CN114857508A - Underground methane gas conveying pipeline leakage positioning system and method - Google Patents
Underground methane gas conveying pipeline leakage positioning system and method Download PDFInfo
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 259
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- 238000004891 communication Methods 0.000 claims abstract description 21
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- 239000011159 matrix material Substances 0.000 claims description 45
- 238000005457 optimization Methods 0.000 claims description 28
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
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Abstract
The invention discloses a system and a method for positioning underground methane gas conveying pipeline leakage. The system comprises a cloud server and a monitoring device, wherein the monitoring device comprises a control device, a mobile gas detection device and a plurality of gas sensors, the gas sensors are located under a methane gas conveying pipeline and are arranged at equal intervals along the moving direction of the methane gas conveying pipeline, the mobile gas detection device comprises a guide rail which is located under the methane gas conveying pipeline and is consistent with the moving direction of the methane gas conveying pipeline and a mobile gas detection module which is arranged on the guide rail and can move along the guide rail, the mobile gas detection module can be in wireless communication with the control device, the gas sensors are electrically connected with the control device, and the control device can be in wireless communication with the cloud server. The invention can quickly and accurately position the gas leakage point of the methane gas conveying pipeline and reduce casualties and economic loss.
Description
Technical Field
The invention relates to the technical field of gas leakage detection, in particular to a system and a method for positioning leakage of an underground methane gas conveying pipeline.
Background
The pipeline transportation has the advantages of large, continuous, rapid, economic, safe, reliable and stable transportation amount, less investment, less occupied area and low cost, can realize automatic control, and is widely applied to industrial production. And in methane gas's transportation, can lead to the pipeline to be in the expanded state because inside methane gas is too big, nevertheless through long-time use, it is weak to probably form the regional protection of part to the pipeline during methane gas transportation to and lead to the fact the damage to comparatively weak department, thereby make methane gas reveal, cause harm to personnel and environment.
At present, a gas sensor is arranged in a channel of a methane gas conveying pipeline at intervals to detect whether methane leaks, however, the method can only roughly position the gas leakage position and cannot accurately position the gas leakage point of the methane gas conveying pipeline.
Disclosure of Invention
The invention aims to solve the technical problems and provides a system and a method for positioning the leakage of an underground methane gas conveying pipeline, which can quickly and accurately position the gas leakage point of the methane gas conveying pipeline and reduce casualties and economic losses.
In order to solve the problems, the invention adopts the following technical scheme:
the invention discloses a system for positioning underground methane gas conveying pipeline leakage, which comprises a cloud server and a monitoring device, wherein the monitoring device comprises a control device, a mobile gas detection device and a plurality of gas sensors, the gas sensors are positioned under a methane gas conveying pipeline and are arranged at equal intervals along the moving direction of the methane gas conveying pipeline, the mobile gas detection device comprises a guide rail which is positioned under the methane gas conveying pipeline and is consistent with the moving direction of the methane gas conveying pipeline and a mobile gas detection module which is arranged on the guide rail and can move along the guide rail, the mobile gas detection module can be in wireless communication with the control device, the gas sensors are electrically connected with the control device, and the control device can be in wireless communication with the cloud server.
In the scheme, the gas sensors at the fixed positions detect the methane concentration of the positions of the gas sensors in real time and send the methane concentration to the control device, when the methane concentration of the positions of the gas sensors detected by the gas sensors exceeds a set value, the methane gas conveying pipeline is indicated to have gas leakage, the control device plans a detection path on the guide rail according to the positions of the gas sensors, and informs the mobile gas detection module of moving along the detection path on the guide rail and detecting.
The mobile gas detection module collects methane concentration data of a current position once every moving distance D from a starting point of a detection path, the mobile gas detection module sends the collected methane concentration data to the control device after walking along the detection path, the control device calculates a gas leakage position of the methane gas conveying pipeline according to the received methane concentration data and sends the gas leakage position to the cloud server, and the cloud server stores gas leakage position information and informs maintenance personnel of maintenance.
The gas sensor can be arranged below the guide rail and can also be arranged at the same height with the guide rail. This scheme detects through the gas sensor that moves along methane gas transmission pipeline trend interval and the removal gas detection module cooperation that removes the detection, and the gaseous leakage point of the gaseous transmission pipeline of location methane that can be quick accurate reduces casualties and economic loss.
Preferably, the mobile gas detection module comprises a mobile module capable of moving along a guide rail, a support is arranged on the mobile module, a plurality of gas detection modules located at different heights are arranged on the support, a microprocessor and a first wireless communication module are further arranged on the mobile module, and the microprocessor is electrically connected with the mobile module, the gas detection modules and the first wireless communication module respectively.
The mobile gas detection module starts from the starting point of the detection path, detection is carried out once every moving distance D, the gas detection modules with different heights on the support respectively collect methane concentration once during detection, the methane concentration values detected after the mobile gas detection module finishes walking along the detection path form a detection matrix G and are sent to the control device, and the control device calculates the gas leakage position of the methane gas conveying pipeline according to the detection matrix G.
Preferably, the gas detection modules are arranged at equal intervals in the vertical direction.
Preferably, the control device comprises a controller and a second wireless communication module, and the controller is electrically connected with the gas sensor and the second wireless communication module respectively.
Preferably, the length of the guide rail is consistent with the length of the methane gas conveying pipeline. Make and remove gaseous detection module and can remove the terminal point below of methane gas conveying pipeline from methane gas conveying pipeline's starting point below, can monitor whole methane gas conveying pipeline.
Preferably, the gas sensor is located below the guide rail.
The invention discloses a method for positioning leakage of an underground methane gas conveying pipeline, which is used for the system for positioning leakage of the underground methane gas conveying pipeline and comprises the following steps:
s1: numbering gas sensors positioned right below a methane gas conveying pipeline from left to right sequentially into numbers of 1 and 2 … … k, wherein k is the total number of the gas sensors right below the methane gas conveying pipeline, numbering gas detection modules on a support from bottom to top sequentially into numbers of 1 and 2 … … m, and m is the total number of the gas detection modules on the support;
s2: each gas sensor detects the methane concentration of the position of the gas sensor in real time and sends the methane concentration to the control device, and when the gas sensor with the number v detects the methane concentration of the position of the gas sensorWhen the degree exceeds a set value, v is more than or equal to 1 and less than or equal to k, the control device plans a detection path of the mobile gas detection module on the guide rail according to the position of the gas sensor with the number v, sets the starting point of the detection path as a detection point, sets one detection point every interval distance D from the starting point of the detection path,
l is the length of the detection path, E is a positive integer, and the detection points on the detection path are numbered as 1 and 2 … … n in sequence from the starting point to the end point of the detection path, wherein n is E + 1;
s3: the control device sends the detection path and the n detection points on the detection path to the mobile gas detection device;
s4: the mobile gas detection module moves along a detection path, detection is carried out once when the mobile gas detection module moves to a detection point, during each detection, m gas detection modules with different heights on the mobile gas detection module respectively collect the methane concentration once, a detection matrix G is finally obtained, and the detection matrix G is sent to the control device;
wherein GS is ij The value of the methane concentration detected by the gas detection module with the number i at the detection point with the number j is represented, i is more than or equal to 1 and less than or equal to m, and j is more than or equal to 1 and less than or equal to n;
s5: carrying out normalization processing on each methane concentration value in the detection matrix G to obtain a matrix P;
wherein, PS ij Represents GS ij Normalizing the normalized data;
s6: inputting each normalized data in the matrix P into an unconstrained global optimization model respectively to obtain a characteristic value CCP corresponding to each normalized data, and normalizing the data PS ij Corresponding characteristic value is CCP ij ；
S7: establishing a rectangular coordinate system by taking the moving distance of the moving gas detection module on the detection path as an X axis and the characteristic value CCP as a Y axis, and determining the moving distance of the moving gas detection module corresponding to each normalized data on the detection path according to the detection point corresponding to each normalized data in the matrix P;
s8: drawing a characteristic curve corresponding to each row of normalized data in the matrix P on a rectangular coordinate system to obtain m characteristic curves, F i Representing characteristic curves corresponding to the ith row of normalized data in the matrix P, determining an abscissa corresponding to the peak value of each characteristic curve, calculating a mean value Q of the abscissas corresponding to the peak values of all the characteristic curves, and positioning the leakage position of the methane gas conveying pipeline above the moving distance Q of the mobile gas detection module on the detection path;
drawing a characteristic curve F corresponding to the ith row of normalized data in the matrix P on a rectangular coordinate system i The method comprises the following steps:
drawing corresponding points on a rectangular coordinate system according to the characteristic value CCP corresponding to each normalized data in the ith row of normalized data and the moving distance of the mobile gas detection module corresponding to the characteristic value CCP on the detection path, drawing n points in total, and fitting the n points to obtain a corresponding characteristic curve F i 。
Preferably, in step S5, the methane concentration value GS in the detection matrix G is determined ij Normalization processing is carried out to obtain corresponding normalization data PS ij The formula of (1) is as follows:
wherein GS is max Represents the maximum methane concentration value, GS, in the detection matrix G min Indicating the minimum methane concentration value in the detection matrix G.
Preferably, the step S6 is to normalize the data PS ij Inputting an unconstrained global optimization model to obtain a corresponding characteristic value CCP ij The method comprises the following steps:
the normalized data PS ij Inputting an unconstrained global optimization model:
wherein G (x) represents an unconstrained global optimization model framework,
representing the lag component of the unconstrained global optimization model framework, cl (t) representing the excitation signal,
representing excitation margin, x representing an unconstrained global optimization model framework parameter, t representing time, beta representing the strength of an excitation signal cl (t), omega representing frequency, gamma representing an adjustment coefficient, and a, b and c all being natural numbers;
the value of t when the unconstrained global optimization model reaches the optimal state is recorded as t ij Obtaining a characteristic value CCP ij ，
The method comprises the steps of establishing a model from the perspective of a global variable by adopting an unconstrained global optimization model, adjusting the unconstrained global optimization model by adopting an excitation signal to obtain an optimized state, and selecting a characteristic value CCP in the optimized state for representation, namely analyzing methane concentration data by using the unconstrained global optimization model and obtaining characteristic information, so that the interference of some detection errors can be avoided, and the accuracy and the stability of gas leakage positioning are improved. The abscissa corresponding to the peak value of the characteristic curve of the same type of gas in the optimal state is stable, so that the abscissa corresponding to the peak value of the characteristic curve is selected as an effective representation of a detection target, and the average is taken, so that the stability and the accuracy of gas leakage positioning are further improved.
Preferably, the formula for calculating the mean Q of the abscissas corresponding to the peak values of all the characteristic curves in step S8 is as follows:
Preferably, the method for the control device to plan the detection path of the mobile gas detection module on the guide rail according to the position of the gas sensor with the number v in the step S2 includes the following steps:
when v is 1, the detection path is a guide rail section between the gas sensor numbered 1 and the gas sensor numbered 2;
when v is k, the detection path is a guide rail section between the gas sensor numbered k-1 and the gas sensor numbered k;
when 1 < v < k, the detection path is a guide rail section between the gas sensor numbered v-1 and the gas sensor numbered v + 1.
The invention has the beneficial effects that: the gas leakage point of the methane gas conveying pipeline can be quickly and accurately positioned, and casualties and economic losses are reduced.
Drawings
FIG. 1 is a schematic structural view of an embodiment;
FIG. 2 is a schematic connection block diagram of an embodiment;
fig. 3 is a schematic diagram of a characteristic curve.
In the figure: 1. cloud ware, 2, controlling means, 3, gas sensor, 4, guide rail, 5, remove gaseous detection module, 6, methane gas pipeline, 7, remove the module, 8, support, 9, gaseous detection module, 10, microprocessor, 11, first wireless communication module.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the utility model provides a gaseous pipeline of underground methane of this embodiment leaks positioning system, as shown in fig. 1, fig. 2, including cloud ware 1 and monitoring devices, monitoring devices includes controlling means 2, remove gaseous detection device and k gas sensor 3, k gas sensor 3 is located under the gaseous pipeline of methane 6 and moves towards equidistant setting along the gaseous pipeline of methane 6, remove gaseous detection device including being located under the gaseous pipeline of methane 6 and move towards unanimous guide rail 4 and set up on guide rail 4 and can follow the gaseous detection module 5 that guide rail 4 removed with the gaseous pipeline of methane 6, remove gaseous detection module 5 and can be with 2 radio communication of controlling means, gas sensor 3 is connected with controlling means 2 electricity, controlling means 2 can with cloud ware 1 radio communication.
Remove gaseous detection module 5 including can follow the removal module 7 that guide rail 4 removed, be equipped with support 8 on the removal module 7, be equipped with m and be located the not gaseous detection module 9 of co-altitude on the support 8, m gaseous detection module 9 sets up along vertical direction equidistant, still is equipped with microprocessor 10 and first wireless communication module 11 on the removal module 7, microprocessor 10 is connected with removal module 7, gaseous detection module 9 and first wireless communication module 11 electricity respectively. The control device comprises a controller and a second wireless communication module, and the controller is electrically connected with the gas sensor 3 and the second wireless communication module respectively.
In the scheme, the gas sensors at the fixed positions detect the methane concentration of the positions of the gas sensors in real time and send the methane concentration to the control device, when the methane concentration of the positions of the gas sensors detected by the gas sensors exceeds a set value, the methane gas conveying pipeline is indicated to have gas leakage, the control device plans a detection path on the guide rail according to the positions of the gas sensors, and informs the mobile gas detection module of moving along the detection path on the guide rail and detecting.
The mobile gas detection module starts from the starting point of the detection path, detection is carried out once every moving distance D, the gas detection modules with different heights on the support respectively collect methane concentration once during detection every time, the detected methane concentration values form a detection matrix G after the mobile gas detection module walks along the detection path and are sent to the control device, the control device calculates the gas leakage position of the methane gas conveying pipeline according to the detection matrix G and sends the gas leakage position to the cloud server, and the cloud server stores the gas leakage position information and informs maintenance personnel to maintain.
This scheme detects through the gas sensor that moves along methane gas transmission pipeline trend interval and the removal gas detection module cooperation that removes the detection, and the gaseous leakage point of the gaseous transmission pipeline of location methane that can be quick accurate reduces casualties and economic loss.
The length of the guide rail 4 is consistent with that of the methane gas conveying pipeline 6, and the gas sensor 3 is positioned right below the guide rail 4. Make and remove gaseous detection module and can remove the terminal point below of methane gas conveying pipeline from methane gas conveying pipeline's starting point below, can monitor whole methane gas conveying pipeline.
The method for positioning the leakage of the underground methane gas conveying pipeline is used for the system for positioning the leakage of the underground methane gas conveying pipeline, and comprises the following steps:
s1: numbering gas sensors positioned right below a methane gas conveying pipeline from left to right as 1 and 2 … … k, wherein k is the total number of the gas sensors right below the methane gas conveying pipeline, numbering gas detection modules on a bracket from bottom to top as 1 and 2 … … m, and m is the total number of the gas detection modules on the bracket;
s2: each gas sensor detects the methane concentration of the position of the gas sensor in real time and sends the methane concentration to the control device, when the gas sensor with the number v detects that the methane concentration of the position of the gas sensor exceeds a set value, v is more than or equal to 1 and less than or equal to k, the control device plans a detection path of the mobile gas detection module on the guide rail according to the position of the gas sensor with the number v, sets the starting point of the detection path as a detection point, sets a detection point every interval distance D from the starting point of the detection path,
l is a detection pathE is a positive integer, E is more than or equal to 40 and less than or equal to 100, and the number of detection points on the detection path from the starting point to the end point of the detection path is 1, 2 … … n, wherein n is E + 1;
the method for the control device to plan the detection path of the moving gas detection module on the guide rail according to the position of the gas sensor with the number v comprises the following steps:
when v is 1, the detection path is a track section between the gas sensor numbered 1 and the gas sensor numbered 2 (the starting point of the detection path is the track position directly above the gas sensor numbered 1, and the end point of the detection path is the track position directly above the gas sensor numbered 2);
when v is k, the detection path is a guide rail section between the gas sensor numbered k-1 and the gas sensor numbered k (the starting point of the detection path is the guide rail position directly above the gas sensor numbered k-1, and the end point of the detection path is the guide rail position directly above the gas sensor numbered k);
when 1 < v < k, the detection path is a guide rail section between the gas sensor numbered v-1 and the gas sensor numbered v +1 (the starting point of the detection path is a guide rail position directly above the gas sensor numbered v-1, and the end point of the detection path is a guide rail position directly above the gas sensor numbered v + 1);
s3: the control device sends the detection path and n detection points on the detection path to the mobile gas detection device;
s4: the mobile gas detection module moves along a detection path, detection is carried out once when the mobile gas detection module moves to a detection point, during each detection, m gas detection modules with different heights on the mobile gas detection module respectively collect the methane concentration once, a detection matrix G is finally obtained, and the detection matrix G is sent to the control device;
wherein GS is ij Indicating detection by gas detection module numbered i at detection point numbered jThe concentration value of the obtained methane is more than or equal to 1 and less than or equal to m, and more than or equal to 1 and less than or equal to j and less than or equal to n;
s5: carrying out normalization processing on each methane concentration value in the detection matrix G to obtain a matrix P;
wherein, PS ij Represents GS ij Normalizing the normalized data;
for the methane concentration value GS in the detection matrix G ij Normalization processing is carried out to obtain corresponding normalization data PS ij The formula of (1) is as follows:
wherein GS is max Indicating the maximum methane concentration value, GS, in the detection matrix G min Representing the minimum methane concentration value in the detection matrix G;
s6: inputting each normalized data in the matrix P into an unconstrained global optimization model respectively to obtain a characteristic value CCP corresponding to each normalized data, and normalizing the data PS ij Corresponding characteristic value is CCP ij ；
The normalized data PS ij Inputting an unconstrained global optimization model to obtain a corresponding characteristic value CCP ij The method comprises the following steps:
the normalized data PS ij Inputting an unconstrained global optimization model:
wherein G (x) represents an unconstrained global optimization model framework,
representing the lag component of the unconstrained global optimization model framework, cl (t) representing the excitation signal,
representing excitation margin, x representing an unconstrained global optimization model framework parameter, t representing time, beta representing the strength of an excitation signal cl (t), omega representing frequency, gamma representing an adjustment coefficient, and a, b and c all being natural numbers;
the value of t when the unconstrained global optimization model reaches the optimal state is recorded as t ij Obtaining a characteristic value CCP ij ，
S7: establishing a rectangular coordinate system by taking the moving distance of the moving gas detection module on the detection path as an X axis and the characteristic value CCP as a Y axis, and determining the moving distance of the moving gas detection module corresponding to each normalized data on the detection path according to the detection point corresponding to each normalized data in the matrix P;
s8: drawing a characteristic curve corresponding to each row of normalized data in the matrix P on a rectangular coordinate system to obtain m characteristic curves, F i Representing characteristic curves corresponding to the ith row of normalized data in the matrix P, determining an abscissa corresponding to the peak value of each characteristic curve, and calculating a mean value Q of the abscissas corresponding to the peak values of all the characteristic curves, wherein the leakage position of the methane gas conveying pipeline is just above the position where the mobile gas detection module moves a distance Q from the starting point on the detection path;
drawing a characteristic curve F corresponding to the ith row of normalized data in the matrix P on a rectangular coordinate system i The method comprises the following steps:
drawing corresponding points on a rectangular coordinate system according to the characteristic value CCP corresponding to each normalized data in the ith row of normalized data and the moving distance of the moving gas detection module corresponding to the characteristic value CCP on the detection path, drawing n points in total, and drawing the n pointsPoint fitting to obtain corresponding characteristic curve F i ；
The formula for calculating the mean Q of the abscissas corresponding to the peaks of all the characteristic curves is as follows:
In the scheme, the gas sensors at the fixed positions detect the methane concentration of the positions of the gas sensors in real time and send the methane concentration to the control device, when the methane concentration of the positions of the gas sensors detected by the gas sensors exceeds a set value, the methane gas conveying pipeline is indicated to have gas leakage, the control device plans a detection path on the guide rail according to the positions of the gas sensors, and informs the mobile gas detection module of moving along the detection path on the guide rail and detecting.
The mobile gas detection module starts from the starting point of a detection path, performs detection once every moving distance D, the gas detection modules with m different heights on a support respectively collect methane concentration once during detection, the methane concentration values detected by the mobile gas detection module after the mobile gas detection module finishes walking along the detection path form a detection matrix G and are sent to a control device, the control device normalizes the detection matrix G to obtain a matrix P, each normalized data in the matrix P is respectively input into an unconstrained global optimization model to obtain a characteristic value CCP corresponding to each normalized data, a rectangular coordinate system is established by taking the moving distance of the mobile gas detection module on the detection path as an X axis and the characteristic value CCP as a Y axis, a characteristic curve corresponding to each row of normalized data in the matrix P is drawn on the rectangular coordinate system to obtain m characteristic curves, and an abscissa corresponding to the peak value of each characteristic curve is determined, and calculating the mean value Q of the abscissas corresponding to the peak values of all the characteristic curves, wherein the gas leakage position of the methane gas conveying pipeline is the position of the methane gas conveying pipeline right above the moving distance Q of the movable gas detection module on the detection path.
The method comprises the steps of establishing a model from the perspective of a global variable by adopting an unconstrained global optimization model, adjusting the unconstrained global optimization model by adopting an excitation signal to obtain an optimized state, and selecting a characteristic value CCP in the optimized state for representation, namely analyzing methane concentration data by using the unconstrained global optimization model and obtaining characteristic information, so that the interference of some detection errors can be avoided, and the accuracy and the stability of gas leakage positioning are improved. The abscissa corresponding to the peak value of the characteristic curve of the same type of gas in the optimal state is stable, so that the abscissa corresponding to the peak value of the characteristic curve is selected as an effective representation of a detection target, and the average is taken, so that the stability and the accuracy of gas leakage positioning are further improved.
This scheme detects through the gas sensor that moves along methane gas transmission pipeline trend interval and the removal gas detection module cooperation that removes the detection, and the gaseous leakage point of the gaseous transmission pipeline of location methane that can be quick accurate reduces casualties and economic loss.
For example: the characteristic curves drawn on the rectangular coordinate system are shown in fig. 3, the abscissas corresponding to the peak values of the five characteristic curves are respectively 98.2mm, 97.6mm, 99.4mm, 98.8mm and 100.6mm, and the average value is 98.92mm, so that the gas leakage position of the methane gas conveying pipeline is the position of the methane gas conveying pipeline directly above the position where the mobile gas detection module moves 98.92mm from the starting point on the detection path.
Claims (10)
1. The utility model provides a gaseous pipeline leakage positioning system of underground methane, its characterized in that, includes cloud ware (1) and monitoring devices, monitoring devices includes controlling means (2), removes gaseous detection device and a plurality of gas sensor (3), gas sensor (3) are located under the gaseous pipeline of methane (6) and move towards equidistant setting along the gaseous pipeline of methane (6), remove gaseous detection device including be located under the gaseous pipeline of methane (6) and move towards unanimous guide rail (4) and set up on guide rail (4) and can follow the gaseous detection module of removal of guide rail (4) with gaseous pipeline of methane (6) and (5), remove gaseous detection module (5) can with controlling means (2) wireless communication, gas sensor (3) are connected with controlling means (2) electricity, the control device (2) is capable of wireless communication with a cloud server (1).
2. The system for locating the leakage of the underground methane gas conveying pipeline according to claim 1, wherein the mobile gas detection module (5) comprises a mobile module (7) capable of moving along a guide rail (4), a support (8) is arranged on the mobile module (7), a plurality of gas detection modules (9) located at different heights are arranged on the support (8), a microprocessor (10) and a first wireless communication module (11) are further arranged on the mobile module (7), and the microprocessor (10) is electrically connected with the mobile module (7), the gas detection modules (9) and the first wireless communication module (11) respectively.
3. A system for locating underground methane gas transportation pipeline leaks according to claim 2, characterized in that the gas detection modules (9) are arranged at equal intervals in the vertical direction.
4. A system for locating underground methane gas transportation pipeline leakage according to claim 1, 2 or 3, characterized in that said control device (2) comprises a controller and a second wireless communication module, said controller is electrically connected with said gas sensor (3) and said second wireless communication module respectively.
5. A system for locating underground methane gas transportation piping leakage according to claim 1, 2 or 3, characterized in that the length of the guide rail (4) is the same as the length of the methane gas transportation piping (6).
6. A system for locating underground methane gas transportation piping leakage according to claim 1, 2 or 3, characterized in that the gas sensor (3) is located below the guide rail (4).
7. A method for locating a leak in an underground methane gas transportation pipeline, which is used in the system for locating a leak in an underground methane gas transportation pipeline according to claim 2, and which comprises the following steps:
s1: numbering gas sensors positioned right below a methane gas conveying pipeline from left to right as 1 and 2 … … k, wherein k is the total number of the gas sensors right below the methane gas conveying pipeline, numbering gas detection modules on a bracket from bottom to top as 1 and 2 … … m, and m is the total number of the gas detection modules on the bracket;
s2: each gas sensor detects the methane concentration of the position of the gas sensor in real time and sends the methane concentration to the control device, when the gas sensor with the number v detects that the methane concentration of the position of the gas sensor exceeds a set value, v is more than or equal to 1 and less than or equal to k, the control device plans a detection path of the mobile gas detection module on the guide rail according to the position of the gas sensor with the number v, sets the starting point of the detection path as a detection point, sets a detection point every interval distance D from the starting point of the detection path,
l is the length of the detection path, E is a positive integer, and the detection points on the detection path are numbered as 1 and 2 … … n in sequence from the starting point to the end point of the detection path, wherein n is E + 1;
s3: the control device sends the detection path and n detection points on the detection path to the mobile gas detection device;
s4: the mobile gas detection module moves along a detection path, detection is carried out once when the mobile gas detection module moves to a detection point, during each detection, m gas detection modules with different heights on the mobile gas detection module respectively collect the methane concentration once, a detection matrix G is finally obtained, and the detection matrix G is sent to the control device;
wherein GS is ij The value of the methane concentration detected by the gas detection module with the number i at the detection point with the number j is represented, i is more than or equal to 1 and less than or equal to m, and j is more than or equal to 1 and less than or equal to n;
s5: carrying out normalization processing on each methane concentration value in the detection matrix G to obtain a matrix P;
wherein, PS ij Represents GS ij Normalizing the normalized data;
s6: inputting each normalized data in the matrix P into an unconstrained global optimization model respectively to obtain a characteristic value CCP corresponding to each normalized data, and normalizing the data PS ij Corresponding characteristic value is CCP ij ；
S7: establishing a rectangular coordinate system by taking the moving distance of the moving gas detection module on the detection path as an X axis and the characteristic value CCP as a Y axis, and determining the moving distance of the moving gas detection module corresponding to each normalized data on the detection path according to the detection point corresponding to each normalized data in the matrix P;
s8: drawing a characteristic curve corresponding to each row of normalized data in the matrix P on a rectangular coordinate system to obtain m characteristic curves, F i Representing characteristic curves corresponding to the ith row of normalized data in the matrix P, determining an abscissa corresponding to the peak value of each characteristic curve, calculating a mean value Q of the abscissas corresponding to the peak values of all the characteristic curves, and positioning the leakage position of the methane gas conveying pipeline above the moving distance Q of the mobile gas detection module on the detection path;
drawing a characteristic curve F corresponding to the ith row of normalized data in the matrix P on a rectangular coordinate system i The method comprises the following steps:
drawing corresponding points on a rectangular coordinate system according to the characteristic value CCP corresponding to each normalized data in the ith row of normalized data and the moving distance of the mobile gas detection module corresponding to the characteristic value CCP on the detection path, drawing n points in total, and fitting the n points to obtain a corresponding characteristic curve F i 。
8. The method as claimed in claim 7, wherein the step S5 is performed on the methane concentration in the detection matrix GValue GS ij Normalization processing is carried out to obtain corresponding normalization data PS ij The formula of (1) is as follows:
wherein GS is max Indicating the maximum methane concentration value, GS, in the detection matrix G min Indicating the minimum methane concentration value in the detection matrix G.
9. The method as claimed in claim 7, wherein the step S6 is to normalize the data PS ij Inputting an unconstrained global optimization model to obtain a corresponding characteristic value CCP ij The method comprises the following steps:
the normalized data PS ij Inputting an unconstrained global optimization model:
wherein G (x) represents an unconstrained global optimization model framework,
representing the lag component of the unconstrained global optimization model framework, cl (t) representing the excitation signal,
representing excitation margin, x representing an unconstrained global optimization model framework parameter, t representing time, beta representing the strength of an excitation signal cl (t), omega representing frequency, gamma representing an adjustment coefficient, and a, b and c all being natural numbers;
will be unconstrainedThe value of t when the local optimization model reaches the optimal state is recorded as t ij Obtaining a characteristic value CCP ij ，
10. The method for locating the leakage of the underground methane gas transmission pipeline according to claim 7, wherein the method for the control device to plan the detection path of the mobile gas detection module on the guide rail according to the position of the gas sensor with the number v in the step S2 comprises the following steps:
when v is 1, the detection path is a guide rail section between the gas sensor numbered 1 and the gas sensor numbered 2;
when v is k, the detection path is a guide rail section between the gas sensor numbered k-1 and the gas sensor numbered k;
when 1 < v < k, the detection path is a guide rail section between the gas sensor numbered v-1 and the gas sensor numbered v + 1.
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