point. And if the positions of the leakage points detected by the main station and the auxiliary main station are consistent, the positioning of the leakage points is finished, and if the detection results are inconsistent, the detection is carried out again.
Claims (6)
1. The method for positioning the leakage point of the underground pipeline is characterized by comprising the following steps:
(1) arranging a sensor node at each node of the underground pipeline network, wherein each sensor node comprises an acoustic vector sensor and a noise sensor; the acoustic vector sensor is used for acquiring an incident angle of a leakage signal to a sensor node, and the noise sensor is used for acquiring the time of the noise of a leakage point reaching the sensor node;
(2) when the pipeline leaks, the at least two acoustic vector sensors detect a leakage signal and acquire the incident angle of the leakage signal to the acoustic vector sensors, and a straight line is drawn according to the position of the acoustic vector sensors and the incident angle of the leakage signal to acquire at least one acoustic vector intersection point; the intersection point of the acoustic vectors is a primary positioning position of a leakage point;
(3) if only one leakage point is preliminarily positioned or a plurality of leakage points are preliminarily positioned, and the preliminarily positioned positions of any two leakage points in the plurality of leakage points are not in the same or adjacent pipeline sections, determining the accurate position of the leakage point according to the length of the pipeline between the noise sensors at the two ends of the pipeline section where the leakage point is positioned and the time difference of the received leakage noise signal;
if a plurality of initially positioned leakage points are obtained and two or more initially positioned leakage points are positioned in the same or adjacent pipeline sections, the step of determining the accurate positions of the leakage points comprises the following steps:
judging whether the noise sensors at two ends of each leakage point preliminarily positioned receive leakage noise signals or not, if so, performing frequency domain analysis on the received leakage noise signals, extracting frequency domain characteristics, and if the main frequencies of the signals received by adjacent noise sensors are the same, determining that a pair of leakage noise signal pairs exist;
and determining the accurate position of the leakage point according to the time difference of each pair of leakage noise signals reaching the noise sensor and the length of the pipeline between the noise sensors.
2. The method of claim 1, wherein after the acoustic vector intersection is obtained in step (2), if there is a pipe in the neighborhood of the acoustic vector intersection, the initial location of the leak is the pipe in the neighborhood of the acoustic vector intersection.
3. The method according to claim 1, wherein in the step (3), the position of the leakage point is determined according to the length of the pipe between the noise sensors at the two ends of the initial positioning position of the leakage point and the time difference of the received leakage noise signal, and the specific steps are as follows:
(3.1) if the moments when the noise sensors i and j at the two ends of the initial positioning position of the leakage point receive the leakage noise signals are the same, the leakage point is positioned at the midpoint of the pipeline between the noise sensors i and j;
(3.2) setting noise sensors i and j at two ends of the initial positioning position of the leakage point to be in sequence with TiAnd TjThe moment of reception of the leakage noise signal, Tj>TiThen the leak point is closer to the noise sensor i, and the distance from the leak point to the noise sensor i is:
where l is the length of the pipe between the noise sensors i and j, v is the transmission speed of the leakage noise signal in the pipe, and Δ T ═ Tj-Ti。
4. Underground piping leak source positioning system, its characterized in that includes:
the system comprises an acoustic vector sensor and a noise sensor, wherein the acoustic vector sensor and the noise sensor are arranged at each node of an underground pipeline network, the acoustic vector sensor is used for acquiring an incident angle of a leakage signal to the sensor node, and the noise sensor is used for acquiring the time of the noise of a leakage point reaching the sensor node;
the leakage point primary positioning module is used for obtaining at least one acoustic vector intersection point according to the incident angle of a leakage signal detected by at least two acoustic vector sensors to the leakage point and the position of the acoustic vector sensor when the pipeline leaks; the intersection point of the acoustic vectors is a primary positioning position of a leakage point;
the accurate leakage point positioning module is used for determining the accurate position of the leakage point: if only one leakage point is preliminarily positioned or a plurality of leakage points are preliminarily positioned, and the preliminarily positioned positions of any two leakage points in the plurality of leakage points are not in the same or adjacent pipeline sections, determining the accurate position of the leakage point according to the length of the pipeline between the noise sensors at the two ends of the pipeline section where the leakage point is positioned and the time difference of the received leakage noise signal;
if the initial positioning leakage point obtained by the initial leakage point positioning module is multiple, and two or more initial leakage point positioning positions are in the same or adjacent pipeline sections, the step of determining the accurate leakage point position by the accurate leakage point positioning module is as follows:
judging whether the noise sensors at two ends of each leakage point preliminarily positioned receive leakage noise signals or not, if so, performing frequency domain analysis on the received leakage noise signals, extracting frequency domain characteristics, and if the main frequencies of the signals received by adjacent noise sensors are the same, determining that a pair of leakage noise signal pairs exist;
and determining the position of the leakage point according to the time difference of each pair of leakage noise signals reaching the noise sensor and the length of the pipeline between the noise sensors.
5. The underground pipeline leakage point locating system of claim 4, wherein the initial leakage point locating module, after obtaining the acoustic vector intersection point, is configured to locate the initial leakage point at the pipeline if any within a neighborhood of the acoustic vector intersection point.
6. The underground pipeline leakage point locating system of claim 4, wherein the accurate leakage point locating module determines the position of the leakage point according to the length of the pipeline between the noise sensors at the two ends of the initial leakage point locating position and the time difference of the received leakage noise signal, and the specific steps are as follows:
(3.1) if the moments when the noise sensors i and j at the two ends of the initial positioning position of the leakage point receive the leakage noise signals are the same, the leakage point is positioned at the midpoint of the pipeline between the noise sensors i and j;
(3.2) setting noise sensors i and j at two ends of the initial positioning position of the leakage point to be in sequence with TiAnd TjThe moment of reception of the leakage noise signal, Tj>TiThen the leak point is closer to the noise sensor i, and the distance from the leak point to the noise sensor i is:
where l is the length of the pipe between the noise sensors i and j, v is the transmission speed of the leakage noise signal in the pipe, and Δ T ═ Tj-Ti。
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