CN105351756A - Pipeline leakage recognizing and positioning system and method based on sound wave imaging - Google Patents

Abstract

The invention relates to a pipeline leakage recognizing and positioning system and method based on sound wave imaging. The pipeline leakage recognizing and positioning system and method are mainly characterized in that the system comprises pipeline infrasonic wave sensors, digitalizers, direct-current voltage stabilizing power sources and a monitoring server; the pipeline infrasonic wave sensors are arranged at the two ends of a measured pipeline respectively, and sensing heads of the pipeline infrasonic wave sensors are in complete contact with a medium in the pipeline and immersed in the medium in the pipeline through open holes in the measured pipeline; the pipeline infrasonic wave sensors upload measured signals to the monitoring server through the digitalizers; and the monitoring server calculates a sound and image graph for sound pressure distribution in the part, between the two pipeline infrasonic wave sensors, of the pipeline according to the measured signals uploaded by the two digitalizers, and the position and strength of a leakage sound source are recognized on the sound and image graph. According to the pipeline leakage recognizing and positioning system and method based on sound wave imaging, leakage is recognized based on the stability of the sound and image graph according to the wideband characteristic of leaking sounds, the accuracy of leakage recognition is improved and reaches more than 95%, the rate of false alarms is lower than 5%, the leakage process can be reflected, and the leakage flow is estimated.

Description

A kind of pipe leakage identification based on acoustic imaging and navigation system and method

Technical field

The invention belongs to fluid-transporting tubing and leak recognition technology field, especially a kind of pipe leakage identification based on acoustic imaging and navigation system.

Background technique

Line leakage is a technical barrier of recent two decades, and especially because the limitation of existing method of measurement causes leakage rate of false alarm is high and rate of failing to report is high, tracing it to its cause is can not accurately identified leakage signal and the interference can not getting rid of non-leakage signal.Specifically, existing method has negative pressure wave method, difference in flow method, Fiber Optic Sensor etc. successively according to being widely used degree sequence.Wherein negative pressure wave method refers to utilize and leaks suddenly the larger pressure pulse wave of of causing in pipeline, receive time difference of same pressure pulse wave and leakage point at the sensor of pipe ends, to the distance of sensor, there is corresponding relation, combined sensor coordinate can calculate the coordinate of leakage point accordingly, this pressure pulse wave reaches 1000Pa level, and its main energetic concentrates on the frequency range of frequency lower than 5Hz, also sub-audible sound is included, so be commonly called as again as sound wave method.The shortcoming of negative pressure wave method (sound wave method) have five: one be easily be subject to pipeline impulsive disturbance sound (as excavation sound, automobile spreading sound, knock) impact in the environment and cause false-alarm; Two is leak for some artificial pilferages, slowly let slip in journey at manual control, the amplitude of suction wave is less, easily flooded by background noise and cause system monitoring less than, cause failing to report, the pore for some below 3mm leak also easy due to produced suction wave pulse weak and fail to report; Three is the pressure changes that can only detect burst, and can not monitor lasting leakage process, it is poor to cause the elimination ability of interference; Four is for different media, this propagation attenuation of suction wave in pipeline caused due to accident release differs greatly, propagation attenuation in water and wet goods liquid medium is little, and propagation attenuation in the gas medium such as rock gas and coal gas is large, and thus on gas pipeline, effect is poor; Five is sonic velocity change that temperature variation in ambient temperature and pipeline causes in medium, and the velocity of sound in different medium has very large difference, and the inconsistent positioning error caused of the leakage point upstream and downstream velocity of sound can not be eliminated, and causes leak point positioning error large.In a word negative pressure wave method rate of false alarm and rate of failing to report high, to gas pipeline than larger to the rate of failing to report of water pipe and oil pipe, the discrimination about 85% of good in operating mode in fast burst gross leak, to the discrimination of slow leakage when Small leak and pilferage lower than 60%.Difference in flow method is based on leaking the medium total discharge changing pipeline upstream and downstream, ideally for incompressible medium (water, oil) leak cause upstream flowrate increase or constant, and downstream flow reduces, judge whether to have occurred leakage according to difference in flow, and occur that the time difference changed calculates leakage point coordinate according to upstream and downstream flow transducer Received signal strength, but for compressible medium (all kinds of gas), the effect that the changes in flow rate that leakage causes swims transmission is up and down poor, thus response sensitivity is low, easily occurs failing to report.Fiber Optic Sensor is along pipe laying optical fiber, and when occurring leaking, leak the vibration caused and bring out fiber-optic vibration, can detect this oscillating signal from optical fibre head, and then determine leak position, the method also can monitoring leakage process.The shortcoming of Fiber Optic Sensor is that to lay cost high, can not be used for the monitoring of old pipeline, is easily subject to the vibration of pipeline and the interference of impact simultaneously and causes wrong report.

In sum, negative pressure wave method (sound wave method), difference in flow method, Fiber Optic Sensor etc. are all the time domain information and the energy domain information that only make use of signal.The leakage of pressure piping both can produce the pulsed sound of sudden change, also wide band noise can be produced, in the sound produced when how to make full use of leakage and non-environment when leaking, the difference of other sound improves the recognition accuracy to leaking, thus reduce rate of false alarm and the rate of failing to report of monitoring system, be a bottleneck problem.

Summary of the invention

The object of the invention is to overcome the deficiencies in the prior art, provide a kind of reasonable in design, antijamming capability strong and identify accurately based on the pipe leakage identification of acoustic imaging and navigation system and method.

The present invention solves its technical problem and takes following technological scheme to realize:

Based on pipe leakage identification and the navigation system of acoustic imaging, comprise tube pass sonic sensor, digitizer, D.C. regulated power supply and monitor server; Described tube pass sonic sensor is separately positioned on tested pipeline two ends, each tube pass sonic sensor is arranged on tested pipeline wall and its sensing head to be contacted completely with the medium in pipeline by the perforate on tested pipeline and immerses in media as well, and tube pass sonic sensor to be all connected with digitizer by signaling line and output sound signal is passed to digitizer; Described digitizer provides working power for tube pass sonic sensor, and described digitizer is connected with gps antenna and is used for obtaining gps time and coordinate data, and described digitizer is connected with 3G antenna and the measurement signal of collection is uploaded to monitor server; Described D.C. regulated power supply is powered to digitizer; Described monitor server calculates the ultrasonogram of the acoustic pressure distribution between two tube pass sonic sensors in pipeline according to the measurement signal that the digitizer of pipe ends is uploaded, the position of identified leakage sound source and intensity from ultrasonogram.

And described monitor server utilizes the ultrasonogram in the sensor signal calculating pipeline of pipe ends, and from identified leakage sonographic stability.

And the quantity of the tube pass sonic sensor that the every one end of described tested pipeline is installed is one or two.

And the tube pass sonic sensor that described tested pipeline two ends are installed can be measured and comprise infrasonic broadband acoustic in the pulse infrasonic wave and leakage process that Sudden Leakage causes.

And described digitizer, when sensor collection signal files passe being given described monitor server, contains the GPS time data value that gps coordinate and file start in data file.

And described tube pass sonic sensor to be arranged on tested pipeline wall and to be contacted completely with the medium in pipeline by tube wall perforate and immerse in media as well.

Based on pipe leakage identification and the localization method of acoustic imaging, comprise the following steps:

Step 1, tube pass sonic sensor is arranged on tested pipeline two ends and its sensing head contacts completely with the medium in pipeline and immerses in media as well;

The tube pass sonic sensor at step 2, tested pipeline two ends exports measurement signal respectively to the digitizer connected separately;

Step 3, each digitizer send the measurement signal that the gps time of monitoring point, gps coordinate and tube pass sonic sensor transmit to monitor server;

Step 4, monitor server are according to the sensor signal at tested pipeline two ends, according to the parameter of velocity of known sound transmission, in conjunction with gps time benchmark, calculate the ultrasonogram along pipeline distribution, the position of identified leakage sound source and intensity from ultrasonogram, realize leaking and identify and locating function.

And the sonographic method that described step 4 calculates along pipeline distribution is: the signal s of pipe ends₁(t) and s₄(t) time delay superposition, when not considering that velocity of medium affects, the frequency domain representation formula S of the synthesis sound pressure signal at the distance r place of distance first tube pass sonic sensor_r(j ω) is:

$S_r\left(j\mathrm{\ω}\right)=S_1\left(j\mathrm{\ω}\right)e^{-j\mathrm{\ω}\frac{r}{v}}+S_4\left(j\mathrm{\ω}\right)e^{-j\mathrm{\ω}\frac{L-r}{v}}$

Wherein L is tested pipeline length, and v is the speed that sound is propagated in pipeline, the delay volume τ between the tube pass sonic sensor of two ends₁₄with the relation of leak distance r be:

$\frac{r}{v}-\frac{L-r}{v}={\mathrm{\τ}}_{14}$

The S at different distance r place is calculated along pipeline_rthe energy of (j ω), just can show after being converted into sound pressure level that the acoustic pressure along pipeline distributes.

When considering that upstream and downstream speed is inconsistent, at a distance of the frequency domain representation formula S of the sound pressure signal at the distance r place of upstream extremity tube pass sonic sensor 1_r(j ω) is:

$S_r\left(j\mathrm{\ω}\right)=S_1\left(j\mathrm{\ω}\right)e^{-j\mathrm{\ω}\frac{r}{v_{up}}}+S_4\left(j\mathrm{\ω}\right)e^{-j\mathrm{\ω}\frac{L-r}{v_{down}}}$

Wherein L is the length of pipeline section, v_upand v_downbe respectively leak sound upstream with the speed of downstream travel, v_upequal the velocity of sound and deduct velocity of medium, v_downequal the velocity of sound and add velocity of medium, v_upand v_downcan pass through to determine that the way of an excitation signal obtains at two, in the time delay that existing two places of position r1 and r2 of range sensor 1 obtainmeet following formula:

$\frac{L-r_1}{v_{down}}-\frac{r_1}{v_{up}}={\mathrm{\τ}}_{14}^{r1}$

$\frac{L-r_2}{v_{down}}-\frac{r_2}{v_{up}}={\mathrm{\τ}}_{14}^{r2}$

And, described step 4 from the position of identified leakage sound source ultrasonogram and the method for intensity is: monitor server is according to sonographic stability recognition leakage and orientation leak position, show continuously leakage process, shown ultrasonogram reflects the sound conditions that pipeline internal medium flows and is constantly moving with a changeable color ribbon; When there being leakage to occur, the acoustic image spot that is stablized not movement will being shown in the leak position on pipeline, and being high brightness, reflecting that intensity of sound exceeds the sound of peripheral position.

Advantage of the present invention and good effect are:

1, the present invention utilizes the wide band feature of leaking sound, using sudden pulsed sound as early warning signal with to leakage Primary Location, and carry out identified leakage according to the sound wave in leakage process, the more important thing is and utilize the acoustic imaging figure leaking sound wave to obtain the spatial information of leakage, identified leakage sonographic stability, improve leaking the accuracy rate identified, to comprising accident release, pilferage property is leaked slowly, accuracy rate that more than 3mm leaks is high, rate of false alarm is low, and can leakage process be reflected, estimate leakage flow.

2, the present invention compared with the conventional method, make use of the time domain information of leakage signal simultaneously, energy domain information, spatial-domain information carry out identified leakage: it adopts double-sensor to match and calculates a certain pipeline section acoustic image, judges the authenticity of leaking from the stability of acoustic image; Its suction wave impulse sound tone signal that not only make use of generation suddenly, as early warning signal with to leakage Primary Location, make use of again the broadband noise signal imaging locating leaks duration of leakage.

3, the present invention has almost identical leakage discrimination level on gas pipeline and on fluid pipeline, and the larger recognition effect of leakage rate is better, the higher recognition effect of pipeline internal medium pressure is better, and in pipe, the lower recognition effect of velocity of medium is better, and in pipeline, the lower effect of flow noise is better.

4, the present invention can also with negative pressure wave method, difference in flow method information fusion, improve monitoring reliability further.

Accompanying drawing explanation

Fig. 1 is two tube pass sonic sensor monitoring system schematic diagram of the present invention;

Fig. 2 is tube pass sonic sensor of the present invention is arranged on outside tested pipeline schematic diagram by ball valve;

Fig. 3 is the scheme of installation that the sensing head of tube pass sonic sensor of the present invention enters tested pipeline;

Fig. 4 is four tube pass sonic sensor monitoring system schematic diagram of the present invention;

Fig. 5 is pipeline sound field image when there is a leakage on experimental channel;

Acoustic pressure scatter chart in pipeline when Fig. 6 is appearance one leakage on experimental channel;

Fig. 7 is the infrasonic oscillogram of pulse when multiple spot leaks successively on experimental channel;

Fig. 8 is the oscillogram of the wide band caused leakage sound wave when multiple spot leaks successively on experimental channel;

In figure, 1-tube pass sonic sensor, 2-tested pipeline, 3-digitizer, 4-monitor server, 5-GPS antenna, 6-3G/4G antenna, 7-D.C. regulated power supply.

Embodiment

Below in conjunction with figure, the embodiment of the present invention is further described:

Embodiment 1

Present embodiments provide a kind of the pipe leakage identification based on acoustic imaging and the positioning monitoring system that comprise two tube pass sonic sensors, as shown in Figure 1.

Pressure generally in pipeline is not less than 0.01MPa, leaks aperture and is greater than 1mm.Pipe diameter is less than 2m, and duct length is less than 100km.A high conforming tube pass sonic sensor 1 has been installed respectively at the two ends of tested pipeline 2, tube pass sonic sensor is arranged on tested pipeline wall, the sensing head of tube pass sonic sensor is communicated with medium in pipe by the perforate on tested pipeline wall, and sensing head is immersed in the medium in tested pipeline completely.Tube pass sonic sensor and tested pipeline two kinds of modes are installed, a kind of mode as shown in Figure 2, the sensing head of tube pass sonic sensor is contacted with the medium in tested pipeline by ball valve, and (ball valve in figure uses for the ease of sensor installation, not leakage monitoring key element), as shown in Figure 3, the sensing head of tube pass sonic sensor to stretch in tested pipeline and contacts with the medium in tested pipeline another kind of mode.Each tube pass sonic sensor is connected respectively on a digitizer 3 (digitizer 1 and digitizer 2), each digitizer all connects a D.C. regulated power supply for its power supply, D.C. regulated power supply is the D.C. regulated power supply that solar cell, storage battery or civil power transform, and requires to use intrinsic safety electric source when deathtrap.Digitizer provides direct-current working volts to tube pass sonic sensor, sound in two tube pass sonic sensor testing pipes is also transported to the sampling input end of digitizer with analog voltage or current forms, tube pass sonic sensor testing signal contain leak start time pulse infrasonic wave (waveform as shown in Figure 7) and leak cause comprise infrasonic broadband sound wave (waveform as shown in Figure 8), after the collection of tube pass sonic sensor output signal is changed into digital signal by digitizer, upload on monitor server 4 in the mode of data file by network, gps time and gps coordinate are uploaded onto the server simultaneously.Each digitizer has installed a gps antenna 5 in order to receive gps time and coordinate information, when ensure that the signals collecting at tested pipeline two ends, base is synchronous, each digitizer has been installed a 3G/4G network antenna 6 or has been had Broadband Network Interface in order to transmitting data file, acoustic pressure distribution (as shown in Figure 6) in the calculated signals pipeline that monitor server utilizes two ends tube pass sonic sensor to detect, and then the ultrasonogram (as shown in Figure 5) calculated along pipeline, identified leakage and locating leaks is come from the enamel corresponding sound source amplitude of highlighted red acoustic blur and position of ultrasonogram.

Described tube pass sonic sensor has the highly sensitive output of leakage sound wave, and the feature to the static pressure no-output in pipeline, its output signal can have polytype, one is voltage mode signals, reference value is 0 to 5v, another kind is current signal, reference value is 4mA to 20mA, can also be 485 type digital output signals, its 3dB measuring frequency scope can cover the infrasonic wave and low-frequency sound wave that leak and cause, term of reference is 0.1Hz to 500Hz, the measurement dynamic range of tube pass sonic sensor 1 requires to cover the maximum amplitude leaking the sound wave produced, leakage pulse is infrasonic is 1000Pa with reference to maximum amplitude, the reference maximum amplitude leaking broadband sound wave is 200Pa.The tube pass sonic sensor at tested pipeline two ends be used for accurately measuring leak sound upstream with the speed of downstream travel, identify and the precision of location leaking to improve.

Described digitizer is a multichannel analog signals collecting unit, have and signal data is kept at the machine, 3G, 4G network, broadband network, any one latticed form such as ADSL, GPRS, WIFI can be passed through to monitor server uploading data, each digitizer can be connected with multiple tube pass sonic sensor simultaneously, is 1 or 2 with reference to quantity.Digitizer can also receive clock information and the gps coordinate information of GPS, uploads time reference and the position coordinate of the machine to monitor server.

Described monitor server is that a sensor signal data preserves e-quipment and pipe leakage identification observation manipulator, its system works software is based on acoustic imaging computational methods, ultrasonogram is calculated to the every segment pipe on pipe network, show together with pipeline distribution map transparency overlay, also can show with map compound, conveniently watch the acoustic pressure distribution on each pipeline, also can watch the signal of each sensor, and comprehensive leakage recognition result can be provided.

The signal to noise ratio of the sound field that the pipeline acoustic imaging of the present embodiment calculates is high, and the beam side lobe of its synthetic video is low, and acoustic image clearness is high, has the ability suppressing other noise interference in pipeline preferably.

In an embodiment, all right connection traffic table of digitizer and pressure gauge, data on flows and pressure data are uploaded, and the leakage information being used for judging with sound transducer carries out convergence analysis, and specific analytical method does not repeat at this patent.

Under hazardous environment, tube pass sonic sensor and digitizer need, by explosion-proof and protection certification, to require that sensor signal lines passes explosion-proof flexible tube, play explosion-proof waterproof action.Pressure transmitter etc. can be adopted in less demanding situation to replace tube pass sonic sensor, and these belong in industry substantially often knows, does not repeat at this patent.

Be worth supplementary notes a bit, at this based in pipe leakage identification of acoustic imaging and positioning monitoring system, also have some installation accessoriess, because belonging to general purpose accessory, can be regarded as general knowledge, not repeating at this.

Embodiment 2

Present embodiments provide a kind of comprise four tube pass sonic sensors based on the pipe leakage identification of acoustic imaging and the monitoring system of location, as shown in Figure 3.

Embodiment 2 difference from Example 1 is only, two high conforming tube pass sonic sensors have been installed respectively at the two ends of pipeline, the spacing of two tube pass sonic sensors of every one end is the determined value that can accurately measure, and two tube pass sonic sensors are connected to same digitizer, change into digital signal according to base sampling for the moment, ensure that the time synchronization error of two paths of signals is little of ignoring.The signal receiving same leakage sound source according to two tube pass sonic sensors of same one end can calculate the true velocity that sound wave is propagated in this pipeline.The double-sensor signal of upstream extremity can calculate the speed v of leaking sound and upstream propagating_up, the double-sensor signal of downstream can calculate the speed v of leaking sound propagates down stream_down.

The concrete calculating of acoustic imaging is the signal s of pipe ends₁(t) and s₄t () time delay superposition, at a distance of the frequency domain representation formula S of the sound pressure signal at the distance r place of upstream extremity tube pass sonic sensor 1_r(j ω) is:

$S_r\left(j\mathrm{\ω}\right)=S_1\left(j\mathrm{\ω}\right)e^{-j\mathrm{\ω}\frac{r}{v_{up}}}+S_4\left(j\mathrm{\ω}\right)e^{-j\mathrm{\ω}\frac{L-r}{v_{down}}}$

Wherein L is the length of pipeline section, v_upand v_downbe respectively leak sound upstream with the speed of downstream travel, v_upequal the velocity of sound and deduct velocity of medium, v_downequal the velocity of sound and add velocity of medium.

Delay volume τ between the tube pass sonic sensor of two ends_up-downwith the relation of leak distance r be:

$\frac{r}{v_{up}}-\frac{L-r}{v_{down}}={\mathrm{\τ}}_{up-down}$

According to the layout shown in Fig. 3, leakage signal is utilized to calculate delay volume τ between sensor 1 and sensor 2₁₂, and the delay volume τ between sensor 4 and sensor 3₄₃, just can obtain leaking sound upstream with the speed of downstream travel:

$v_{up}=\frac{{\mathrm{\τ}}_{12}}{d_{12}}$

$v_{down}=\frac{{\mathrm{\τ}}_{43}}{d_{43}}$

Embodiment 2 is higher than the calculation accuracy of embodiment 1.

The signal to noise ratio of the sound field that the pipeline acoustic imaging of the present embodiment calculates is high, and the beam side lobe of its synthetic video is low, and acoustic image clearness is high, has the ability suppressing other noise interference in pipeline preferably.

Pipe leakage identification based on acoustic imaging of the present invention and localization method realize in said system.Its sound signal utilizing the tube pass sonic sensor being arranged on pipe ends to detect, below 5Hz subaudible impulse sound signal and more than 5Hz is divided into comprise infrasonic broad band low frequency acoustic signal by filtering, utilize pulse signal as early warning signal with to leakage Primary Location, the imaging of broad band low frequency acoustic signal is utilized to calculate along the ultrasonogram in pipeline, the media flow situation in pipeline is reflected with sonographic change, when there is the acoustic image that fixed point is constant, when the intensity of acoustic image reaches certain value simultaneously, can be used as the foundation of identified leakage.Specifically comprise the following steps:

Step 1, tube pass sonic sensor is arranged on tested pipeline two ends and its sensing head contacts completely with the medium in pipeline and immerses in media as well;

The tube pass sonic sensor at step 2, tested pipeline two ends is respectively to the digitizer output sound signal connected separately;

Step 3, each digitizer send the sound signal that gps time, coordinate and tube pass sonic sensor transmit to monitor server;

Step 4, monitor server are according to the sensor signal at tested pipeline two ends, according to direction and the parameter of velocity of sound transmission, in conjunction with gps coordinate, calculate the ultrasonogram along pipeline distribution, the position of identified leakage sound source and intensity from ultrasonogram, realize leaking and identify and locating function.

Monitor server carries out leaking according to ultrasonogram and identifies that the method with location is: sound conditions that pipeline internal medium flows that what ultrasonogram reflected is also constantly is moving with a changeable color ribbon; When there being leakage to occur, the acoustic image spot that is stablized not movement will being shown in the leak position on pipeline, and being high brightness, reflecting that intensity of sound exceeds the sound of peripheral position.

It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore the present invention includes the embodiment be not limited to described in embodiment; every other mode of executions drawn by those skilled in the art's technological scheme according to the present invention, belong to the scope of protection of the invention equally.

Claims (9)

1., based on pipe leakage identification and the navigation system of acoustic imaging, it is characterized in that: comprise tube pass sonic sensor, digitizer, D.C. regulated power supply and monitor server; Described tube pass sonic sensor is separately positioned on tested pipeline two ends, each tube pass sonic sensor is arranged on tested pipeline wall and its sensing head to be contacted completely with the medium in pipeline by the perforate on tested pipeline and immerses in media as well, and tube pass sonic sensor to be all connected with digitizer by signaling line and output sound signal is passed to digitizer; Described digitizer provides working power for tube pass sonic sensor, and described digitizer is connected with gps antenna and is used for obtaining gps time and coordinate data, and described digitizer is connected with 3G antenna and the measurement signal of collection is uploaded to monitor server; Described D.C. regulated power supply is powered to digitizer; Described monitor server calculates the ultrasonogram of the acoustic pressure distribution between two tube pass sonic sensors in pipeline according to the measurement signal that the digitizer of pipe ends is uploaded, the position of identified leakage sound source and intensity from ultrasonogram, can not only Sudden Leakage be monitored, and the leakage process continued can be monitored.

2. a kind of pipe leakage identification based on acoustic imaging according to claim 1 and navigation system, it is characterized in that: described monitor server utilizes the ultrasonogram in the sensor signal calculating pipeline of pipe ends, and from identified leakage sonographic stability, can not only Sudden Leakage be monitored, and the leakage process continued can be monitored.

3. a kind of pipe leakage identification based on acoustic imaging according to claim 1 and navigation system, is characterized in that: the quantity of the tube pass sonic sensor that the every one end of described tested pipeline is installed is one or two.

4. a kind of pipe leakage identification based on acoustic imaging according to claim 1 and navigation system, is characterized in that: the tube pass sonic sensor that described tested pipeline two ends are installed can be measured and comprise infrasonic broadband acoustic in the pulse infrasonic wave and leakage process that Sudden Leakage causes.

5. a kind of pipe leakage identification based on acoustic imaging according to claim 1 and navigation system, it is characterized in that: described digitizer by sensor collection signal files passe to described monitor server time, contain the GPS time data value that gps coordinate and file start in data file.

6. a kind of pipe leakage identification based on acoustic imaging according to any one of claim 1 to 5 and navigation system, is characterized in that: described tube pass sonic sensor to be arranged on tested pipeline wall and to be contacted completely with the medium in pipeline by tube wall perforate and immerse in media as well.

7. a kind of based on the pipe leakage identification of acoustic imaging and a method for navigation system as described in any one of claim 1 to 6, is characterized in that comprising the following steps:

Step 1, tube pass sonic sensor is arranged on tested pipeline two ends and its sensing head contacts completely with the medium in pipeline and immerses in media as well;

The tube pass sonic sensor at step 2, tested pipeline two ends exports measurement signal respectively to the digitizer connected separately;

Step 3, each digitizer send the measurement signal that the gps time of monitoring point, gps coordinate and tube pass sonic sensor transmit to monitor server;

Step 4, monitor server are according to the sensor signal at tested pipeline two ends, according to the parameter of velocity of known sound transmission, in conjunction with gps time benchmark, calculate the ultrasonogram along pipeline distribution, the position of identified leakage sound source and intensity from ultrasonogram, realize leaking and identify and locating function.

8. a kind of pipe leakage identification based on acoustic imaging according to claim 7 and localization method, is characterized in that: the sonographic method that described step 4 calculates along pipeline distribution is: the signal s of pipe ends₁(t) and s₄(t) time delay superposition, the frequency domain representation formula S of the synthesis sound pressure signal at the distance r place of distance first tube pass sonic sensor_r(j ω) is:

$S_r\left(j\mathrm{\ω}\right)=S_1\left(j\mathrm{\ω}\right)e^{-j\mathrm{\ω}\frac{r}{v}}+S_4\left(j\mathrm{\ω}\right)e^{-j\mathrm{\ω}\frac{L-r}{v}}$

Wherein L is tested pipeline length, and v is the speed that sound is propagated in pipeline, the delay volume τ between the tube pass sonic sensor of two ends₁₄with the relation of leak distance r be:

$\frac{r}{v}-\frac{L-r}{v}={\mathrm{\τ}}_{14}$

The S at different distance r place is calculated along pipeline_rthe energy of (j ω), just can show after being converted into sound pressure level that the acoustic pressure along pipeline distributes.

9. a kind of pipe leakage identification based on acoustic imaging according to claim 7 and localization method, it is characterized in that: described step 4 from the position of identified leakage sound source ultrasonogram and the method for intensity is: monitor server is according to sonographic stability recognition leakage and orientation leak position, show continuously leakage process, shown ultrasonogram reflects the sound conditions that pipeline internal medium flows and is constantly moving with a changeable color ribbon; When there being leakage to occur, the acoustic image spot that is stablized not movement will being shown in the leak position on pipeline, and being high brightness, reflecting that intensity of sound exceeds the sound of peripheral position.