CN113702978B - Submarine pipeline detection positioning method and system based on forward-looking sonar - Google Patents
Submarine pipeline detection positioning method and system based on forward-looking sonar Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a submarine pipeline detection method and a submarine pipeline detection system based on forward-looking sonar, wherein the method comprises the following steps: the forward-looking sonar device transmits signals and receives the signals reflected by the submarine pipeline; carrying out multiple beam forming processing on signals received by a forward-looking sonar device to obtain multi-beam domain data; carrying out dynamic threshold detection on the beam domain data to obtain a detection result; according to the detection result, carrying out binarization processing on the beam domain data to obtain a binarized image; performing Hough transformation on the binarized image, performing threshold detection in a transformation domain, and extracting pipeline segments to obtain a rectangular sound image; the rectangular sound map is converted into a fan-shaped display, thereby detecting the pipe and positioning the pipe. Compared with the traditional image domain processing method, the method has lower calculated amount, is easier to realize real-time submarine pipeline detection and positioning, and reduces the interference of image edge lines by the beam domain processing in the method.
Description
Technical Field
The invention relates to a submarine pipeline detection and positioning method and system based on forward-looking sonar, belonging to the field of marine acoustic signal processing.
Background
The submarine pipeline oil gas transportation has the characteristics of low transportation cost, stability and safety, and is an economic and reliable way for long-distance transportation of ocean oil gas resources. However, the submarine oil and gas pipeline is damaged due to the factors such as seawater corrosion, fishing boat trawl operation and the like. Therefore, it is necessary to periodically inspect submarine pipelines for damage, corrosion, and the like. The method for detecting the submarine pipeline by utilizing the active sonar mainly comprises side-scan sonar, front-view sonar and multi-beam sounding sonar. Along the pipeline direction, the single frame detection coverage of side scan sonar and multi-beam sounding sonar is smaller, and the forward looking sonar sector is wider and the pipeline detection efficiency is higher.
However, most of the existing pipeline detection methods using forward-looking sonar are detection methods based on image domain processing, and images are acquired through foreign equipment. In shallow sea area, the sea bottom is uneven, reefs and the like are fully distributed, and the strong bottom reverberation has great influence on pipeline detection. The existing image noise reduction and edge detection methods are difficult to eliminate the interference of reverberation, so that erroneous judgment is caused, and the overall detection efficiency is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a submarine pipeline detection and positioning method and system based on forward-looking sonar.
In order to achieve the above purpose, the invention provides a submarine pipeline detection and positioning method based on forward-looking sonar, which comprises the following steps:
the forward-looking sonar device transmits signals and receives the signals reflected by the submarine pipeline;
carrying out multiple beam forming processing on signals received by a forward-looking sonar device to obtain multi-beam domain data;
carrying out dynamic threshold detection on the beam domain data to obtain a detection result;
according to the detection result, carrying out binarization processing on the beam domain data to obtain a binarized image;
performing Hough transformation on the binarized image, performing threshold detection in a transformation domain, and extracting pipeline segments to obtain a rectangular sound image;
the rectangular sound map is converted into a fan-shaped display, thereby detecting the pipe and positioning the pipe.
As an improvement of the method, the method further comprises the step of designing a forward-looking sonar device according to the technical index requirement of submarine pipeline detection; the method specifically comprises the following steps:
according to the size of the detection pipeline, the angle coverage range of the forward-looking sonar is set to be 0-90 degrees, the transmitting transducer array adopts an arc array, the receiving transducer array adopts a uniform linear array, and the length D of the receiving transducer array is determined according to the following formula:
wherein B is w The unit is the beam width, the unit is the degree, lambda is the wavelength, and the receiving transducer array is set to be a uniform array; the number of array elements of the receiving transducer array is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
as an improvement of the method, the signals received by the forward-looking sonar device are subjected to a plurality of beam forming processes to obtain multi-beam domain data; the method specifically comprises the following steps:
performing multiple beam forming processes on the forward-looking sonar signal X (t), wherein the weighting vector of the ith beam is W i The beam formation Y (θ) of the ith beam is obtained according to the following equation i T) is:
Y(θ i ，t)＝W i H X(t)
where i=1, 2,3, …, N represents the total number of beams, t represents the time domain, and H represents the transposed conjugate;
beam domain data is obtained from N beamforming.
As an improvement of the method, the dynamic threshold detection is performed on the beam domain data to obtain a detection result; the method specifically comprises the following steps:
uniformly dividing N beams of the beam domain data into N areas, and solving the maximum value P of the jth area j The method comprises the following steps:
where max (·) represents the maximum value, j=1, 2,3, …, n, t represents the time domain;
the n maxima are averaged to obtain the value C as:
multiplying the value C by a combination coefficient beta to obtain a dynamic detection threshold T;
and detecting the threshold T of the beam domain data to obtain threshold K sampling points.
As an improvement of the method, according to the detection result, performing binarization processing on the beam domain data to obtain a binarized image; the method specifically comprises the following steps: and for the K sampling points which are over the threshold, the value at the corresponding beam domain position is assigned to be 1, and for the sampling points which are not over the threshold, the value at the corresponding beam domain position is assigned to be 0, so that a binarized image B is obtained.
As an improvement of the method, the binarized image is subjected to hough transformation, threshold detection is performed in a transformation domain, and pipeline line segment extraction is performed to obtain a rectangular sound image; the method specifically comprises the following steps:
performing Hough transformation on the binarized image:
ρ＝θcosφ+tsinφ
wherein θ and t respectively represent an angle and a time of beam domain data, ρ and φ are parameters of a transform domain, ρ represents a vertical distance from an origin to a straight line, φ represents an included angle between the vertical line and a t axis of a rectangular coordinate system, and a (a, B) th cell in the transform domain is obtained, a=1, 2,3, a, b=1, 2,3, B, a represents a subdivision number of ρ axes in the transform domain, and B represents a subdivision number of φ axes in the transform domain;
according to the conversion relation between rectangular coordinate system and transformation domain, corresponding array lattice (ρ is increased a ,φ b ) To obtain two values after Hough transformationA value image;
the threshold peak value E is obtained according to the following formula:
E＝ηmax(P)
wherein η is a constant, and P represents an accumulated value of hough transform;
and extracting pipeline segments of the binary image subjected to Hough transformation according to the threshold peak value E aiming at the focusing point in rho-phi data to obtain a rectangular sound image.
A forward looking sonar-based submarine pipeline detection positioning system, the system comprising: the device comprises a beam forming processing module, a dynamic threshold detection module, a binarization processing module, a Hough transformation and threshold crossing detection module and a detection positioning module; wherein,,
the beam forming processing module is used for carrying out a plurality of beam forming processes on the signals received by the forward-looking sonar device to obtain multi-beam domain data; the signal received by the forward-looking sonar device is a signal which is emitted by the forward-looking sonar device and reflected by the submarine pipeline;
the dynamic threshold detection module is used for carrying out dynamic threshold detection on the beam domain data to obtain a detection result;
the binarization processing module is used for carrying out binarization processing on the beam domain data according to the detection result to obtain a binarized image;
the Hough transformation and threshold detection module is used for carrying out Hough transformation on the binarized image, carrying out threshold detection on the binarized image in a transformation domain, and extracting pipeline line segments to obtain a rectangular sound image;
and the detection positioning module is used for converting the rectangular sound chart into fan-shaped display so as to detect the pipeline and position the pipeline.
As an improvement of the above system, the detailed design of the forward-looking sonar device includes:
according to the size of the detection pipeline, the angle coverage range of the forward-looking sonar device is set to be 0-90 degrees, the transmitting transducer array adopts an arc array, the receiving transducer array adopts a uniform linear array, and the length D of the receiving transducer array is determined according to the following steps:
wherein B is w The unit is the beam width, the unit is the degree, lambda is the wavelength, and the receiving transducer array is set to be a uniform array; the number of array elements of the receiving transducer array is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
compared with the prior art, the invention has the advantages that:
compared with the traditional image domain processing method, the method has low calculated amount, is easy to realize real-time submarine pipeline detection and positioning, and reduces the interference of image edge lines by the beam domain processing.
Drawings
FIG. 1 is a schematic flow diagram of a submarine pipeline detection and positioning method based on forward-looking sonar;
FIG. 2 is beam domain data of front view sonar;
FIG. 3 is an output after dynamic threshold detection;
FIG. 4 is a rectangular plot output of pipeline inspection;
fig. 5 is a sector output of the pipeline inspection.
Detailed Description
The invention relates to a submarine pipeline detection system and a submarine pipeline detection method based on forward-looking sonar, which are used for carrying out beam domain and image domain fusion processing.
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, embodiment 1 of the present invention proposes a submarine pipeline detection positioning method based on forward-looking sonar, which specifically includes:
1) Firstly, according to the size of a detection pipeline, selecting high frequency, reasonably designing the angle resolution and the distance resolution of a forward-looking sonar transducer, setting the angle coverage range of the forward-looking sonar to be 90 degrees, selecting an arc array as a transmitting transducer array, selecting a linear array as a receiving transducer array, and further determining the length D of the receiving transducer array;
wherein B is w The unit is the beam width in degrees, i.e. angular resolution, and λ is the wavelength. And setting the receiving transducer array as a uniform array, wherein d=md, M is the number of the receiving array elements, and D is the distance between adjacent array elements.
2) According to the technical performance requirement of the transducer, a transmitting and receiving circuit system and an electronic cabin are reasonably designed;
3) Transmitting a frame of signals acquired and received by the circuit system to a computer end through a cable, carrying out beam forming processing of a plurality of beams simultaneously, wherein the number of the beams is N, and acquiring beam domain data of multiple beams;
Y(θ i ，t)＝W i H X(t)
wherein X (t) represents the acquisition time domain complex signal transmitted to the computer terminal, W i A weight vector representing the i (i=1, 2,3, …, N) th beam, Y (θ) i T) represents the beam forming output of the ith beam, and the N beam outputs constitute beam domain data.
4) Carrying out dynamic threshold detection on beam domain data, uniformly dividing N beams, supposing to divide the N beams into N areas, and solving the maximum value P of each area j (j=1, 2,3, …, n), solving the mean value of the n maxima to obtain a value C, multiplying by a suitable coefficient to obtain a detection threshold, which is a dynamic threshold since the beam domain data is transformed over time.
In the formula, max (·) represents the maximum value.
T＝βC
Where β is a constant and T is a dynamic detection threshold.
For beam domain data Y (θ i T) performing threshold T detection, and assuming that the number of sampling points of the threshold is K.
5) And carrying out binarization assignment on the beam domain to form a binarized image. And (3) for the K sampling points which are subjected to threshold in the step (4), the value of the corresponding beam domain position is assigned to be 1, and the value of the sampling points which are not subjected to threshold is assigned to be 0, so as to obtain a binarized image B.
6) And (3) carrying out Hough transformation on the binarized image obtained in the step (5) in an image domain, carrying out threshold detection on a focus point in a transformation domain, and then carrying out pipeline segment extraction to remove interference of reefs.
Performing Hough transformation on the binarized image:
ρ＝θcosφ+tsinφ
wherein θ and t respectively represent the angle and time of the beam domain data, ρ and φ represent parameters of the transform domain, ρ represents the vertical distance from the origin to the straight line, φ represents the angle between the vertical line and the t axis of the rectangular coordinate system,
P(ρ a′ ,φ b′ )＝P(ρ a ,φ b )+1,a＝1,2,3,....,A,b＝1,2,3,....,B,
where P represents the accumulated value of the Hough transform, ρ a And phi b Respectively representing the (a, B) th cell in the transform domain, A representing the number of subdivisions of the p-axis in the transform domain, B representing the number of subdivisions of the phi-axis in the transform domain, increasing the accumulated value of the corresponding array of cells according to a conversion formula between the rectangular coordinate system and the transform domain (p, θ),
in the binarized image, for the focus point in ρ - φ data, extracting according to the over-threshold peak E:
E＝ηmax(P)
where η is a constant and P represents the accumulated value of the hough transform.
7) The obtained rectangular sound image data Y (θ i And t), converting the data into fan-shaped sound chart display data, detecting the pipeline and positioning the pipeline, thereby being more beneficial to the confirmation of the pipeline.
Compared with the traditional image domain processing method, the method has lower calculated amount, is easier to realize real-time submarine pipeline detection and positioning, and reduces the interference of image edge lines by the beam domain processing in the method.
In this embodiment, the system parameters are: the diameter of the submarine pipeline is 0.6 meter, the angle resolution of the forward-looking sonar is 1 degree, the data obtained by offshore experiments are used, and the sea water depth is about 4 meters. The wet end of the sonar is about 1.5 meters away from the water surface, the sound velocity is 1500m/s, only one frame of data is processed, and the processing result is shown in fig. 2-5, wherein fig. 2 is beam domain data of the front view sonar; FIG. 3 is an output after dynamic threshold detection; FIG. 4 is a rectangular plot output of pipeline inspection; fig. 5 is a sector output of the pipeline inspection.
Example 2
The embodiment 2 of the invention provides a submarine pipeline detection and positioning system based on forward-looking sonar, which comprises: the device comprises a beam forming processing module, a dynamic threshold detection module, a binarization processing module, a Hough transformation and threshold crossing detection module and a detection positioning module; implementation is based on the method of example 1, wherein,
the beam forming processing module is used for carrying out a plurality of beam forming processes on the signals received by the forward-looking sonar device to obtain multi-beam domain data; the signal received by the forward-looking sonar device is a signal which is emitted by the forward-looking sonar device and reflected by the submarine pipeline;
the dynamic threshold detection module is used for carrying out dynamic threshold detection on the beam domain data to obtain a detection result;
the binarization processing module is used for carrying out binarization processing on the beam domain data according to the detection result to obtain a binarized image;
the Hough transformation and threshold detection module is used for carrying out Hough transformation on the binarized image, carrying out threshold detection on the binarized image in a transformation domain, and extracting pipeline line segments to obtain a rectangular sound image;
and the detection positioning module is used for converting the rectangular sound chart into fan-shaped display so as to detect the pipeline and position the pipeline.
The specific design of the forward-looking sonar device comprises the following steps:
according to the size of detecting the pipeline, set the angle coverage of forward-looking sonar device to be 90 degrees, forward-looking sonar device is including transmitting transducer array and receiving transducer array, and wherein, transmitting transducer array adopts the arc array, and receiving transducer array adopts even sharp array, and the length D of determining receiving transducer array according to following formula is:
wherein B is w The unit is the beam width, the unit is the degree, lambda is the wavelength, and the receiving transducer array is set to be a uniform array; the number of array elements of the receiving transducer array is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.
Claims (7)
1. Submarine pipeline detection and positioning method based on forward-looking sonar, the method comprises the following steps:
the forward-looking sonar device transmits signals and receives the signals reflected by the submarine pipeline;
carrying out multiple beam forming processing on signals received by a forward-looking sonar device to obtain multi-beam domain data;
carrying out dynamic threshold detection on the beam domain data to obtain a detection result;
according to the detection result, carrying out binarization processing on the beam domain data to obtain a binarized image;
performing Hough transformation on the binarized image, performing threshold detection in a transformation domain, and extracting pipeline segments to obtain a rectangular sound image;
converting the rectangular sound chart into a fan-shaped display, thereby detecting the pipeline and positioning the pipeline;
according to the detection result, carrying out binarization processing on the beam domain data to obtain a binarized image; the method specifically comprises the following steps: and for the K sampling points which are over the threshold, the value at the corresponding beam domain position is assigned to be 1, and for the sampling points which are not over the threshold, the value at the corresponding beam domain position is assigned to be 0, so that a binarized image B is obtained.
2. The submarine pipeline detection and positioning method based on forward-looking sonar according to claim 1, wherein the method further comprises the step of designing a forward-looking sonar device according to technical index requirements of submarine pipeline detection; the method specifically comprises the following steps:
according to the size of the detection pipeline, the angle coverage range of the forward-looking sonar is set to be 0-90 degrees, the transmitting transducer array adopts an arc array, the receiving transducer array adopts a uniform linear array, and the length D of the receiving transducer array is determined according to the following formula:
wherein B is w The unit is the beam width, the unit is the degree, lambda is the wavelength, and the receiving transducer array is set to be a uniform array; the number of array elements of the receiving transducer array is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
3. the submarine pipeline detection and positioning method based on forward-looking sonar according to claim 1, wherein the signals received by the forward-looking sonar device are subjected to multiple beam forming processes to obtain multi-beam domain data; the method specifically comprises the following steps:
performing multiple beam forming processes on the forward-looking sonar signal X (t), wherein the weighting vector of the ith beam is W i The beam formation Y (θ) of the ith beam is obtained according to the following equation i T) is:
Y(θ i ，t)＝W i H X(t)
where i=1, 2,3, N represents the total number of beams, t represents the time domain, and H represents the transpose conjugate;
beam domain data is obtained from N beamforming.
4. The submarine pipeline detection and positioning method based on forward-looking sonar according to claim 3, wherein the dynamic threshold detection is performed on the beam domain data to obtain a detection result; the method specifically comprises the following steps:
uniformly dividing N beams of the beam domain data into N areas, and solving the maximum value P of the jth area j The method comprises the following steps:
where max () represents the maximum value, j=1, 2,3, n, t represents the time domain;
the n maxima are averaged to obtain the value C as:
multiplying the value C by a combination coefficient beta to obtain a dynamic detection threshold T;
and detecting the threshold T of the beam domain data to obtain threshold K sampling points.
5. The submarine pipeline detection and positioning method based on forward-looking sonar according to claim 4, wherein the binarization image is subjected to Hough transformation, threshold detection is performed in a transformation domain, and pipeline segment extraction is performed to obtain a rectangular sound image; the method specifically comprises the following steps:
performing Hough transformation on the binarized image:
ρ＝θcosφ+tsinφ
wherein θ and t respectively represent an angle and a time of beam domain data, ρ and φ are parameters of a transform domain, ρ represents a vertical distance from an origin to a straight line, φ represents an included angle between the vertical line and a t axis of a rectangular coordinate system, and a (a, B) th cell in the transform domain is obtained, a=1, 2,3, a, b=1, 2,3, B, a represents a subdivision number of ρ axes in the transform domain, and B represents a subdivision number of φ axes in the transform domain;
according to the conversion relation between rectangular coordinate system and transformation domain, corresponding array lattice (ρ is increased a ,φ b ) Obtaining a binary image after Hough transformation;
the threshold peak value E is obtained according to the following formula:
E＝ηmax(P)
wherein η is a constant, and P represents an accumulated value of hough transform;
and extracting pipeline segments of the binary image subjected to Hough transformation according to the threshold peak value E aiming at the focusing point in rho-phi data to obtain a rectangular sound image.
6. Submarine pipeline detection positioning system based on forward-looking sonar, characterized in that the system comprises: the device comprises a beam forming processing module, a dynamic threshold detection module, a binarization processing module, a Hough transformation and threshold crossing detection module and a detection positioning module; wherein,,
the beam forming processing module is used for carrying out a plurality of beam forming processes on the signals received by the forward-looking sonar device to obtain multi-beam domain data; the signal received by the forward-looking sonar device is a signal which is emitted by the forward-looking sonar device and reflected by the submarine pipeline;
the dynamic threshold detection module is used for carrying out dynamic threshold detection on the beam domain data to obtain a detection result;
the binarization processing module is used for carrying out binarization processing on the beam domain data according to the detection result to obtain a binarized image;
the Hough transformation and threshold detection module is used for carrying out Hough transformation on the binarized image, carrying out threshold detection on the binarized image in a transformation domain, and extracting pipeline line segments to obtain a rectangular sound image;
the detection positioning module is used for converting the rectangular sound chart into fan-shaped display so as to detect the pipeline and position the pipeline;
the processing of the binarization processing module comprises the following steps: and for the K sampling points which are over the threshold, the value at the corresponding beam domain position is assigned to be 1, and for the sampling points which are not over the threshold, the value at the corresponding beam domain position is assigned to be 0, so that a binarized image B is obtained.
7. The submarine pipeline detection and positioning system based on forward-looking sonar according to claim 6, wherein the specific design of the forward-looking sonar device comprises:
according to the size of the detection pipeline, the angle coverage range of the forward-looking sonar device is set to be 0-90 degrees, the transmitting transducer array adopts an arc array, the receiving transducer array adopts a uniform linear array, and the length D of the receiving transducer array is determined according to the following steps:
wherein B is w The unit is the beam width, the unit is the degree, lambda is the wavelength, and the receiving transducer array is set to be a uniform array; the number of array elements of the receiving transducer array is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
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