CN107576316A - Reciprocating pipeline trajectory mapping method - Google Patents
Reciprocating pipeline trajectory mapping method Download PDFInfo
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- CN107576316A CN107576316A CN201710939308.6A CN201710939308A CN107576316A CN 107576316 A CN107576316 A CN 107576316A CN 201710939308 A CN201710939308 A CN 201710939308A CN 107576316 A CN107576316 A CN 107576316A
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Abstract
The present invention is a kind of reciprocating pipeline trajectory mapping method, is comprised the following steps：S1, the collection for carrying out pipeline trajectory data, the measurement data of collection are stored in the Pipeline Data Collection unit of surveying instrument；After S2, data acquisition terminate, the measurement data preserved in Pipeline Data Collection unit is read in data handling machine by CAN communication cable, computer exports according to the sensor under line ports inactive state this pipeline survey data being divided into wall scroll track data；S3, data handling machine are handled every track data；S4, a plurality of pipeline trajectory data calculated are handled, obtained section and horizontal plane average data are finally reverted into three-dimensional coordinate data.Mapping method mapping precision of the present invention is high, easy to operate, electromagnetism interference is strong.
Description
Technical field
The present invention relates to technical field of mapping, more particularly to a kind of reciprocating pipeline trajectory mapping method.
Background technology
The track mapping operations of City Buried Pipeline are essential in urban construction, and the track mapping of pipeline needs to use
Special instrument of surveying and mapping and method.Existing Chinese invention patent Publication No. CN104235618A, it is entitled《One kind is based on MEMS
The pipeline mapping of Inertial Measurement Unit and defect positioning device and its pipeline mapping and defect positioning method》, disclose a kind of survey
Device and mapping method are painted, due to the measurement error of MEMS Inertial Measurement Units, measurement accuracy can be influenceed with time integral, institute
Fluxgate magnetometer is employed with the patent to be modified the course angle of pipeline, to eliminate the accumulation of error, but this measure meeting
Disturbed by the ferromagnetism of pipeline and have influence on the effect of amendment, particularly when pipeline is iron pipe, influenceed just bigger.
The content of the invention
The present invention provides a kind of reciprocating pipeline trajectory mapping method, solves existing mapping means and is easily done by ferromagnetism
The defects of disturbing, realize the mapping method that anti-electromagnetic interference capability is strong and precision is high.
The object of the present invention is achieved like this：
A kind of reciprocating pipeline trajectory mapping method, methods described include：
S1, surveying instrument both ends are hung up to tow strap, and the tow strap is put into pipeline, the remains stationary shape at Initial Entry
State starts at the uniform velocity to draw after 30 seconds, 30 seconds, and when surveying instrument is dragged to the other end of pipeline, it is dilatory to stop, and remains stationary
It is reversely back at the uniform velocity dilatory that state starts after 30 seconds, 30 seconds, until pipeline Initial Entry；And so on 2-3 times, final surveying instrument
Pipeline Initial Entry is rested on, now remains stationary state 15 seconds, complete the collection of pipeline trajectory data, the measurement data of collection
It is stored in the Pipeline Data Collection unit of surveying instrument；
After S2, data acquisition terminate, the measurement number that will be preserved by CAN communication cable in Pipeline Data Collection unit
According to reading in data handling machine, computer is exported this pipeline according to the sensor under line ports inactive state
Measurement data is divided into wall scroll track data, if reciprocal 3 times, then 6 pipeline trajectory data are divided into, by that analogy；
S3, data handling machine are handled every track data, pass through Quaternion Method and EKF
Technology calculates the three-dimensional data of pipeline trajectory data；
S4, a plurality of pipeline trajectory data calculated are handled, first according to end points principle of identity by pipeline trajectory
Data are uniformly arrived under same three-dimensional system of coordinate, then carry out two-dimensional projection, are respectively obtained respective vertical plane and horizontal plane two dimension and are thrown
Shadow data, these vertical planes and horizontal plane data are then subjected to gross error rejecting and are averaged, finally by obtained section and water
Plane average data reverts to three-dimensional coordinate data.
Preferably, the surveying instrument includes high power lithium battery, power management subsystem, micro electro mechanical inertia measuring unit, number
According to synchronous acquisition subsystem and data communication and storage subsystem；
The high power lithium battery provides power supply by power management subsystem for each component units, the subsystem of surveying instrument；
The power management subsystem is used for power source charges management and electrical measurement；
The micro electro mechanical inertia measuring unit is connected with the synchronous data sampling subsystem, to synchronous data sampling subsystem
System sends measurement data；
The synchronous data sampling subsystem is communicated with data and storage subsystem is connected, for storing or being sent out
The data collected.
Preferably, the surveying instrument also includes supporting wheel carrier and tool housing, and the both ends of the tool housing are successively
It is connected in one by anchor ear, end cap, sealing ring and support wheel carrier；The support wheel carrier is provided with roller type odometer, described
Roller type viameter is connected with the synchronous data sampling subsystem；The both ends of the tool housing are provided with external interface；It is described
Data communicate and storage subsystem is connected with external interface, and external interface is used for grafting communication cable.
Preferably, the synchronous data sampling subsystem is that collection is surveyed from micro electro mechanical inertia under the control of synchronised clock
The data of unit are measured, and LPF and anti-interference filtration are carried out to data, then by the real time data and real-time clock one
Rise and be recorded in data communication and storage subsystem.
Preferably, the micro electro mechanical inertia measuring unit includes three axis accelerometer, three axis accelerometer, for acceleration and angle
The measurement of speed.
Preferably, the synchronous data sampling subsystem includes a microprocessor, six 16 A/D converters and a piece of
FPGA, for gathering the acceleration provided by micro electro mechanical inertia measuring unit and angular rate data and being provided by roller type odometer
Mileage, utilize FPGA design synchronizing signal so that data are to gather simultaneously, reduce measurement error.
Preferably, the data communication and storage subsystem include a CAN communication controler, a SD card read-write
Controller, a SD card, for the data storage that gathers synchronous data sampling subsystem in SD card, and receive data processing meter
The transmission of the control instruction and gathered data of calculation machine, SD card are stored in the setting of row subregion to data, and each surveying and mapping data preserves
In a memory block, multigroup pipeline surveying and mapping data can be stored simultaneously according to SD card capacity.
Preferably, the roller type odometer includes two-way odometer sensor.
The positive effect of the present invention is as follows：
1st, it is simple in construction.Data storage can preserve multigroup pipeline surveying and mapping data simultaneously in instrument internal；Self-powered,
It is high without trailing cable, reliability.2nd, mapping precision is high.By repeatedly coming and going measurement error technology for eliminating, solve micro electronmechanical used
Property measuring unit (MIMU) improves track mapping precision, MIMU is micro electro mechanical inertia with the larger problem of time accumulated error
The english abbreviation of measuring unit, the measurement for acceleration and angular speed.
3rd, operate, be easy to maintenance.Micro electro mechanical inertia measuring unit has the advantages of small volume, light weight, makes surveying instrument small
Ingeniously, light, good portability.Detachable battery design is employed in addition, makes the maintenance of instrument simpler.
4th, electromagnetism interference.Surveying instrument is without elements such as compass or magnetometers, without receiving extraneous electromagnetic signals, anti-electromagnetism
Interference performance is strong.
Brief description of the drawings
Fig. 1 is surveying instrument structure chart of the present invention；
Fig. 2 is circuit block diagram of the present invention；
Fig. 3 is use state figure of the present invention；
Fig. 4 is course of work block diagram of the present invention；
Fig. 5 is invention software algorithm block diagram；
Fig. 6 is data segmentation surface chart of the present invention；
Fig. 7 is trajectory error correction surface chart of the present invention.
In figure：
1- supports wheel carrier；2- tool housings；3- anchor ears；4- end caps；5- sealing rings；6- high power lithium batteries；7- power managements
Subsystem；701- power conversion modules；702- power management chips；8- micro electro mechanical inertias measuring unit (MIMU)；9- data are same
Walk acquisition subsystem；16,901-6 roads A/D conversion chips；902-FPGA；903-MPU；904- synchronised clocks；905- data are deposited
Card storage；10- data communicate and storage subsystem；1001-CAN bus transceivers；1002-CAN bus drivers；11- roller types
Odometer；12- external interfaces；13- three axis accelerometers；14- three axis accelerometers；20- surveying instruments；21- pipelines；22- tow straps；30-
Computer
Embodiment
Embodiment 1
The present embodiment provides a kind of reciprocating pipeline trajectory mapping method, and methods described includes：
S1, surveying instrument both ends are hung up to tow strap, and the tow strap is put into pipeline, the remains stationary shape at Initial Entry
State starts at the uniform velocity to draw after 30 seconds, 30 seconds, and when surveying instrument is dragged to the other end of pipeline, it is dilatory to stop, and remains stationary
It is reversely back at the uniform velocity dilatory that state starts after 30 seconds, 30 seconds, until pipeline Initial Entry；And so on 2-3 times, final surveying instrument
Pipeline Initial Entry is rested on, now remains stationary state 15 seconds, complete the collection of pipeline trajectory data, the measurement data of collection
It is stored in the Pipeline Data Collection unit of surveying instrument；
After S2, data acquisition terminate, the measurement number that will be preserved by CAN communication cable in Pipeline Data Collection unit
According to reading in data handling machine, computer is exported this pipeline according to the sensor under line ports inactive state
Measurement data is divided into wall scroll track data, if reciprocal 3 times, then 6 pipeline trajectory data are divided into, by that analogy；
S3, data handling machine are handled every track data, pass through Quaternion Method and EKF
Technology calculates the three-dimensional data of pipeline trajectory data；
S4, a plurality of pipeline trajectory data calculated are handled, first according to end points principle of identity by pipeline trajectory
Data are uniformly arrived under same three-dimensional system of coordinate, then carry out two-dimensional projection, are respectively obtained respective vertical plane and horizontal plane two dimension and are thrown
Shadow data, these vertical planes and horizontal plane data are then subjected to gross error rejecting and are averaged, finally by obtained section and water
Plane average data reverts to three-dimensional coordinate data.
As shown in Fig. 1 Fig. 2, surveying instrument described in the present embodiment is the track of Combined type underground pipeline 21 based on MIMU/ mileages
Surveying instrument 20, including support wheel carrier 1 and tool housing 2, the both ends of tool housing 2 pass through anchor ear 3, end cap 4, sealing ring 5 and branch
Support wheel carrier 1 is connected in one, and high power lithium battery 6, power management subsystem 7, micro electro mechanical inertia measurement list are provided with tool housing 2
Member (MIMU) 8, synchronous data sampling subsystem 9 and data communication and storage subsystem 10, support wheel carrier 1 are provided with roller type
Journey meter 11, the both ends of tool housing 2 are provided with external interface 12；Micro electro mechanical inertia measuring unit 8 and roller type odometer 11 and number
It is connected according to synchronous acquisition subsystem 9, measurement data is sent to synchronous data sampling subsystem 9；Synchronous data sampling subsystem 9 is again
It is connected with data communication and storage subsystem 10, for storing or being sent out the data collected；Data communicate and storage
Subsystem 10 is connected with external interface (watertight air plug) 12, and external interface 12 is used for grafting communication cable；High power lithium battery 6 passes through
Power management subsystem 7 provides power supply to above each several part, and power management subsystem 7 is used for power source charges management and electricity is surveyed
Amount.
The synchronous data sampling subsystem 9 is that collection measures from micro electro mechanical inertia under the control of synchronised clock 903
Data of unit (MIMU) 8, and LPFs and anti-interference filtration are carried out to them, then by the real time data and it is real-time when
Clock is recorded in data communication and storage subsystem together.
The micro electro mechanical inertia measuring unit (MIMU) 8 includes three axis accelerometer 13 and three axis accelerometer 14, and it is used to add
The measurement of speed and angular speed.
The synchronous data sampling subsystem 9 includes a microprocessor, six 16 A/D converters and a piece of FPGA,
It is used to gather the acceleration provided by micro electro mechanical inertia measuring unit (MIMU) 8 and angular rate data and by roller type odometer
11 mileages provided, using FPGA design synchronizing signal, it is to gather simultaneously to ensure these data, to reduce measurement error.
The data communication and storage subsystem 10 include a CAN communication controler, a SD card Read-write Catrol
Device, a SD card, its act on be the data storage that gathers synchronous data sampling subsystem 9 in SD card, and be responsible for receiving data
The transmission of the control instruction and gathered data of computer is handled, SD card is stored in the setting of row subregion to data, surveys and draws number every time
According to being stored in a memory block, multigroup surveying and mapping data of pipeline 21 can be stored simultaneously according to SD card capacity.
The roller type odometer 11 includes two-way odometer sensor, and the purpose is to improve the reliable of mileage measurement
Property, avoid because the invalid situation of mileage occurs in wheel slip.
In use, as shown in figure 3, this surveying instrument 20 is put into pipeline, the both ends of surveying instrument 20 are provided with tow strap, surveying instrument 20
It is connected by communication cable with external data handling machine.The effect of data handling machine is extract surveying instrument 20 three
Axis accelerometer, three axis accelerometer and two-way mileage count, according to Quaternion Method and expansion card Kalman filtering scheduling algorithm logarithm
According to being handled, the track three-dimensional data of pipeline 21 is obtained, and the pipeline data of offer corresponding format are provided according to user.
Below according to the course of work of the narration present invention in detail of accompanying drawing 4：
Power management chip 702 detects external interface (watertight air plug) 12 when being closed mode, and power-on becomes mold changing
Block 701, surveying instrument 20 are started working.The generation time synchronizing signal of synchronised clock 904, inside synchronous data sampling subsystem 9
16,6 tunnel A/D conversion chips 901 and FPGA902 carry out time synchronized, and in micro electro mechanical inertia measuring unit 8, roller type
Journey meter 11 synchronizes data acquisition.Sample frequency is 100Hz, synchronization accuracy 100us.Numbers of the MPU 903 to collection simultaneously
Number recorded by data communication and storage subsystem 10 according to progress LPF, anti-interference filtration, and by the data after processing
According in storage card 905.After mapping terminates, data handling machine is connected by external interface (watertight air plug) 12 with this surveying instrument 20
Connect, and the pipeline by CAN transceiver 1001 and the reading and saving of CAN driver 1002 in data storage card 905
21 measurement data.It can in addition contain gather the electricity of high power lithium battery 6 by power management chip 14, so as to obtain high-energy lithium battery
The service condition in pond 6.
After data handling machine reads the measurement data of this surveying instrument 20, according to the biography under the port inactive state of pipeline 21
This pipeline survey data is divided into wall scroll track data by sensor output, is carried out for every pipeline data at data fusion
Reason.Data anastomosing algorithm flow is as shown in figure 5, in step 1, the original of gyro, accelerometer is inputted to data handling machine
Beginning data, the initial data are the angular speed of carrier and the function of acceleration.In step 2, zero is carried out by data prediction
Partially, non-orthogonal errors, temperature error compensation, the measurement of angular speed and acceleration of this surveying instrument 20 in mapping process is obtained
Value.Then judge whether initial alignment is completed in step 3.If not completing, before Mobile state attitude algorithm is entered, it is necessary first to
Initially it is aligned in step 4 using angular speed and acceleration measurement in the quiescent state, obtains the initial attitude of carrier.First
Begin after the completion of being aligned, or judge that initial alignment has been completed in step 3, then can start to enter Mobile state survey in steps of 5
Amount.Using the attitude measurement value of micro electro mechanical inertia measuring unit 8, the measured value of roller type odometer 11, in step 6 using expansion
Open up Kalman filtering algorithm and carry out data fusion, obtain underground utilities trace information.The finally a plurality of pipeline rail to calculating
Mark data are handled, and are first arrived their unifications under same three-dimensional system of coordinate according to end points principle of identity, then carry out two-dimentional throwing
Shadow, respective vertical plane and horizontal plane two-dimensional projection data is respectively obtained, then carried out these vertical planes and horizontal plane data thick
Error is rejected and is averaged, and obtained section and horizontal plane average data finally are reverted into three-dimensional coordinate data.Being plotted in has
On the autonomous surveying instrument software interface in track that three-dimensional coordinate is shown.Software interface includes data segmentation interface (see Fig. 6) and track
Error correction interface (see Fig. 7).Position coordinates is in units of rice.This completes the mapping to underground utilities track.
Based on above-mentioned embodiment, the present invention is described above, but the present invention is not limited to above-mentioned embodiment
Content, appropriate change can be done without departing from the present invention.
Claims (8)
1. reciprocating pipeline trajectory mapping method, it is characterised in that：Methods described includes：
S1, surveying instrument both ends are hung up to tow strap, and the tow strap is put into pipeline, the remains stationary state 30 at Initial Entry
Second, start at the uniform velocity to draw after 30 seconds, when surveying instrument is dragged to the other end of pipeline, it is dilatory to stop, and remains stationary state
It is reversely back at the uniform velocity dilatory to start after 30 seconds, 30 seconds, until pipeline Initial Entry；And so on 2-3 times, final surveying instrument stops
In pipeline Initial Entry, now remains stationary state 15 seconds, complete the collection of pipeline trajectory data, and the measurement data of collection preserves
In the Pipeline Data Collection unit of surveying instrument；
After S2, data acquisition terminate, the measurement data preserved in Pipeline Data Collection unit is read by CAN communication cable
Get in data handling machine, computer is exported this pipeline survey according to the sensor under line ports inactive state
Data are divided into wall scroll track data, if reciprocal 3 times, then 6 pipeline trajectory data are divided into, by that analogy；
S3, data handling machine are handled every track data, pass through Quaternion Method and EKF technology
The three-dimensional data of pipeline trajectory data is calculated；
S4, a plurality of pipeline trajectory data calculated are handled, first according to end points principle of identity by pipeline trajectory data
It is unified to arrive under same three-dimensional system of coordinate, then two-dimensional projection is carried out, respectively obtain respective vertical plane and horizontal plane two-dimensional projection number
According to these vertical planes and horizontal plane data then being carried out into gross error rejecting and average, finally by obtained section and horizontal plane
Average data reverts to three-dimensional coordinate data.
2. reciprocating pipeline trajectory mapping method according to claim 1, it is characterised in that：The surveying instrument includes high energy
Lithium battery, power management subsystem, micro electro mechanical inertia measuring unit, synchronous data sampling subsystem and data communication and storage
System；
The high power lithium battery provides power supply by power management subsystem for each component units, the subsystem of surveying instrument；
The power management subsystem is used for power source charges management and electrical measurement；
The micro electro mechanical inertia measuring unit is connected with the synchronous data sampling subsystem, is sent out to synchronous data sampling subsystem
Send measurement data；
The synchronous data sampling subsystem is communicated with data and storage subsystem is connected, and is gathered for storing or being sent out
The data arrived.
3. reciprocating pipeline trajectory mapping method according to claim 2, it is characterised in that：The surveying instrument also includes bag
Support wheel carrier and tool housing are included, the both ends of the tool housing pass sequentially through anchor ear, end cap, sealing ring and connected with support wheel carrier
In one；The support wheel carrier is provided with roller type odometer, the roller type viameter and the synchronous data sampling subsystem
System is connected；The both ends of the tool housing are provided with external interface；The data communication and storage subsystem are connected with external interface,
External interface is used for grafting communication cable.
4. reciprocating pipeline trajectory mapping method according to claim 3, it is characterised in that：Synchronous data sampling
System is data of the collection from micro electro mechanical inertia measuring unit under the control of synchronised clock, and carries out LPF to data
And anti-interference filtration, then the real time data and real-time clock are recorded in data communication and storage subsystem together.
5. reciprocating pipeline trajectory mapping method according to claim 3, it is characterised in that：The micro electro mechanical inertia measurement
Unit includes three axis accelerometer, three axis accelerometer, the measurement for acceleration and angular speed.
6. reciprocating pipeline trajectory mapping method according to claim 3, it is characterised in that：Synchronous data sampling
System includes a microprocessor, six 16 A/D converters and a piece of FPGA, for gathering by micro electro mechanical inertia measuring unit
The acceleration and angular rate data of offer and the mileage provided by roller type odometer, using FPGA design synchronizing signal,
So that data are to gather simultaneously, measurement error is reduced.
7. reciprocating pipeline trajectory mapping method according to claim 3, it is characterised in that：The data communication and storage
Subsystem includes a CAN communication controler, a SD card read-write controller, a SD card, for data syn-chronization to be adopted
The data storage of subsystem collection receives the control instruction of data handling machine and the biography of gathered data in SD card
Defeated, SD card is stored in the setting of row subregion to data, and each surveying and mapping data is stored in a memory block, can be with according to SD card capacity
Store multigroup pipeline surveying and mapping data simultaneously.
8. reciprocating pipeline trajectory mapping method according to claim 3, it is characterised in that：The roller type odometer bag
Odometer sensor containing two-way.
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| CN108955675A (en) * | 2018-07-24 | 2018-12-07 | 东南大学 | A kind of underground piping track detection system and method based on inertia measurement |
| CN109780370A (en) * | 2019-01-21 | 2019-05-21 | 深圳大学 | A kind of pipeline three-dimensional curve robot measurement and its implementation |
| CN111649736A (en) * | 2020-05-07 | 2020-09-11 | 国家电网有限公司 | Information detector for underground electric power pipe network |
| WO2022205613A1 (en) * | 2021-03-30 | 2022-10-06 | 中国地质大学（武汉） | Unmanned landslide lateral deformation monitoring system and method based on inertial measurement technology |
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