CN106093973A - The trajectory measurement of a kind of buried pipeline and the method for internal detection - Google Patents
The trajectory measurement of a kind of buried pipeline and the method for internal detection Download PDFInfo
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- CN106093973A CN106093973A CN201610566492.XA CN201610566492A CN106093973A CN 106093973 A CN106093973 A CN 106093973A CN 201610566492 A CN201610566492 A CN 201610566492A CN 106093973 A CN106093973 A CN 106093973A
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- pipeline
- measuring robots
- signal receiver
- tracking point
- robots
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The trajectory measurement of a kind of buried pipeline and the method for internal detection, first, size according to pipe diameter selects suitable measuring robots, measuring robots is put into from the import department of pipeline, and move along pipeline toward the exit of pipeline in pipeline, measuring robots is launched wireless signal during movement and records the image of pipe interior；Then by signal receiver in the position of ground trace detection robot, determine several tracking points successively, and record measuring robots by the degree of depth on measuring robots distance ground during this tracking point；Measured by the GPS device on signal receiver and the three-dimensional coordinate of recording, tracking point simultaneously；Then the three-dimensional coordinate of pipeline is obtained by elevation correction；The trajectory diagram of pipeline is drawn according to the three-dimensional coordinate obtained；The method can be easy draw out the trajectory diagram laying pipeline, and pipe interior whether existing defects can be detected.
Description
Technical field
The present invention relates to trajectory measurement and the method for internal detection of pipeline, especially relate to the track of a kind of buried pipeline
Measure and the method for internal detection.
Background technology
Along with the development in city, it is becoming tight underground space day, yet with the imperfection of underground space management, some city
Pipeline does not has clear and definite as-built drawing or as-built drawing and actual grave fault, and it gives follow-up maintenance and the exploitation of the underground space
Bring many difficulties.
The pipeline laid such as no-dig technique Directional Drilling, this technology can be laid pipeline in the case of not excavating, passed through
Having clear advantage when road, river, therefore this technology is widely used, but this technology does not has when initially use
Track after laying is measured, causes underground piping situs ambiguus, often will lay before during follow-up laying pipeline
After pipeline bores broken, and this technology lays pipeline, pipeline tends to deform, and when checking and accepting, not to this respect
Content detect, it is impossible to ensure construction after quality, there is potential safety hazard.
For another example, some builds pipeline of the remote past, owing to follow-up expressway extension keeps in repair, cause as-built drawing disappearance or with
Field condition grave fault, follow-up management and maintenance to pipeline bring exceptional hardship.
Summary of the invention
In order to solve above-mentioned technical problem, it is an object of the invention to provide the trajectory measurement of a kind of buried pipeline and internal detection
Method, what the method can be easy draws out the trajectory diagram laying pipeline, and can detect whether pipe interior exists scarce
Fall into.
The present invention is achieved through the following technical solutions:
The trajectory measurement of a kind of buried pipeline and the method for internal detection, it is characterised in that comprise the following steps:
S1: select suitable measuring robots according to the size of pipe diameter, measuring robots is put into from the import department of pipeline,
And move along pipeline toward the exit of pipeline in pipeline, measuring robots launches wireless signal record during movement
The image of pipe interior；
S2: by signal receiver in the position of ground trace detection robot, determines several tracking points, recorder successively
People is by the degree of depth on measuring robots distance ground during this tracking point；
S3: measured and recording, tracking point three-dimensional coordinate by the GPS device on signal receiver；
S4: according to measuring robots in S2 step by the adjusting for depth S3 step on measuring robots distance ground during this tracking point
The elevation of middle tracking point obtains several three-dimensional coordinates of pipeline；
S5: draw the trajectory diagram of pipeline according to the three-dimensional coordinate obtained in S4 step.
Preferably, the power of the wireless signal that described signal receiver receives and signal receiver and measuring robots it
Between distance be inversely proportional to.
Preferably, described signal receiver being provided with GPS positioner, this GPS positioner can obtain signal and connect
Receive the gps coordinate of device position.
Preferably, described measuring robots is CCTV measuring robots, and this measuring robots is additionally provided with wireless signal
Emitter.
Preferably, the spacing between described two adjacent tracking points determines according to duct length and certainty of measurement.
The trajectory measurement of the pipeline of the present invention and the method for internal detection, have the advantages that what the present invention provided
The trajectory measurement of a kind of buried pipeline and the method for internal detection, the method uses CCTV measuring robots, in that context it may be convenient to inspection
Measure the defect of pipe interior, and on measuring robots, be provided with wireless signal transmitter, receive by being provided with the signal of GPS
Device can calculate the three-dimensional position of some measuring robots present positions, thus obtains the trajectory diagram of pipeline, and the method is simple
Convenient, effectively the track of buried pipeline can be measured and can pipe interior be detected simultaneously.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of trajectory measurement method.
Fig. 2 is the schematic diagram of measuring robots and signal receiver.
Detailed description of the invention
Below with reference to embodiment, the present invention is explained in detail.But, the present invention should not be construed as limited to following
Embodiment.
As it is shown in figure 1, the trajectory measurement of a kind of buried pipeline and the method for internal detection, comprise the following steps:
(1), suitable measuring robots 10 is selected according to the size of pipeline 20 diameter laid, by measuring robots from laying
The import department of pipeline 20 puts into, and moves along pipeline toward the exit of pipeline in pipeline, and measuring robots 10 is in the mistake of movement
Journey is launched wireless signal and records the image of pipe interior；Running gear 12 can be used the when that pipeline being bigger, allow inspection
Survey robot to be moved in pipeline by running gear 12；When pipeline is smaller when, running gear 12 can be removed, logical
Cross traction apparatus 40 to tow so that measuring robots moves in pipeline 20；Electricity is provided for measuring robots 10 by cable 52
Power also will detection signal return line detection car 50；
(2), measuring robots moves when, signal receiver 30 receives the wireless signal that measuring robots 10 is launched
32, the position of trace detection robot 10, determine several tracking points A1, A2 successively on ground ... An, show testing machine simultaneously
Device people is by measuring robots during each tracking point 10 depth H 1 apart from ground, H2 ... Hn.
(3), by the GPS device on signal receiver 30, measure and the coordinate (X1, Y1, Z1) of recording, tracking point, (X2,
Y2, Z1) ... (Xn, Yn, Zn)；
(4), according to measuring robots in step 2 by the adjusting for depth step on measuring robots distance ground during each tracking point
In 3, the coordinate of tracking point obtains several three-dimensional coordinates (x1, y1, z1) of pipeline, (x2, y2, z2) ... (xn, yn, zn)；
(5) trajectory diagram of pipeline, is drawn according to the three-dimensional coordinate obtained in step 4.Image according to photographing in step 1 also may be used
To judge pipe interior whether existing defects.
With reference to Fig. 1 and Fig. 2, described measuring robots 10 is CCTV measuring robots, and this measuring robots is additionally provided with
Wireless signal transmitter 32.Video detector 14 on measuring robots 10 can photograph the image in pipeline.Further,
Distance between power and signal receiver 30 with the measuring robots 10 of the wireless signal 34 that signal receiver 30 receives becomes
Inverse ratio, say, that when the position of measuring robots 10 is positioned at immediately below signal receiver 30, signal receiver receives
Signal is the strongest, detection when, after measuring robots 10 moves a segment distance every time, suspends mobile, the most constantly moves
The position at signal receiver 30 place, until obtaining the position that signal is the strongest, at this moment measuring robots 10 is positioned at signal receiver
The underface of 30, this position is tracking point.Recording the coordinate of this tracking point, record measuring robots receives with signal simultaneously
The distance of device, i.e. can obtain the three-dimensional coordinate of measuring robots immediately below this tracking point, the most just show that pipeline is in this position
On three-dimensional coordinate.By determining tracking point A1, A2 successively ... An, obtain several three-dimensional coordinate points (x1, y1, z1), (x2,
Y2, z2) ... (xn, yn, zn), the trajectory diagram of pipeline just can be drawn out according to these coordinate points.
With reference to Fig. 1 and Fig. 2, it is preferred that being provided with GPS positioner 36 on described signal receiver 30, this GPS positions dress
Put 36 gps coordinates that can obtain signal receiver place.Therefore, tracking point being detected when, can be directly obtained this and chase after
The three-dimensional coordinate of track point, does not carry out extra measurement, reduces workload.It is further preferred that adjacent two tracking points it
Between spacing between 0.5 meter to 1.0 meter.The distance of two adjacent tracking points is not fixing, according to laid
The length of pipeline determines, the precision required for reaching drawn trajectory diagram determines.
The above disclosed present pre-ferred embodiments that is only, can not limit the right model of the present invention with this certainly
Enclose, the equivalent variations therefore made according to the claims in the present invention, still belong to the scope that the present invention is contained.
Claims (5)
1. the trajectory measurement of a buried pipeline and the method for internal detection, it is characterised in that comprise the following steps:
S1: select suitable measuring robots according to the size of pipe diameter, measuring robots is put into from the import department of pipeline,
And the exit of past pipeline is moved in pipeline, measuring robots is launched wireless signal during movement and records in pipeline
The image in portion；
S2: by signal receiver in the position of ground trace detection robot, determines some tracking points successively, and records detection
Robot is by the degree of depth on measuring robots distance ground during this tracking point；
S3: measured by the GPS device on signal receiver and the three-dimensional coordinate of recording, tracking point；
S4: according to the measuring robots calculated in S2 step by the degree of depth on measuring robots distance ground during this tracking point,
Revise the elevation of tracking point in S3 step, obtain several three-dimensional coordinates of pipeline；
S4: draw the trajectory diagram of pipeline according to the three-dimensional coordinate obtained in S4 step.
The trajectory measurement of a kind of buried pipeline the most according to claim 1 and the method for internal detection, it is characterised in that institute
The distance stated between power and signal receiver and the measuring robots of the wireless signal that signal receiver receives is inversely proportional to.
The trajectory measurement of a kind of buried pipeline the most according to claim 2 and the method for internal detection, it is characterised in that institute
Stating and be provided with GPS positioner on signal receiver, this GPS positioner can obtain the three-dimensional of signal receiver position
Coordinate.
4., according to trajectory measurement and the method for internal detection of a kind of buried pipeline described in Claims 2 or 3, its feature exists
In, described measuring robots is CCTV measuring robots, this measuring robots is additionally provided with wireless signal transmitter, by ground
Signal receiver on face with the position of trace detection robot, and can show the distance on measuring robots distance ground.
The trajectory measurement of a kind of buried pipeline the most according to claim 2 and the method for internal detection, it is characterised in that institute
The spacing stated between adjacent two tracking point determines according to length of pipeline and certainty of measurement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610566492.XA CN106093973A (en) | 2016-07-19 | 2016-07-19 | The trajectory measurement of a kind of buried pipeline and the method for internal detection |
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| CN201610566492.XA CN106093973A (en) | 2016-07-19 | 2016-07-19 | The trajectory measurement of a kind of buried pipeline and the method for internal detection |
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| CN201610566492.XA Pending CN106093973A (en) | 2016-07-19 | 2016-07-19 | The trajectory measurement of a kind of buried pipeline and the method for internal detection |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110230990A (en) * | 2019-06-27 | 2019-09-13 | 北京讯腾智慧科技股份有限公司 | Gas ductwork geology deformation monitoring system and method |
| CN110566750A (en) * | 2019-08-01 | 2019-12-13 | 海宁立潮工程咨询有限公司 | Method and detection equipment for track measurement and internal detection of buried pipeline |
| CN111948632A (en) * | 2020-08-10 | 2020-11-17 | 南京智慧基础设施技术研究院有限公司 | Positioning method of robot in hydraulic pipe culvert |
| CN114167451A (en) * | 2021-10-23 | 2022-03-11 | 上海惟堪建筑工程技术有限公司 | System and method for long-distance detection of non-metal pipeline |
| CN115239878A (en) * | 2022-07-18 | 2022-10-25 | 广东省源天工程有限公司 | Laying method of water delivery steel pipe |
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| CN204855835U (en) * | 2015-07-01 | 2015-12-09 | 北京易景盈达科技有限公司 | Three -dimensional display system that surveys of city pipeline |
| CN105301555A (en) * | 2014-06-30 | 2016-02-03 | 上海新能凯博实业有限公司 | Underground pipeline tracing instrument and operating method thereof |
| CN105697930A (en) * | 2016-03-25 | 2016-06-22 | 安徽机电职业技术学院 | Pipeline maintenance trolley with wireless video transmission function |
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| CN102288221A (en) * | 2011-06-22 | 2011-12-21 | 中国科学院深圳先进技术研究院 | Equipment for generally surveying pipeline |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110230990A (en) * | 2019-06-27 | 2019-09-13 | 北京讯腾智慧科技股份有限公司 | Gas ductwork geology deformation monitoring system and method |
| CN110566750A (en) * | 2019-08-01 | 2019-12-13 | 海宁立潮工程咨询有限公司 | Method and detection equipment for track measurement and internal detection of buried pipeline |
| CN111948632A (en) * | 2020-08-10 | 2020-11-17 | 南京智慧基础设施技术研究院有限公司 | Positioning method of robot in hydraulic pipe culvert |
| CN114167451A (en) * | 2021-10-23 | 2022-03-11 | 上海惟堪建筑工程技术有限公司 | System and method for long-distance detection of non-metal pipeline |
| CN115239878A (en) * | 2022-07-18 | 2022-10-25 | 广东省源天工程有限公司 | Laying method of water delivery steel pipe |
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Application publication date: 20161109 |