CN119902300A - An underground pipeline survey system integrating RTK equipment and pipeline detector - Google Patents
An underground pipeline survey system integrating RTK equipment and pipeline detector Download PDFInfo
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Abstract
本申请尤其是涉及一种RTK设备与管线探测仪一体化的地下管线勘测系统，地下管线勘测系统包括：小型RTK设备、管线探测仪和一体化管线勘测平台，一体化管线勘测平台用于基于小型RTK设备信息和管线探测仪信息进行一体化配置，得到一体化管线探测装置。然后，基于待探测管线信息和地下环境信息进行管线探测分析，确定探测仪工作信息。进而，基于管线探测仪采集的管线探测数据和小型RTK设备采集的管线坐标数据进行管线绘制，得到地下管线图。将小型RTK设备和管线探测仪配合起来进行管线勘测，使得原本需要两次操作的工作仅需一次操作即可完成，提高了管线勘测效率，且，绘制地下管线图，以便于为城市建设和运行提供不可或缺的基础资料。
The present application particularly relates to an underground pipeline survey system integrating an RTK device and a pipeline detector. The underground pipeline survey system includes: a small RTK device, a pipeline detector and an integrated pipeline survey platform. The integrated pipeline survey platform is used to perform integrated configuration based on the information of the small RTK device and the pipeline detector to obtain an integrated pipeline detection device. Then, pipeline detection analysis is performed based on the information of the pipeline to be detected and the underground environment information to determine the working information of the detector. Furthermore, pipeline drawing is performed based on the pipeline detection data collected by the pipeline detector and the pipeline coordinate data collected by the small RTK device to obtain an underground pipeline map. The small RTK device and the pipeline detector are used together to perform pipeline survey, so that the work that originally required two operations can be completed with only one operation, thereby improving the efficiency of pipeline survey, and drawing an underground pipeline map to provide indispensable basic data for urban construction and operation.
Description
Technical Field
The application relates to the technical field of pipeline detection, in particular to an underground pipeline surveying system with integrated RTK equipment and pipeline detector.
Background
The underground pipeline is taken as an important component of the urban infrastructure and bears important tasks of information transmission, energy transmission and material transmission, and in order to ensure the normal operation of the urban infrastructure and improve the urban safety level, the underground pipeline is particularly important to be surveyed. The related art often relies on two types of equipment, namely a positioning device and a pipeline detector, wherein the positioning device is used as a special measuring tool for accurately measuring the space position of a specific target, and the pipeline detector is a tool specially designed for underground pipeline detection and is used for identifying and positioning the position of the underground pipeline through electromagnetic induction, radar detection or other physical principles.
The positioning device is usually limited to perform positioning tasks and cannot be directly used for detecting the underground pipeline, and meanwhile, the GPS function is integrated in the pipeline detector, but the accuracy of positioning information provided by the positioning device is relatively low, so that the requirement of high-accuracy surveying is difficult to meet. Thus, in practice, due to the functional limitations of the positioning device and the pipeline inspection device, it is often necessary to arrange two groups of personnel to work with the two devices separately, or to perform two independent work flows in the same area. However, this manner of operation of the pipeline survey method is inefficient.
Thus, how to solve the above technical drawbacks is a problem to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide an underground pipeline survey system with integrated RTK equipment and pipeline detectors, which is used for solving at least one technical problem.
The above object of the present application is achieved by the following technical solutions:
in a first aspect, the present application provides an underground pipeline survey system with integrated RTK equipment and pipeline detectors, which adopts the following technical scheme:
an underground pipeline survey system integrating RTK equipment and pipeline detectors comprises small RTK equipment, pipeline detectors and an integrated pipeline survey platform, wherein:
the small RTK equipment is used for acquiring high-precision coordinate data;
The pipeline detector is used for positioning and path tracking of the underground pipeline so as to finish the identification and positioning of the underground pipeline on the ground;
the integrated pipeline survey platform is used for acquiring the information of the small RTK equipment and the information of the pipeline detector, and carrying out integrated configuration based on the information of the small RTK equipment and the information of the pipeline detector to obtain an integrated pipeline detection device;
acquiring pipeline information to be detected and underground environment information, carrying out pipeline detection analysis based on the pipeline information to be detected and the underground environment information, determining detector working information, and controlling the pipeline detector in the integrated pipeline detection device to execute pipeline detection work according to the detector working information;
and acquiring pipeline detection data acquired by the pipeline detector and pipeline coordinate data acquired by the small RTK equipment, and performing pipeline drawing based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline diagram.
By adopting the technical scheme, the underground pipeline surveying system comprises the small RTK equipment, the pipeline detector and the integrated pipeline surveying platform, wherein the small RTK equipment is used for acquiring high-precision coordinate data, and the pipeline detector is used for positioning and path tracking of the underground pipeline. The integrated pipeline survey platform is used for carrying out integrated configuration based on the information of the small RTK equipment and the information of the pipeline detector, and an integrated pipeline detection device is obtained. And then, carrying out pipeline detection analysis based on the pipeline information to be detected and the underground environment information, determining detector working information, and controlling a pipeline detector in the integrated pipeline detection device to execute pipeline detection work according to the detector working information. And further, pipeline drawing is performed based on pipeline detection data acquired by the pipeline detector and pipeline coordinate data acquired by the small RTK equipment, so that an underground pipeline diagram is obtained. The underground pipeline survey system is used for carrying out pipeline survey by matching the small RTK equipment with the pipeline detector, so that the work which originally needs to be carried out twice can be completed by only one operation, the pipeline survey efficiency is improved, and an underground pipeline diagram is drawn so as to provide essential basic data for urban construction and operation.
The present application may be further configured in a preferred example, in that the pipeline finder is configured to, when performing the locating and path tracking of the underground pipeline:
When detecting the working information of the detector sent by the integrated pipeline survey platform, automatically adjusting working parameters of the pipeline detector based on the working information of the detector;
When the underground pipeline detection is executed according to the adjusted working parameters, sensing signals of the underground pipeline are obtained in real time, positioning and path tracking are carried out based on the sensing signals, and pipeline detection data are determined, wherein the pipeline detection data comprise pipeline trend and pipeline burial depth.
The present application may be further configured in a preferred example, in that the small RTK apparatus, when executing the acquisition of the high precision coordinate data, is configured to:
When the pipeline detection data are detected to be positioned by the pipeline detector, current position data are obtained and used as pipeline coordinate data;
And carrying out data association based on the pipeline detection data and the pipeline coordinate data to obtain a pipeline data association relationship, and sending the pipeline data association relationship to the integrated pipeline survey platform.
The present application may be further configured in a preferred example as a pipeline finder, further configured to:
Acquiring induction signals of an underground pipeline in real time, detecting damage points based on the induction signals, determining damage detection results, and sending the damage detection results to the integrated pipeline survey platform;
When the damage detection result is that damage exists, the preliminary damage point in the damage detection result is sent to the underground pipeline inspection robot, so that the underground pipeline inspection robot can carry out multi-dimensional detection on the damage point.
The present application may be further configured in a preferred example to further include:
The underground pipeline inspection robot is used for performing autonomous navigation based on the preliminary damage point until the underground pipeline inspection robot moves to the damage point;
When the travel to the position of the preliminary damage point is detected, carrying out multi-dimensional detection on the damage point of the pipeline by utilizing a carried multifunctional probe to obtain multi-dimensional detection data, wherein the multi-dimensional detection comprises ultrasonic flaw detection, infrared thermal image detection and gas concentration detection;
And performing fault point analysis based on the multi-dimensional detection data, determining fault point data, and sending the fault point data to the integrated pipeline survey platform.
The present application may be further configured in a preferred example, when performing pipeline mapping based on the pipeline detection data and the pipeline coordinate data, the integrated pipeline survey platform is configured to:
Performing pipeline drawing based on the pipeline detection data and the pipeline coordinate data to perform preliminary pipeline drawing, and determining a pipeline sketch;
Based on the pipeline information to be detected and the underground environment information, adding pipeline attributes to the pipeline sketch to obtain a pipeline attribute diagram;
and marking the fault point of the pipeline attribute map based on the fault point data to obtain an underground pipeline map.
In a second aspect, the application provides an underground pipeline surveying method integrating RTK equipment and a pipeline detector, which adopts the following technical scheme:
Acquiring small RTK equipment information and pipeline detector information, and carrying out integrated configuration based on the small RTK equipment information and the pipeline detector information to obtain an integrated pipeline detection device;
Acquiring pipeline information to be detected and underground environment information, and carrying out pipeline detection analysis based on the pipeline information to be detected and the underground environment information to determine detector working information;
and acquiring pipeline detection data and pipeline coordinate data, and drawing a pipeline based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline diagram.
In a third aspect, the present application provides an electronic device, which adopts the following technical scheme:
At least one processor;
A memory;
At least one application stored in the memory and configured to be executed by the at least one processor is configured to perform the above-described pipeline survey method with the RTK apparatus integrated with the pipeline finder.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
A computer readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the above-described method of underground pipeline surveying of an RTK apparatus integrated with a pipeline finder.
In summary, the present application includes at least one of the following beneficial technical effects:
1. The underground pipeline surveying system comprises a small RTK device, a pipeline detector and an integrated pipeline surveying platform, wherein the small RTK device is used for collecting high-precision coordinate data, and the pipeline detector is used for positioning and path tracking of an underground pipeline. The integrated pipeline survey platform is used for carrying out integrated configuration based on the information of the small RTK equipment and the information of the pipeline detector, and an integrated pipeline detection device is obtained. And then, carrying out pipeline detection analysis based on the pipeline information to be detected and the underground environment information, determining detector working information, and controlling a pipeline detector in the integrated pipeline detection device to execute pipeline detection work according to the detector working information. And further, pipeline drawing is performed based on pipeline detection data acquired by the pipeline detector and pipeline coordinate data acquired by the small RTK equipment, so that an underground pipeline diagram is obtained. The underground pipeline survey system is used for carrying out pipeline survey by matching the small RTK equipment with the pipeline detector, so that the work which originally needs to be carried out twice can be completed by only one operation, the pipeline survey efficiency is improved, and an underground pipeline diagram is drawn so as to provide essential basic data for urban construction and operation.
2. When detecting the detector working information sent by the integrated pipeline survey platform, the working parameters of the pipeline detector are automatically adjusted based on the detector working information. When the underground pipeline detection is executed according to the adjusted working parameters, sensing signals of the underground pipeline are obtained in real time, positioning and path tracking are carried out based on the sensing signals, and pipeline detection data are determined. The working parameters of the pipeline detector are automatically adjusted, so that the pipeline detector can work in an optimal state, and the detection efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of an underground pipeline survey system with an RTK apparatus and pipeline finder integrated therein according to one embodiment of the present application;
FIG. 2 is a flow chart of an embodiment of an underground pipeline survey method with an integrated RTK apparatus and pipeline finder;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Detailed Description
The application is described in further detail below in connection with fig. 1 to 3.
The present embodiment is merely illustrative of the present application and is not intended to limit the present application, and those skilled in the art, after having read the present specification, may make modifications to the present embodiment without creative contribution as necessary, but are protected by patent laws within the scope of the present application.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. It should be noted that, in the alternative embodiment of the present application, related data such as object information is required to obtain permission or consent of the object when the embodiment of the present application is applied to a specific product or technology, and the collection, use and processing of related data are required to comply with related laws and regulations and standards of related countries and regions. That is, in the embodiment of the present application, if data related to the object is involved, the data needs to be acquired through the approval of the object, the approval of the related department, and the compliance with the related laws and regulations and standards of the country and region. In the embodiment, for example, the personal information is involved, the acquisition of all the personal information needs to obtain the personal consent, for example, the sensitive information is involved, the individual consent of the information body needs to be obtained, and the embodiment also needs to be implemented under the condition of the authorized consent of the object.
In addition, the term "and/or" is merely an association relation describing the association object, and means that three kinds of relations may exist, for example, a and/or B, and that three kinds of cases where a exists alone, while a and B exist alone, exist alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
Embodiments of the application are described in further detail below with reference to the drawings.
The embodiment of the application provides an underground pipeline surveying system integrating RTK equipment and pipeline detectors, which comprises small RTK equipment 101, pipeline detectors 102 and an integrated pipeline surveying platform 103, wherein the small RTK equipment 101 is used for collecting high-precision coordinate data, the pipeline detectors 102 are used for positioning and tracking paths of underground pipelines, the integrated pipeline surveying platform 103 is used for carrying out integrated configuration on the basis of information of the small RTK equipment and information of the pipeline detectors to obtain an integrated pipeline detecting device, carrying out pipeline detection analysis on the basis of the information of the pipeline to be detected and the information of the underground environment, determining detector working information, controlling the pipeline detectors 102 in the integrated pipeline detecting device to execute pipeline detection working according to the detector working information, and carrying out pipeline drawing on the basis of the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline diagram.
An underground pipeline survey system with integrated RTK equipment and pipeline finder as shown in FIG. 1, the system comprising a miniature RTK equipment 101, a pipeline finder 102 and an integrated pipeline survey platform 103, wherein:
the small-sized RTK apparatus 101 for acquiring high-precision coordinate data;
A pipeline detector 102 for locating and path tracking the underground pipeline so as to complete the identification and location of the underground pipeline on the ground;
For the embodiment of the application, the small-sized RTK equipment 101 can acquire high-precision coordinate data through technical means such as differential positioning technology, carrier phase observation, real-time data processing and the like. Pipeline inspection device 102 is a tool specifically designed for underground pipeline inspection, and recognizes and locates the position of an underground pipeline by electromagnetic induction, radar inspection, or other physical principles, so that the recognition and location of an underground pipeline can be accomplished without the need to excavate the ground.
The integrated pipeline survey platform 103 is used for acquiring the information of the small RTK equipment and the information of the pipeline detector, and carrying out integrated configuration based on the information of the small RTK equipment and the information of the pipeline detector to obtain an integrated pipeline detection device;
For the embodiment of the present application, in the operation of performing underground pipeline inspection, due to the functional limitations of the positioning device and the pipeline inspection device 102, two groups of personnel are usually required to use the two devices to perform the operation respectively, or two independent operation flows are performed in the same area, namely, the pipeline inspection device 102 is used for performing preliminary inspection of the pipeline position, and the positioning device is used for performing accurate position measurement. However, the underground pipeline survey method employing two operations of the locating device and the pipeline finder 102 is not only inefficient, but also increases the cost of labor and time. In order to solve the problem of low pipeline surveying efficiency caused by two operations in the related art, in the embodiment of the application, the small RTK equipment 101 and the pipeline detector 102 are integrally configured, the small RTK equipment 101 in the integrated pipeline detection device can provide positioning data with the accuracy of +/-5 cm, the pipeline detector 102 in the integrated pipeline detection device can accurately identify and position various underground pipelines, so that the operation which originally needs two operations can be completed only by one operation, the pipeline surveying efficiency is improved, and the pipeline surveying system can also draw pipeline from pipeline surveying data acquired by the pipeline detector 102 and pipeline coordinate data acquired by the small RTK equipment 101 to obtain an underground pipeline diagram so as to provide essential basic data for urban construction and operation.
Specifically, the small RTK device information is obtained, including but not limited to device ID, device model, firmware version, positioning accuracy, connection suite (e.g., bluetooth, wi-Fi, etc.), and interface information (e.g., SDK development kit interface), and the pipeline finder information is obtained, including but not limited to finder ID, finder model, storage status, network connection, available finder mode, etc. Then, based on the information of the small RTK equipment and the information of the pipeline detector, an integrated pipeline detection device is obtained, and the integrated configuration is used for controlling the small RTK equipment 101 and the pipeline detector 102 to work cooperatively, so that the underground pipeline surveying operation which originally needs to be performed twice can be completed only by one operation, and the pipeline surveying efficiency is improved. The implementation process for the integrated configuration is that the small RTK device 101 and the pipeline finder 102 are configured in a hardware integrated manner based on a connection suite in the small RTK device information, where the connection suite includes, but is not limited to, a bluetooth module, a Wi-Fi module, and the like. The connection suite not only provides a channel for data transmission, but also ensures the real-time performance and stability of data transmission, wherein the real-time performance means that data between the small RTK device 101 and the pipeline detector 102 can be transmitted in real time, and the stability ensures that no interruption or error occurs in the data transmission process. At the same time, there is a need to custom develop an application that communicates with the small RTK apparatus 101 at the software level and receives coordinate data and integrates pipeline survey functions to ensure pipeline probing work is performed while acquiring positioning data. Thus, the communication and data receiving functions of the application program and the small RTK apparatus 101 are realized based on the interface information in the small RTK apparatus information, that is, the SDK development packet interface, and at the same time, the synchronicity of the pipeline survey and the coordinate data acquisition is ensured when the pipeline survey function is integrated in the application program. By tightly integrating hardware and software, the integrated pipeline detection device reduces intermediate links in the data transmission process, reduces the risk of data loss or errors, and improves the stability of data acquisition, and meanwhile, the integrated pipeline detection device is utilized for detecting the underground pipeline, so that the work which originally needs two operations can be completed by only one operation, and the detection efficiency of the underground pipeline is improved.
Acquiring pipeline information to be detected and underground environment information, performing pipeline detection analysis based on the pipeline information to be detected and the underground environment information, determining detector working information, and controlling a pipeline detector 102 in the integrated pipeline detection device to execute pipeline detection work according to the detector working information;
For the embodiment of the application, different pipeline materials, specifications, burial depths and underground environments can influence the detection effect of the pipeline detector 102, so in order to ensure the accuracy of the detection result, the pipeline information to be detected and the underground environment information are comprehensively considered, and the most suitable detection type and parameters are selected so as to reduce unnecessary detection time and workload.
Specifically, the pipeline information to be detected is obtained through official materials such as urban planning drawings and completion drawings, and the pipeline information to be detected comprises pipeline types, pipeline materials, pipeline laying time and pipeline burial depths, wherein the pipeline positions only comprise the information of starting points, ending points, midway turning points, crossing points and the like of pipelines, the pipeline burial depths refer to the distance from the ground to the bottom (inner wall) of the pipeline, and the pipeline positions and the pipeline burial depths are the standards according to which pipelines are laid, and possibly are different from the actual laying conditions of the pipelines, so that the pipeline information can only be used as auxiliary information for subsequently drawing underground pipeline diagrams. Subsurface environment information is obtained including, but not limited to, geological conditions, electromagnetic interference conditions, subsurface obstructions, and natural or man-made interference factors. Further, pipeline detection analysis is performed based on the pipeline information to be detected and the underground environment information to determine detector operation information including, but not limited to, detection type and detection operation parameters. After that, the pipeline inspecting instrument 102 in the control-integrated pipeline inspecting apparatus adjusts the operation parameters according to the inspection instrument operation information, and performs the pipeline inspecting operation.
For pipeline detection analysis, the specific implementation process is that firstly, according to the material, burial depth and underground environment information of the pipeline to be detected, a proper detection type is selected, for example, an electromagnetic detection method, an acoustic detection method or a clamping method can be selected for the pipeline made of metal materials, such as a gas pipeline, a power cable and the like, a ground penetrating radar detection method can be selected for the pipeline made of non-metal materials, such as a plastic pipe, a concrete pipe and the like, and in the region with complex geological conditions or serious electromagnetic interference, comprehensive detection can be needed by combining multiple detection methods. The method comprises the steps of selecting proper transmitting frequency according to the material and the embedded depth of a pipeline, generally, selecting lower frequency when a nonmetallic pipeline is detected and higher frequency when a metallic pipeline is detected, adjusting the receiving sensitivity according to the interference condition of an underground environment, namely, in a region with serious electromagnetic interference, the receiving sensitivity may need to be reduced to reduce false alarm, in a region with less interference, the receiving sensitivity may be improved to improve the detecting precision, and determining the detecting depth according to the embedded depth and the geological condition of the pipeline, wherein the detecting depth is generally slightly larger than the actual embedded depth of the pipeline to ensure the accuracy of a detecting result.
And acquiring pipeline detection data acquired by the pipeline detector 102 and pipeline coordinate data acquired by the small RTK equipment 101, and performing pipeline drawing based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline diagram.
For the embodiment of the present application, when the small RTK apparatus 101 and the pipeline finder 102 in the integrated pipeline inspection device cooperate, the pipeline finder 102 will send the collected pipeline inspection data to the integrated pipeline survey platform 103, and the small RTK apparatus 101 will send the collected pipeline coordinate data to the integrated pipeline survey platform 103, where the pipeline inspection data refers to data corresponding to the pipeline inspection device 102 when detecting the pipeline, and includes, but is not limited to, a pipeline point number (for identifying each key point on the pipeline, such as a start point, an end point, a turning point, etc.), a pipeline trend, a pipeline burial depth, a pipeline elevation, etc., and the pipeline coordinate data refers to high-precision coordinate data corresponding to the current position when the pipeline finder 102 collects the pipeline inspection data, including, but not limited to, precision, dimensions, and accurate position for determining the pipeline. Meanwhile, a one-to-one correspondence exists between the pipeline detection data and the pipeline coordinate data, pipeline drawing is performed based on the pipeline detection data and the pipeline coordinate data, and an underground pipeline diagram is obtained, namely, proper drawing software is selected according to drawing requirements and precision requirements, pipeline drawing is performed according to the pipeline detection data and the pipeline coordinate data by utilizing the drawing software, so that the underground pipeline diagram is obtained, and the layout, the trend and the attribute of the underground pipeline are conveniently and clearly known, so that accurate data support is provided for urban infrastructure construction, road transformation, underground space development and the like.
It will be seen that in an embodiment of the present application, the pipeline survey system comprises a small RTK apparatus 101, a pipeline finder 102 and an integrated pipeline survey platform 103, wherein the small RTK apparatus 101 is used to acquire high precision coordinate data and the pipeline finder 102 is used to locate and track the pipeline. The integrated pipeline survey platform 103 is used for carrying out integrated configuration based on the information of the small RTK equipment and the information of the pipeline detector, so as to obtain an integrated pipeline detection device. Then, pipeline detection analysis is performed based on the pipeline information to be detected and the underground environment information, the detector operation information is determined, and the pipeline detector 102 in the integrated pipeline detection device is controlled to perform pipeline detection operation according to the detector operation information. Further, pipeline drawing is performed based on the pipeline detection data acquired by the pipeline detector 102 and the pipeline coordinate data acquired by the small RTK apparatus 101, and an underground pipeline diagram is obtained. The underground pipeline survey system performs pipeline survey by combining the small RTK equipment 101 and the pipeline detector 102, so that the work which originally needs two operations can be completed by only one operation, the pipeline survey efficiency is improved, and an underground pipeline diagram is drawn so as to provide essential basic data for urban construction and operation.
Further, in order to improve the detection efficiency, in the embodiment of the present application, the pipeline detector 102 is used to perform positioning and path tracking on the underground pipeline:
When detecting the detector working information sent by the integrated pipeline survey platform 103, automatically adjusting working parameters of the pipeline detector 102 based on the detector working information;
when the underground pipeline detection is executed according to the adjusted working parameters, sensing signals of the underground pipeline are obtained in real time, positioning and path tracking are carried out based on the sensing signals, and pipeline detection data are determined, wherein the pipeline detection data comprise pipeline trend and pipeline burial depth.
For the embodiment of the present application, the pipeline finder 102 receives the finder operation information sent by the integrated pipeline survey platform 103 while performing the survey function of the underground pipeline, and the finder operation information specifies the type of the finder and the operation parameters of the finder, so that the pipeline finder 102 automatically adjusts the operation parameters of the pipeline finder 102 based on the finder operation information after receiving the finder operation information, so that the pipeline finder 102 adapts to different kinds of the inspection environments and pipeline types. For adjusting the working parameters of the pipeline detector 102, the detection type, frequency, sensitivity, detection depth, etc. may be adjusted, and of course, other working parameters may be adjusted, which are not limited in the embodiments of the present application. By receiving the probe operation information sent by the integrated pipeline survey platform 103 and automatically adjusting the operation parameters of the pipeline probe 102, the pipeline probe 102 can be ensured to operate in an optimal state, thereby improving the detection efficiency.
Further, the transmitter of the pipeline inspection device 102 may send electromagnetic signals or radar waves to the underground pipeline, which may induce currents or reflected echoes in the pipeline, and the receiver of the pipeline inspection device 102 may receive the induction signals induced or reflected by the pipeline, where the induction signals include information such as the position, the direction, and the depth of the pipeline. Then, the received induction signals are filtered to remove noise interference, meanwhile, effective signals are amplified to improve signal quality, and the processed induction signals are analyzed by special software or algorithm to extract the information such as the trend and the burial depth of the pipeline. The method has the advantages that the trend and the burial depth of the pipeline can be accurately determined by positioning and path tracking based on the induction signals, and the possibility of misjudgment and missed judgment is reduced.
It can be seen that in the embodiment of the present application, when the probe operation information sent by the integrated pipeline survey platform 103 is detected, the operation parameters of the pipeline probe 102 are automatically adjusted based on the probe operation information. When the underground pipeline detection is executed according to the adjusted working parameters, sensing signals of the underground pipeline are obtained in real time, positioning and path tracking are carried out based on the sensing signals, and pipeline detection data are determined. The automatic adjustment of the operating parameters of the pipeline inspection device 102 can ensure that the pipeline inspection device 102 operates in an optimal state, thereby improving inspection efficiency.
Further, in order to improve the integrity and accuracy of the pipeline inspection acquisition data, in the embodiment of the present application, the small RTK apparatus 101 is configured to:
When it is detected that the pipeline detector 102 is positioned to pipeline detection data, current position data is acquired as pipeline coordinate data;
And performing data association based on the pipeline detection data and the pipeline coordinate data to obtain pipeline data association relationship, and transmitting the pipeline data association relationship to the integrated pipeline survey platform 103.
For the embodiment of the present application, the pipeline finder 102 can also identify and locate the position of the underground pipeline through a specific detection technology, but the pipeline position in the pipeline detection data is usually only a relative position or distance, and lacks an absolute geographic position, so when the pipeline finder 102 locates the pipeline, an instruction for collecting coordinate data is sent to the small RTK device 101, so that the small RTK device 101 can accurately record the actual geographic position of the pipeline by acquiring the current position data (such as longitude, latitude, altitude, etc.), and provide an accurate basis for subsequent construction, maintenance and management. The small RTK apparatus 101 can acquire pipeline coordinate data of centimeter level or even millimeter level in real time with its high-precision positioning capability, which ensures the accuracy of the pipeline position and reduces the subsequent construction or maintenance problems caused by positioning errors. Meanwhile, the real-time performance of the RTK technology enables the pipeline positioning process to be quicker, and the working efficiency is improved.
The pipeline detection data provides key information such as the position, the trend and the material of the pipeline, the pipeline coordinate data provides the accurate position of the pipeline in the geographic space, and the two types of data are associated to form a complete pipeline information system, so that the follow-up data integration and unified management are facilitated, and the integrity and the accuracy of pipeline detection acquisition data are improved. Thus, the pipeline probe data and the pipeline coordinate data with the same timestamp are subjected to data association to obtain a pipeline data association relationship, and the pipeline data association relationship is sent to the integrated pipeline survey platform 103 to form a complete pipeline information system.
It can be seen that in the embodiment of the present application, when it is detected that the pipeline inspection device 102 is positioned to pipeline inspection data, current position data is acquired as pipeline coordinate data. Then, data correlation is performed based on the pipeline probe data and the pipeline coordinate data, a pipeline data correlation is obtained, and the pipeline data correlation is sent to the integrated pipeline survey platform 103. The two types of data are associated, so that a complete pipeline information system can be formed, subsequent data integration and unified management are facilitated, and the integrity and accuracy of pipeline detection acquisition data are improved.
Further, in order to timely grasp the health status of the pipeline, the maintenance work of the pipeline is better planned and managed, and in the embodiment of the present application, the pipeline probe 102 is further configured to:
acquiring induction signals of the underground pipeline in real time, detecting damage points based on the induction signals, determining damage detection results, and sending the damage detection results to the integrated pipeline survey platform 103;
When the damage detection result is that damage exists, the preliminary damage point in the damage detection result is sent to the underground pipeline inspection robot, so that the underground pipeline inspection robot can conveniently carry out multi-dimensional detection on the damage point.
For the embodiment of the application, the induction signal of the underground pipeline is obtained in real time, the damage point detection is carried out based on the induction signal, and the damage detection result is determined, wherein the damage detection result comprises the presence and absence of damage, and when the damage exists, the preliminary damage position is correspondingly stored. Regarding the process of breakage point detection, the pipeline detector 102 identifies the signal area where there is abnormality compared with the normal pipeline signal by analyzing the received sensing signal, the abnormality signal may indicate breakage, corrosion or other problems of the pipeline, and then automatically adjusts parameters such as gain and sensitivity, and determines the specific position of the breakage point by comparing the signal intensity between different points. And detecting the damage point based on the induction signal, and sending the damage detection result to the integrated pipeline survey platform 103 so as to grasp the health condition of the pipeline in time and plan and manage the maintenance work of the pipeline better. And when the damage detection result is that the damage exists, the preliminary damage point in the damage detection result is sent to the underground pipeline inspection robot, so that the underground pipeline inspection robot can conveniently carry out multi-dimensional detection on the damage point.
It can be seen that, in the embodiment of the present application, the induction signal of the underground pipeline is obtained in real time, the damage point detection is performed based on the induction signal, the damage detection result is determined, and the damage detection result is sent to the integrated pipeline survey platform 103, so that the health condition of the pipeline can be mastered in time, and the maintenance work of the pipeline can be planned and managed better. When the damage detection result is that damage exists, the preliminary damage point in the damage detection result is sent to the underground pipeline inspection robot, so that the underground pipeline inspection robot can conveniently carry out multi-dimensional detection on the damage point.
Further, in order to reduce the risk of operation and improve the accuracy and reliability of detection, in the embodiment of the present application, the method further includes:
The underground pipeline inspection robot is used for performing autonomous navigation based on the initial damage point until the underground pipeline inspection robot moves to the damage point;
when the travel to the position of the primary damage point is detected, carrying out multi-dimensional detection on the damage point of the pipeline by utilizing a carried multifunctional probe to obtain multi-dimensional detection data, wherein the multi-dimensional detection comprises ultrasonic flaw detection, infrared thermal image detection and gas concentration detection;
performing fault point analysis based on the multi-dimensional inspection data, determining fault point data, and sending the fault point data to the integrated pipeline survey platform 103.
For the embodiment of the application, the underground pipeline survey system further comprises an underground pipeline inspection robot, wherein the underground pipeline inspection robot is special for autonomous navigation, detection and diagnosis in the underground pipeline system, combines advanced navigation technology, sensor technology and data processing technology, can perform efficient and accurate inspection operation in complex and changeable underground pipeline environments, and provides powerful support for pipeline maintenance and management. Thus, when the underground pipeline inspection robot receives the position of the preliminary damage point sent by the pipeline detector 102, and after detecting an instruction allowing multi-dimensional detection, autonomous navigation is performed based on the preliminary damage point until the robot travels to the damage point.
When the travel to the position of the primary damage point is detected, the carried multifunctional probe is utilized to carry out multi-dimensional detection on the damage point of the pipeline, so as to obtain multi-dimensional detection data, wherein the multi-dimensional detection comprises ultrasonic flaw detection, infrared thermal image detection and gas concentration detection. For ultrasonic flaw detection, after an underground pipeline inspection robot reaches the position of a preliminary damage point, an ultrasonic flaw detection device is started, namely an ultrasonic probe is clung to the inner wall of the pipeline and emits ultrasonic waves into the pipeline, reflected waves are generated when the ultrasonic waves encounter defects (such as cracks and corrosion) in the process of propagating in the pipeline, and the reflected waves are converted into electric signals after being received by the probe and recorded as ultrasonic flaw detection data. For infrared thermal image detection, after the underground pipeline inspection robot reaches the position of the primary damage point, the infrared thermal imager is started to scan the outside or the inside of the pipeline, and the thermal radiation information on the surface of the pipeline is captured and recorded as infrared thermal image detection data. For gas concentration detection, after the underground pipeline inspection robot reaches the position of the primary damage point, a gas concentration sensor is started, and the gas concentration sensor samples and analyzes the gas in or around the pipeline and records the gas concentration detection data. And synthesizing ultrasonic flaw detection data, infrared thermal image detection data and gas concentration detection data to obtain multi-dimensional detection data. The inspection robot is used for detecting fault points, personnel can be prevented from entering dangerous environments, operation risks are reduced, meanwhile, the underground pipeline inspection robot can conduct ultrasonic flaw detection, infrared thermal image detection, gas concentration detection and other multi-dimensional detection on broken points of pipelines, so that the situation of the broken points is known more comprehensively, and the detection accuracy and reliability are improved.
Further, fault point analysis is performed based on the multi-dimensional detection data, fault point data is determined, and the fault point data is sent to the integrated pipeline survey platform 103, wherein the fault point data includes a fault point location, a fault point size, a fault point type, and whether there is a gas leak. For fault point analysis, firstly, combining ultrasonic flaw detection data and infrared thermal image detection data, determining the accurate position of a fault point through algorithm analysis, namely, for the ultrasonic flaw detection data, determining the specific position of the fault point inside a pipeline through analyzing the characteristics and the propagation path of a reflected wave signal, for the infrared thermal image detection data, determining the specific position of the fault point outside the pipeline through analyzing the position and the shape of a temperature abnormal region, and finally determining the position of the fault point through combining the specific positions obtained by the ultrasonic flaw detection data and the infrared thermal image detection data. The method comprises the steps of detecting the temperature abnormality degree and the temperature abnormality range in the data, judging whether the fault point is related to harmful gas leakage or not by utilizing information such as amplitude, phase and the like in the ultrasonic flaw detection data and combining parameters such as pipeline materials, thickness and the like, analyzing and judging the size and the type of the fault point through an algorithm, further verifying and correcting the size and the type judging result of the fault point by combining the temperature abnormality degree and the temperature abnormality range in the infrared thermal image detection data, judging whether the fault point is related to the harmful gas leakage or not by analyzing the change trend and the distribution characteristics of the gas concentration for the gas concentration detection data, and estimating the leakage quantity.
It can be seen that in the embodiment of the application, the underground pipeline inspection robot performs autonomous navigation based on the position of the preliminary damage point until the underground pipeline inspection robot travels to the damage point. When the travel to the position of the preliminary damage point is detected, the carried multifunctional probe is utilized to carry out multi-dimensional detection on the damage point of the pipeline, multi-dimensional detection data are obtained, fault point analysis is carried out based on the multi-dimensional detection data, the fault point data are determined, and the fault point data are sent to the integrated pipeline survey platform 103. The inspection robot is used for fault point detection, personnel can be prevented from entering a dangerous environment, operation risks are reduced, meanwhile, the underground pipeline inspection robot performs multi-dimensional detection so as to know the condition of a damaged point more comprehensively, and detection accuracy and reliability are improved.
Further, in order to improve reliability and stability of the pipeline, in the embodiment of the present application, the integrated pipeline survey platform 103 is configured to, when performing pipeline drawing based on the pipeline detection data and the pipeline coordinate data, obtain an underground pipeline map:
performing pipeline drawing based on the pipeline detection data and the pipeline coordinate data to perform preliminary pipeline drawing, and determining a pipeline sketch;
pipeline attribute adding is carried out on the pipeline sketch based on the pipeline information to be detected and the underground environment information, so that a pipeline attribute diagram is obtained;
and (5) marking the fault points on the pipeline attribute map based on the fault point data to obtain an underground pipeline map.
For the embodiment of the application, a proper drawing tool is selected according to the requirements and precision requirements of pipeline drawing, and a pipeline sketch of an underground pipeline is drawn in the drawing tool according to pipeline detection data and pipeline coordinate data, namely, the drawing is carried out according to the actual trend and shape of the pipeline by using tools such as straight lines, circular arcs, multi-section lines and the like, and the continuity and fluency of the line are maintained in the drawing process, so that the occurrence of fracture and dislocation is avoided. And then, based on the pipeline sketch, adding pipeline attribute based on the pipeline information to be detected and the underground environment information to obtain a pipeline attribute graph, namely, carrying out detailed description and marking at corresponding positions in the pipeline sketch based on the attribute information of the pipeline in the pipeline information to be detected, and simultaneously, using different colors, lines, symbols and the like to represent different underground environment information so as to improve the readability and the accuracy of the pipeline attribute graph. And further, based on the fault point data, carrying out fault point marking on the pipeline attribute diagram to obtain an underground pipeline diagram, wherein key information such as the type, the position, the type and the like of the fault point is clearly and accurately marked in the underground pipeline diagram. The underground pipeline diagram is convenient for clearly knowing the layout, trend and attribute of the underground pipeline, provides accurate data support for urban infrastructure construction, road transformation, underground space development and the like, and accurately marks the position, the size and the type of the fault so that related departments can quickly take measures to repair and maintain, and the reliability and the stability of the pipeline are improved.
It can be seen that, in the embodiment of the present application, the preliminary line drawing is performed by performing the line drawing based on the line detection data and the line coordinate data, and the line sketch is determined. And then, based on the pipeline information to be detected and the underground environment information, adding pipeline attribute to the pipeline sketch to obtain a pipeline attribute graph. And finally, marking the fault points on the pipeline attribute map based on the fault point data to obtain an underground pipeline map. The fault position, size and type are accurately marked, so that related departments can quickly take measures to repair and maintain, and the reliability and stability of the pipeline are improved.
The above embodiment describes an underground pipeline surveying system with integrated RTK apparatus and pipeline detector from the system perspective, and the following embodiment describes an underground pipeline surveying method with integrated RTK apparatus and pipeline detector from the method flow perspective, including steps S201, S202, and S203, wherein:
Step S201, acquiring small RTK equipment information and pipeline detector information, and carrying out integrated configuration based on the small RTK equipment information and the pipeline detector information to obtain an integrated pipeline detection device;
Step S202, acquiring pipeline information to be detected and underground environment information, and carrying out pipeline detection analysis based on the pipeline information to be detected and the underground environment information to determine the working information of the detector;
And step 203, acquiring pipeline detection data and pipeline coordinate data, and drawing a pipeline based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline diagram.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described underground pipeline surveying method with integrated RTK apparatus and pipeline detector may refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.
In an embodiment of the present application, as shown in fig. 3, an electronic device 300 shown in fig. 3 includes a processor 301 and a memory 303. Wherein the processor 301 is coupled to the memory 303, such as via a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that, in practical applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 is not limited to the embodiment of the present application.
The Processor 301 may be a CPU (Central Processing Unit ), general purpose Processor, DSP (DIGITAL SIGNAL Processor, data signal Processor), ASIC (Application SPECIFIC INTEGRATED Circuit), FPGA (Field Programmable GATE ARRAY ) or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. Processor 301 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
Bus 302 may include a path to transfer information between the components. Bus 302 may be a PCI (PERIPHERAL COMPONENT INTERCONNECT, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. Bus 302 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or type of bus.
The Memory 303 may be, but is not limited to, a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, an EEPROM (ELECTRICALLY ERASABLE PROGRAMMABLE READ ONLY MEMORY ), a CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
The memory 303 is used for storing application program codes for executing the inventive arrangements and is controlled to be executed by the processor 301. The processor 301 is configured to execute the application code stored in the memory 303 to implement what is shown in the foregoing method embodiments.
Among them, the electronic devices include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), car terminals (e.g., car navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. But may also be a server or the like. The electronic device shown in fig. 3 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the application.
Embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above.
Embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements a method as in any of the embodiments described above.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations should and are intended to be comprehended within the scope of the present application.
Claims (9)
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