CN114857508B - 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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- CN114857508B CN114857508B CN202210541156.5A CN202210541156A CN114857508B CN 114857508 B CN114857508 B CN 114857508B CN 202210541156 A CN202210541156 A CN 202210541156A CN 114857508 B CN114857508 B CN 114857508B
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 266
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 239
- 238000004891 communication Methods 0.000 claims abstract description 24
- 238000012806 monitoring device Methods 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 48
- 238000005457 optimization Methods 0.000 claims description 28
- 230000005284 excitation Effects 0.000 claims description 11
- 238000012423 maintenance Methods 0.000 description 4
- 238000010606 normalization Methods 0.000 description 4
- 238000012512 characterization method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000009776 industrial production Methods 0.000 description 1
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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
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Abstract
The invention discloses a system and a method for positioning leakage of an underground methane gas conveying pipeline. 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 trend of the methane gas conveying pipeline, the mobile gas detection device comprises a guide rail located under the methane gas conveying pipeline and consistent with the trend 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 rapidly and accurately position the gas leakage point of the methane gas conveying pipeline, and reduce casualties and economic losses.
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 is large in transportation quantity, continuous, rapid, economical, safe, reliable, stable, small in investment, small in occupied area and low in cost, can realize automatic control, and is widely applied to industrial production. In the methane gas conveying process, the pipeline is in an expansion state due to overlarge internal methane gas, however, after long-time use, the pipeline may form partial areas with weak protection and damage to the weaker parts during transportation of the methane gas, so that the methane gas leaks, and harm is caused to personnel and the environment.
Currently, gas sensors are arranged at intervals in a channel of a methane gas conveying pipeline to detect whether methane leaks exist, however, the mode can only approximately position the gas leakage position without a method for accurately positioning 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 leakage of an underground methane gas conveying pipeline, which can rapidly and accurately position a gas leakage point of the methane gas conveying pipeline and reduce casualties and economic losses.
In order to solve the problems, the invention is realized by adopting the following technical scheme:
The invention relates to an underground methane gas conveying pipeline leakage positioning system 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 right below a methane gas conveying pipeline and are arranged at equal intervals along the trend of the methane gas conveying pipeline, the mobile gas detection device comprises a guide rail which is positioned right below the methane gas conveying pipeline and is consistent with the trend 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 sensor at the fixed position detects the methane concentration at the position in real time and sends the methane concentration to the control device, when a certain gas sensor detects that the methane concentration at the position exceeds a set value, the gas sensor indicates that the methane gas conveying pipeline has gas leakage, and the control device plans a detection path on the guide rail according to the position of the gas sensor, informs the movable gas detection module to move along the detection path on the guide rail and detect the methane gas.
The mobile gas detection module collects methane concentration data of the current position every time when the mobile gas detection module starts from the starting point of the 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 the 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 the gas leakage position information and informs maintenance personnel of maintenance.
The gas sensor can be arranged below the guide rail or at the same height with the guide rail. According to the scheme, the gas sensors arranged at intervals along the trend of the methane gas conveying pipeline are matched with the mobile gas detection modules for mobile detection to detect, so that the gas leakage points of the methane gas conveying pipeline can be rapidly and accurately positioned, and casualties and economic losses are reduced.
Preferably, the mobile gas detection module comprises a mobile module capable of moving along the 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 respectively electrically connected with the mobile module, the gas detection module and the first wireless communication module.
The mobile gas detection module starts from the starting point of the detection path, each time the mobile gas detection module detects every moving distance D, the gas detection modules with different heights on the support collect methane concentration once respectively during each detection, the mobile gas detection module forms a detection matrix G by the methane concentration values detected after the mobile gas detection module walks along the detection path and sends the detection matrix G 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 respectively and electrically connected with the gas sensor and the second wireless communication module.
Preferably, the length of the guide rail is consistent with the length of the methane gas transmission pipeline. The movable gas detection module can move from the position below the starting point of the methane gas conveying pipeline to the position below the end point of the methane gas conveying pipeline, and the whole methane gas conveying pipeline can be monitored.
Preferably, the gas sensor is located below the guide rail.
The invention relates to a leakage positioning method of an underground methane gas conveying pipeline, which is used for the leakage positioning system of the underground methane gas conveying pipeline and comprises the following steps:
S1: the gas sensors positioned right below the methane gas conveying pipeline are numbered 1 and 2 … … k in sequence from left to right, k is the total number of the gas sensors right below the methane gas conveying pipeline, the gas detection modules on the support are numbered 1 and 2 … … m in sequence from bottom to top, and m is the total number of the gas detection modules on the support;
S2: each gas sensor detects the methane concentration at 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 at the position of the gas sensor exceeds a set value, v is not less than 1 and not more than 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 detection points on the detection path are numbered as 1, 2 … … n and n=E+1 sequentially from the starting point to the end point of the detection path;
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, and detects once when the mobile gas detection module moves to one detection point, m gas detection modules with different heights on the mobile gas detection module respectively collect methane concentration once during each detection, a detection matrix G is finally obtained, and the detection matrix G is sent to the control device;
Wherein GS ij represents the methane concentration value detected by the gas detection module with the number i at the detection point with the number j, 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: normalizing each methane concentration value in the detection matrix G to obtain a matrix P;
Wherein PS ij represents normalized data normalized by GS ij;
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, wherein the characteristic value corresponding to the normalized data PS ij 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 taking the characteristic value CCP as a Y axis, and determining the moving distance of the moving gas detection module on the detection path, corresponding to each piece of normalized data, according to the detection point, corresponding to each piece of normalized data, in the matrix P;
S8: drawing a characteristic curve corresponding to each line of normalized data in a matrix P on a rectangular coordinate system to obtain m characteristic curves, wherein F i represents the characteristic curve corresponding to the ith line of normalized data in the matrix P, determining the abscissa corresponding to the peak value of each characteristic curve, calculating the average 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 moving gas detection module on the detection path;
The method for drawing the characteristic curve F i corresponding to the ith row of normalized data in the matrix P on the rectangular coordinate system is as follows:
And 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 corresponding moving gas detection module on the detection path, drawing n points in total, and fitting the n points to obtain a corresponding characteristic curve F i.
Preferably, in the step S5, the formula for normalizing the methane concentration value GS ij in the detection matrix G to obtain the corresponding normalized data PS ij is as follows:
Where GS max represents the maximum methane concentration value in the detection matrix G, and GS min represents the minimum methane concentration value in the detection matrix G.
Preferably, the method for inputting the normalized data PS ij into the unconstrained global optimization model in the step S6 to obtain the corresponding feature value CCP ij includes the following steps:
Inputting normalized data PS ij into an unconstrained global optimization model:
Wherein G (x) represents an unconstrained global optimization model framework, Representing the hysteresis component of the unconstrained global optimization model framework, cl (t) represents the excitation signal,The excitation allowance is represented, x represents an unconstrained global optimization model framework parameter, t represents time, beta represents the intensity of an excitation signal cl (t), ω represents frequency, gamma represents an adjustment coefficient, and a, b and c are natural numbers;
the value of t when the unconstrained global optimization model reaches the optimal state is recorded as t ij, the characteristic value CCP ij is obtained,
The method comprises the steps of establishing a model from the angle of global variables by adopting an unconstrained global optimization model, then 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 characterization, namely, analyzing methane concentration data by using the unconstrained global optimization model and obtaining characteristic information by adopting the gas leakage positioning method, so that interference of some detection errors can be avoided, and the accuracy and stability of gas leakage positioning are improved. And the abscissa corresponding to the peak value of the characteristic curve of the same kind of gas in the optimal state is stable, so that the abscissa corresponding to the peak value of the characteristic curve is selected as the effective representation of the detection target, and the average is taken, thereby further improving the stability and the accuracy of gas leakage positioning.
Preferably, the formula for calculating the mean value Q of the abscissa corresponding to the peak values of all the characteristic curves in the step S8 is as follows:
X (F i) is the abscissa corresponding to the peak of the characteristic curve F i.
Preferably, the method of the control device in step S2 for planning 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 includes the following steps:
When v=1, the detection path is a guide rail section between the gas sensor numbered 1 and the gas sensor numbered 2;
when v=k, the detection path is a guide rail section between the gas sensor numbered k-1 and the gas sensor numbered k;
when v is less than 1 and less than k, the detection path is a guide rail section between the gas sensor with the number v-1 and the gas sensor with the number v+1.
The beneficial effects of the invention are as follows: the gas leakage point of the methane gas conveying pipeline can be rapidly 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 circuit connection block diagram of an embodiment;
Fig. 3 is a schematic diagram of a characteristic curve.
In the figure: 1. the system comprises a cloud server, a control device, a gas sensor, a guide rail, a movable gas detection module, a methane gas conveying pipeline, a movable module, a support, a gas detection module, a microprocessor, a first wireless communication module and a second wireless communication module, wherein the cloud server, the control device, the gas sensor, the guide rail, the movable gas detection module, the methane gas conveying pipeline, the support, the gas detection module, the first wireless communication module and the first wireless communication module are arranged in sequence.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
Examples: the embodiment of the underground methane gas conveying pipeline leakage positioning system comprises a cloud server 1 and a monitoring device, wherein the monitoring device comprises a control device 2, a mobile gas detection device and k gas sensors 3, the k gas sensors 3 are located under a methane gas conveying pipeline 6 and are arranged at equal intervals along the trend of the methane gas conveying pipeline 6, the mobile gas detection device comprises a guide rail 4 located under the methane gas conveying pipeline 6 and consistent with the trend of the methane gas conveying pipeline 6, and a mobile gas detection module 5 which is arranged on the guide rail 4 and can move along the guide rail 4, the mobile gas detection module 5 can be in wireless communication with the control device 2, the gas sensors 3 are electrically connected with the control device 2, and the control device 2 can be in wireless communication with the cloud server 1.
The mobile gas detection module 5 comprises a mobile module 7 capable of moving along the guide rail 4, a support 8 is arranged on the mobile module 7, m gas detection modules 9,m which are located at different heights are arranged on the support 8 at equal intervals along the vertical direction, 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. The control device comprises a controller and a second wireless communication module, and the controller is respectively and electrically connected with the gas sensor 3 and the second wireless communication module.
In the scheme, the gas sensor at the fixed position detects the methane concentration at the position in real time and sends the methane concentration to the control device, when a certain gas sensor detects that the methane concentration at the position exceeds a set value, the gas sensor indicates that the methane gas conveying pipeline has gas leakage, and the control device plans a detection path on the guide rail according to the position of the gas sensor, informs the movable gas detection module to move along the detection path on the guide rail and detect the methane gas.
The mobile gas detection module starts from the starting point of the detection path, each time the mobile gas detection module detects every moving distance D, the gas detection modules with different heights on the support collect methane concentration once respectively during each detection, the mobile gas detection module forms a detection matrix G by the methane concentration values detected after the mobile gas detection module walks along the detection path and sends the detection matrix G 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 of maintenance.
According to the scheme, the gas sensors arranged at intervals along the trend of the methane gas conveying pipeline are matched with the mobile gas detection modules for mobile detection to detect, so that the gas leakage points of the methane gas conveying pipeline can be rapidly and accurately positioned, and casualties and economic losses are reduced.
The length of the guide rail 4 is consistent with the length of the methane gas conveying pipeline 6, and the gas sensor 3 is positioned right below the guide rail 4. The movable gas detection module can move from the position below the starting point of the methane gas conveying pipeline to the position below the end point of the methane gas conveying pipeline, and the whole methane gas conveying pipeline can be monitored.
The method for positioning leakage of the underground methane gas conveying pipeline in the embodiment is used for the system for positioning leakage of the underground methane gas conveying pipeline, and comprises the following steps:
S1: the gas sensors positioned right below the methane gas conveying pipeline are numbered 1 and 2 … … k in sequence from left to right, k is the total number of the gas sensors right below the methane gas conveying pipeline, the gas detection modules on the support are numbered 1 and 2 … … m in sequence from bottom to top, and m is the total number of the gas detection modules on the support;
S2: each gas sensor detects the methane concentration at 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 at the position of the gas sensor exceeds a set value, v is not less than 1 and not more than 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, E is more than or equal to 40 and less than or equal to 100, and detection points on the detection path are numbered as 1,2 … … n and n=E+1 sequentially from the starting point to the end point of the detection path;
the method for planning 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 by the control device comprises the following steps:
when v=1, the detection path is a rail section between the gas sensor numbered 1 and the gas sensor numbered 2 (the start point of the detection path is a rail position directly above the gas sensor numbered 1, and the end point of the detection path is a rail position directly above the gas sensor numbered 2);
When v=k, the detection path is a guide rail section between the gas sensor with the number k-1 and the gas sensor with the number k (the start point of the detection path is a guide rail position directly above the gas sensor with the number k-1, and the end point of the detection path is a guide rail position directly above the gas sensor with the number k);
when 1 < v < k, the detection path is a guide rail section between the gas sensor with the number v-1 and the gas sensor with the number v+1 (the starting point of the detection path is a guide rail position right above the gas sensor with the number v-1, and the end point of the detection path is a guide rail position right above the gas sensor with the number 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, and detects once when the mobile gas detection module moves to one detection point, m gas detection modules with different heights on the mobile gas detection module respectively collect methane concentration once during each detection, a detection matrix G is finally obtained, and the detection matrix G is sent to the control device;
Wherein GS ij represents the methane concentration value detected by the gas detection module with the number i at the detection point with the number j, 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: normalizing each methane concentration value in the detection matrix G to obtain a matrix P;
Wherein PS ij represents normalized data normalized by GS ij;
The formula for normalizing the methane concentration value GS ij in the detection matrix G to obtain the corresponding normalized data PS ij is as follows:
Wherein, GS max represents the maximum methane concentration value in the detection matrix G, and GS min represents 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, wherein the characteristic value corresponding to the normalized data PS ij is CCP ij;
The method for inputting normalized data PS ij into the unconstrained global optimization model to obtain the corresponding characteristic value of CCP ij comprises the following steps:
Inputting normalized data PS ij into an unconstrained global optimization model:
Wherein G (x) represents an unconstrained global optimization model framework, Representing the hysteresis component of the unconstrained global optimization model framework, cl (t) represents the excitation signal,The excitation allowance is represented, x represents an unconstrained global optimization model framework parameter, t represents time, beta represents the intensity of an excitation signal cl (t), ω represents frequency, gamma represents an adjustment coefficient, and a, b and c are natural numbers;
the value of t when the unconstrained global optimization model reaches the optimal state is recorded as t ij, the characteristic value CCP ij is obtained,
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 taking the characteristic value CCP as a Y axis, and determining the moving distance of the moving gas detection module on the detection path, corresponding to each piece of normalized data, according to the detection point, corresponding to each piece of normalized data, in the matrix P;
S8: drawing a characteristic curve corresponding to each line of normalized data in a matrix P on a rectangular coordinate system to obtain m characteristic curves, wherein F i represents the characteristic curve corresponding to the ith line of normalized data in the matrix P, determining the abscissa corresponding to the peak value of each characteristic curve, calculating the average 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 position, which is moved by the distance Q from the starting point, on a detection path by a mobile gas detection module;
The method for drawing the characteristic curve F i corresponding to the ith row of normalized data in the matrix P on the rectangular coordinate system is as follows:
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 corresponding moving gas detection module on the detection path, drawing n points altogether, and fitting the n points to obtain a corresponding characteristic curve F i;
the formula for calculating the mean value Q of the abscissa corresponding to the peaks of all the characteristic curves is as follows:
X (F i) is the abscissa corresponding to the peak of the characteristic curve F i.
In the scheme, the gas sensor at the fixed position detects the methane concentration at the position in real time and sends the methane concentration to the control device, when a certain gas sensor detects that the methane concentration at the position exceeds a set value, the gas sensor indicates that the methane gas conveying pipeline has gas leakage, and the control device plans a detection path on the guide rail according to the position of the gas sensor, informs the movable gas detection module to move along the detection path on the guide rail and detect the methane gas.
The method comprises the steps that a mobile gas detection module starts from a starting point of a detection path, each moving distance D carries out detection, m gas detection modules with different heights on a support acquire methane concentration once respectively during each detection, the mobile gas detection module forms a detection matrix G by detecting methane concentration values after walking along the detection path and sends the detection matrix G to a control device, the control device carries out normalization processing on the detection matrix G to obtain a matrix P, each normalization data in the matrix P is respectively input into an unconstrained global optimization model to obtain a characteristic value CCP corresponding to each normalization 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 taking the characteristic value CCP as a Y axis, a characteristic curve corresponding to each row of normalization data in the matrix P is drawn on the rectangular coordinate system, m characteristic curves are obtained, the transverse coordinates corresponding to the peak value of each characteristic curve are determined, the average value Q of the transverse coordinates corresponding to the peak value of all the characteristic curves is calculated, and the gas leakage position of a methane gas conveying pipeline is the methane gas conveying pipeline position right above the moving distance Q of the mobile gas detection module on the detection path.
The method comprises the steps of establishing a model from the angle of global variables by adopting an unconstrained global optimization model, then 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 characterization, namely, analyzing methane concentration data by using the unconstrained global optimization model and obtaining characteristic information by adopting the gas leakage positioning method, so that interference of some detection errors can be avoided, and the accuracy and stability of gas leakage positioning are improved. And the abscissa corresponding to the peak value of the characteristic curve of the same kind of gas in the optimal state is stable, so that the abscissa corresponding to the peak value of the characteristic curve is selected as the effective representation of the detection target, and the average is taken, thereby further improving the stability and the accuracy of gas leakage positioning.
According to the scheme, the gas sensors arranged at intervals along the trend of the methane gas conveying pipeline are matched with the mobile gas detection modules for mobile detection to detect, so that the gas leakage points of the methane gas conveying pipeline can be rapidly and accurately positioned, and casualties and economic losses are reduced.
For example: as shown in FIG. 3, the feature curves drawn on the rectangular coordinate system are 98.2mm, 97.6mm, 99.4mm, 98.8mm and 100.6mm respectively on the abscissa corresponding to the peak values of the five feature curves, 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 right above the position of 98.92mm from the starting point on the detection path of the moving gas detection module.
Claims (8)
1. An underground methane gas conveying pipeline leakage positioning method is used for an underground methane gas conveying pipeline leakage positioning system, the underground methane gas conveying pipeline leakage positioning system comprises a cloud server (1) and a monitoring device, the monitoring device comprises a control device (2), a mobile gas detection device and a plurality of gas sensors (3), the gas sensors (3) are located right below a methane gas conveying pipeline (6) and are arranged at equal intervals along the trend of the methane gas conveying pipeline (6), the mobile gas detection device comprises a guide rail (4) located right below the methane gas conveying pipeline (6) and consistent with the trend of the methane gas conveying pipeline (6) and a mobile gas detection module (5) which is arranged on the guide rail (4) and can move along the guide rail (4), the mobile gas detection module (5) can be in wireless communication with the control device (2), the gas sensors (3) are electrically connected with the control device (2), the control device (2) can be in wireless communication with the cloud server (1), the mobile gas detection module (5) comprises a movable gas detection module (7) which can be provided with a plurality of mobile gas detection modules (8) located on a plurality of mobile gas detection supports (8) which are arranged on the movable supports (7), the mobile module (7) is further provided with a microprocessor (10) and a first wireless communication module (11), and the microprocessor (10) is electrically connected with the mobile module (7), the gas detection module (9) and the first wireless communication module (11) respectively, and is characterized by comprising the following steps:
s1: the gas sensors positioned under the methane gas conveying pipeline are numbered 1 and 2 … … k in sequence from left to right, k is the total number of the gas sensors under the methane gas conveying pipeline, the gas detection modules on the bracket are numbered 1 and 2 … … m in sequence from bottom to top,
M is the total number of gas detection modules on the support;
S2: each gas sensor detects the methane concentration at 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 at the position of the gas sensor exceeds a set value, v is not less than 1 and not more than 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 detection points on the detection path are numbered as 1, 2 … … n and n=E+1 sequentially from the starting point to the end point of the detection path;
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, and detects once when the mobile gas detection module moves to one detection point, m gas detection modules with different heights on the mobile gas detection module respectively collect methane concentration once during each detection, a detection matrix G is finally obtained, and the detection matrix G is sent to the control device;
Wherein GS ij represents the methane concentration value detected by the gas detection module with the number i at the detection point with the number j, 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: normalizing each methane concentration value in the detection matrix G to obtain a matrix P;
Wherein PS ij represents normalized data normalized by GS ij;
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, wherein the characteristic value corresponding to the normalized data PS ij 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 taking the characteristic value CCP as a Y axis, and determining the moving distance of the moving gas detection module on the detection path, corresponding to each piece of normalized data, according to the detection point, corresponding to each piece of normalized data, in the matrix P;
S8: drawing a characteristic curve corresponding to each line of normalized data in a matrix P on a rectangular coordinate system to obtain m characteristic curves, wherein F i represents the characteristic curve corresponding to the ith line of normalized data in the matrix P, determining the abscissa corresponding to the peak value of each characteristic curve, calculating the average 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 moving gas detection module on the detection path;
The method for drawing the characteristic curve F i corresponding to the ith row of normalized data in the matrix P on the rectangular coordinate system is as follows:
And 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 corresponding moving gas detection module on the detection path, drawing n points in total, and fitting the n points to obtain a corresponding characteristic curve F i.
2. The method for locating leakage of an underground methane gas transport pipe according to claim 1, wherein the gas detection modules (9) are arranged at equal intervals in the vertical direction.
3. The method for positioning leakage of an underground methane gas conveying pipeline according to claim 1 or 2, wherein the control device (2) comprises a controller and a second wireless communication module, and the controller is respectively electrically connected with the gas sensor (3) and the second wireless communication module.
4. A method of locating a leak in an underground methane gas transport conduit according to claim 1 or 2, wherein the length of the guide rail (4) corresponds to the length of the methane gas transport conduit (6).
5. A method of locating leaks in an underground methane gas transport pipeline according to claim 1 or 2, characterized in that the gas sensor (3) is located below the guide rail (4).
6. The method for locating leakage of underground methane gas pipeline according to claim 1, wherein the formula for normalizing the methane concentration value GS ij in the detection matrix G to obtain the corresponding normalized data PS ij in step S5 is as follows:
Where GS max represents the maximum methane concentration value in the detection matrix G, and GS min represents the minimum methane concentration value in the detection matrix G.
7. The method for positioning leakage of underground methane gas pipeline according to claim 1, wherein the method for inputting normalized data PS ij into the unconstrained global optimization model in step S6 to obtain the corresponding feature value CCP ij comprises the following steps:
Inputting normalized data PS ij into an unconstrained global optimization model:
Wherein G (x) represents an unconstrained global optimization model framework, Representing the hysteresis component of the unconstrained global optimization model framework, cl (t) represents the excitation signal,The excitation allowance is represented, x represents an unconstrained global optimization model framework parameter, t represents time, beta represents the intensity of an excitation signal cl (t), ω represents frequency, gamma represents an adjustment coefficient, and a, b and c are natural numbers;
the value of t when the unconstrained global optimization model reaches the optimal state is recorded as t ij, the characteristic value CCP ij is obtained,
8. The method for locating leakage of underground methane gas transportation pipeline according to claim 1, wherein the method for planning 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 by the control device in the step S2 comprises the following steps:
When v=1, the detection path is a guide rail section between the gas sensor numbered 1 and the gas sensor numbered 2;
when v=k, the detection path is a guide rail section between the gas sensor numbered k-1 and the gas sensor numbered k;
when v is less than 1 and less than k, the detection path is a guide rail section between the gas sensor with the number v-1 and the gas sensor with the number v+1.
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