CN106569283A - Buried iron pipeline detection and accurate positioning method based on magnetic field indirect detection - Google Patents
Buried iron pipeline detection and accurate positioning method based on magnetic field indirect detection Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 23
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title abstract description 12
- 229910052742 iron Inorganic materials 0.000 title abstract description 6
- 230000006698 induction Effects 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 4
- 239000013598 vector Substances 0.000 abstract description 3
- 239000000523 sample Substances 0.000 abstract description 2
- 230000005389 magnetism Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 239000013589 supplement Substances 0.000 description 4
- 230000005415 magnetization Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229910001018 Cast iron Inorganic materials 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/081—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the magnetic field is produced by the objects or geological structures
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- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
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Abstract
The invention belongs to the field of underground pipeline detection, and particularly relates to a pipeline detection and positioning method based on buried iron pipeline magnetic field indirect detection. According to the specific realization method, three-axis magnetic field sensors are used for forming a linear detection array, abnormal distribution of magnetic induction intensity near the surface is detected in a detected area along a linear detection path, a detection magnetic field tri-component far away from the magnetic induction intensity abnormal peak point in the detection path and little influenced by the magnetic abnormal condition is used as a background magnetic field, the background magnetic field tri-component is subtracted from a detection magnetic field tri-component on each measurement point, vectors are solved as magnetic fields, and the peak connection of the obtained magnetic fields detected and calculated by each path of probe is used for positioning horizontal distribution of the underground pipeline. The pipeline is accurate to detect and position, the equipment cost and the use cost are low, and the instrument is easy to make.
Description
Technical field
The invention belongs to Electromagnetic Survey of Underground Pipelines field, and in particular to a kind of buried irony pipe based on magnetizing field indirect detection
Line is detected and accurate positioning method.
Background technology
Due to reasons such as history, the variations of humane and geology so that underground utilities distributed intelligence is failed to understand, so as to cause pipeline to add
The phenomenon for beating Lou or digging disconnected underground utilities during close laying, road construction excavation, engineering investigation and construction piling occurs often,
The security incidents such as oil gas leakage, water power interruption are caused, industrial or agricultural normally production and people's daily life is had a strong impact on.Therefore, work
Before journey construction, verify the presence or absence of construction area underground utilities and determine that pipeline horizontal distribution is of crucial importance.
Underground utilities category of piping materials is various, and embedded situation is varied, for the difference of mode thousand that different pipelines are detected
Ten thousand is other.Cast iron pipe, galvanized iron conduit, stainless steel tube, stainless steel composite pipe and PCCP pipes are made up of iron and steel and other pipeline materials, this
The pipeline of a little types may be collectively referred to as iron pipe.At present, the water supply heating of most oil-gas gathering and transferring pipeline, the overwhelming majority
Pipeline and part common trench, rain dirt flowing line are iron pipe, particularly lay older underground utilities and mostly cast
Iron pipe material.Due to the magnetic susceptibility characteristics of underground irony pipeline and the susceptibility difference of surrounding soil it is larger, in the magnetization in earth's magnetic field
Under can produce obviously magnetic anomaly, therefore, it can by detect ground magnetic anomaly be distributed come Underground irony pipeline
Distribution.
At present, underground irony pipeline magnetic anomaly detection is divided mainly based on the total magnetic anomaly of detection based on total intensity of magnetic anomaly
Cloth, can effectively judge the presence or absence of underground irony pipeline, but cannot accurately judge underground utilities based on total intensity of magnetic anomaly distribution
Horizontal level.Because the bus magnetic anomaly distribution caused by the irony pipeline of underground is subject to earth magnetism distribution characteristicss, pipeline rout, pipe
The impact of road remanent magnetism, the total magnetic anomaly detection tracing pattern perpendicular to pipeline trend can change therewith, whether Curve Maximization, also
It is predetermined characteristic point all cannot accurately indicate underground irony pipeline axis on Curve Maximization line horizontal level.Except
The presence or absence of Underground irony pipeline, be accurately positioned pipeline horizontal level for instruct excavation and piling construction, to avoid accident
Seem even more important.
The content of the invention
The purpose of the present invention is the problem existed for the total magnetic anomaly detection positioning of buried irony pipeline at present, there is provided a kind of
The detection of buried irony pipeline and accurate positioning method based on magnetizing field indirect detection.
Total magnetic anomaly is that underground irony pipeline is magnetized between the pipeline magnetic anomaly and earth magnetism ambient field for producing by earth's magnetic field
Vector, because the total magnetic anomaly tracing pattern of survey line receives pipeline azimuth, magnetic dip angle, magnetic declination and pipeline remanent magnetism distribution influence,
Therefore total magnetic anomaly curve maximum or minima cannot accurately indicate the horizontal level of conduit axis；The magnetic produced after pipeline magnetization
The calculated curve of field vector modulus value be axially symmetric structure, its only exist peak-peak and without minimum valley, pipeline magnetizing field peak
Value indicates that conduit axis horizontal level is much higher compared with the pipe level positional accuracy that the total magnetic anomaly of detection is most worth instruction；Based on this
Premise, the present invention proposes a kind of buried irony pipeline detection based on magnetizing field indirect detection and accurate positioning method, the party
The realization of method is comprised the following steps：
Step one, is arranged in moveable detection device by multiple high accuracy triaxial magnetic field sensors and constitutes straight line detection battle array
Row；
Step 2, in detected region, earth's surface delimit a plurality of straight line as preliminary survey detective path, the preliminary survey detective path length
Cover detected region；
Step 3, along the preliminary survey detective path delimited, using straight line detection array perpendicular to preliminary survey detective path near surface
In plane, preliminary survey measuring point magnetic field three-component is detected successively according to the distance of setting；
Step 4, in different directions chosen distance reference as a reference point with the corresponding sensing point of magnetic induction maximum
Fixed range, magnetic induction fluctuation of the point not less than 16 meters is compared with the three-component meansigma methodss work in multiple measuring point magnetic fields of quiet region
For background magnetic field three-component, after the three-component of location survey measuring point magnetic field three-component subtracting background magnetic field, the magnetic of pipeline magnetizing field is calculated
Induction, specific formula for calculation is as follows：
In above formula,For the magnetic induction of the magnetizing field of measuring point,For measuring pointMagnetic fieldAxial component,For measuring point
Magnetic fieldAxial component,For measuring pointMagnetic fieldAxial component,For background magnetic fieldAxial component,For background magnetic field
Axial component,For background magnetic fieldAxial component；
Step 5, calculates the pipeline magnetizing field magnetic induction of each measuring point of search coverage, draws corresponding magnetic induction bent
EDS maps, if detection calculates magnetizing field strength distribution and there is obvious strip distribution, can determine whether there is underground irony pipeline.Make
The substantially trend of irony pipeline of being sunken cord with magnetizing field maximum of points positioning, delimiting again can cover a plurality of parallel of search coverage
Straight line is not less than as location survey detective path, the angle that the location survey detective path is substantially moved towards with aforementioned buried irony pipeline
10 °, every one section of equal distance measurement location survey measuring point magnetic field three-component on location survey detective path；
Step 6, draws the magnetic induction curved surface distribution of all location survey regions magnetizing field, using each triaxial magnetic field sensor
The calculated magnetizing field curve maximum point of probe detection in detection plane coordinate indicating the distribution of underground utilities.
Further supplement to the above, fixed range described in the step 4 is 20 meters, the basis in practical operation
Magnetic anomaly size caused by pipeline determines the numerical value of fixed range.
Further supplement to the above, the magnetic induction as obtained by calculating draws corresponding magnetic induction bent
EDS maps, the tranquiler region of magnetic induction fluctuation ratio can determine that in relevant position without buried irony pipeline, conversely, then existing
Corresponding positions are equipped with buried irony pipeline, now, the substantially trend of irony pipeline of being sunken cord using magnetizing field maximum of points positioning, in order to
Preferable Detection location effect is reached, is existed and is substantially walked backward in preliminary detection determination irony pipeline of sunkening cord, delimited again and visit
Survey path and cover search coverage, detective path moves towards angle minimum not less than 10 ° with the conduit axis for primarily determining that, with 90 ° of sides
To optimal.
Further supplement to the above, the background magnetic field for reference comes from detected region with Primary field survey
Amount data.
Further supplement to the above, when triaxial magnetic field sensor is installed, three axial directions are consistent, and measuring point is located at same
On one straight line；When magnetizing field detection is calculated, the centrally located magnetic field sensor of straight line detection array is located at detective path
The surface of line, detection array is perpendicular to detective path.
The present invention has compared to existing technology advantages below：
（1）The present invention adopts the presence or absence of pipeline magnetizing field Underground irony pipeline, for total magnetic anomaly detection, can
More accurately judge the existence of underground utilities；
（2）The present invention positioningly descends the horizontal level of irony pipeline using the peak value that pipeline magnetizing field detects calculated curve, does not receive
The impact of pipeline remanent magnetism distribution；
（3）The present invention positioningly descends the horizontal level of irony pipeline using the peak value that pipeline magnetizing field detects calculated curve, managed
Road moves towards the impact very little in earth magnetism feature, when running into extreme terrain in detection process, it is impossible to detective path with it is preliminary really
When fixed conduit axis move towards 90 ° of enforcement of angle, as long as the angle is positioned more than 10 ° using peak value, model is suitable for
Enclose wider；
（4）The present invention can be based on the buried irony pipeline survey meter of existing total magnetic anomaly, be carried out using method proposed by the present invention
Magnetic data process and analysis, for the user of the buried irony pipeline survey meter of total magnetic anomaly, can reduce making
With input cost, detection degree of accuracy is improved.
Description of the drawings
Fig. 1 different buried depth irony pipeline magnetizing fields peak level positions schematic diagram.
Fig. 2 is the flow chart of the buried irony pipeline detection based on magnetizing field indirect detection and accurate positioning method.
Wherein,For measuring pointMagnetizing field magnetic induction,For buried depth of pipeline,For measuring point on survey lineIt is horizontal
Coordinate.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with analog result, to this
Bright specific embodiment is described in further details；It should be appreciated that specific embodiment described herein is only to explain this
It is bright, it is not intended to limit the present invention.
Embodiment
Such as the operating process that Fig. 2 is the buried irony pipeline detection based on magnetizing field indirect detection and accurate positioning method
Figure, in the present embodiment, operation detailed process is：By 9 precision for 1nT small-sized triaxial magnetic field sensor with every between 10cm
Every on aluminum detection support, 9 triaxial magnetic field sensor measuring points are located along the same line, three axial directions of sensor
Correspond to respectively identical；Adjustment instrument causes the magnetic-field measurement numerical value difference of different sensors same axial in uniform magnetic field as far as possible little
In 1nT.
The length delimited along search coverage using straight line detection array is magnetized for the preliminary survey detective path survey calculation of 20m
The magnetic induction spatial abnormal feature of field, tentatively judges the presence or absence of underground irony pipeline and substantially moves towards；If preliminary judge exist
Underground irony pipeline, it is determined that pipeline is tentatively moved towards；According to detected region topographic features, one is selected as far as possible perpendicular to pipeline
30 parallel lines delimited as location survey detective path in the direction of trend, and adjacent path is at intervals of 1m；Magnetic induction is visited extremely
During survey, the neutral magnetic field sensor of straight line detection array is located at the surface of location survey detective path line, and detection array is perpendicular to fixed
Survey detective path.
The magnetizing field strength distribution core of calculated underground irony pipeline will be detected into curved surface, by magnetizing field strength point
Cloth curved surface further determines that the presence or absence of underground irony pipeline；By the peak value positioning pipeline of every detective path gained magnetizing field curve
Horizontal level of the axis on test surface；It is illustrated in figure 1 external diameter 50cm, thickness 5mm, susceptibility 200SI, pipeline is with respect to earth magnetism
When arctic azimuth is 30 °, different buried depth of pipelineUnder the conditions of pipeline magnetization curvature of field line chart, magnetizing field curve different in figure by
Caused by the corresponding buried irony pipeline of identical line style, buried depth of pipeline is deeper, and magnetizing field peak value is less, i.e.,Numerical value is bigger, survey line
Upper measuring pointThe magnetic induction of the corresponding magnetizing field of abscissa positionsPeak value is less.
Fig. 1 shows the symmetry of pipeline magnetic field curve under the conditions of different buried depth preferably, and its peak level position error is relative
Can ignore for curve survey line length, simulation is calculated and shows that peak level positioning is less than relative to the error maximum of buried depth
4.5%。
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (6)
1. a kind of detection of buried irony pipeline and accurate positioning method based on magnetizing field indirect detection, it is characterised in that include
Following steps：
Step one, is arranged in moveable detection device by multiple high accuracy triaxial magnetic field sensors and constitutes straight line detection battle array
Row；
Step 2, in detected region, earth's surface delimit a plurality of straight line as preliminary survey detective path, the preliminary survey detective path length
Cover detected region；
Step 3, along the preliminary survey detective path delimited, using straight line detection array perpendicular to preliminary survey detective path near surface
In plane, preliminary survey measuring point magnetic field three-component is detected successively according to the distance of setting；
Step 4, in different directions chosen distance reference as a reference point with the corresponding sensing point of magnetic induction maximum
Fixed range, magnetic induction fluctuation of the point not less than 16 meters is compared with the three-component meansigma methodss work in multiple measuring point magnetic fields of quiet region
For background magnetic field three-component, after the three-component of location survey measuring point magnetic field three-component subtracting background magnetic field, the magnetic of pipeline magnetizing field is calculated
Induction, specific formula for calculation is as follows：
In above formula,For measuring pointMagnetizing field magnetic induction,For measuring pointMagnetic fieldAxial component,For measuring pointMagnetic fieldAxial component,For measuring pointMagnetic fieldAxial component,For background magnetic fieldAxial component,For background magnetic
Axial component,For background magnetic fieldAxial component；
Step 5, calculates the pipeline magnetizing field magnetic induction of each measuring point of search coverage, draws corresponding magnetic induction bent
EDS maps, if detection calculates magnetizing field strength distribution and there is obvious strip distribution, can determine whether there is underground irony pipeline, make
The substantially trend of irony pipeline of being sunken cord with magnetizing field maximum of points positioning, delimiting again can cover a plurality of parallel of search coverage
Straight line is not less than as location survey detective path, the angle that the location survey detective path is substantially moved towards with aforementioned buried irony pipeline
10 °, every one section of equal distance measurement location survey measuring point magnetic field three-component on location survey detective path；
Step 6, draws the magnetic induction curved surface distribution of location survey region magnetizing field, using the spy of each triaxial magnetic field sensor
The head calculated magnetizing field curve maximum point of detection in detection plane coordinate indicating the distribution of underground utilities.
2. a kind of detection of buried irony pipeline and the side of being accurately positioned based on magnetizing field indirect detection according to claim 1
Method, it is characterised in that fixed range described in the step 4 is 20 meters.
3. a kind of detection of buried irony pipeline and the side of being accurately positioned based on magnetizing field indirect detection according to claim 1
Method, it is characterised in that in the step 5, the magnetizing field magnetic induction as obtained by calculating draws corresponding magnetic induction
Curved surface is distributed, and the tranquiler region of magnetic induction fluctuation ratio can determine that in relevant position without buried irony pipeline, conversely, then
Buried irony pipeline or other magnetic source chaff interferences are equipped with corresponding positions, now, using magnetizing field maximum of points irony of sunkening cord are positioned
The horizontal level of pipeline.
4. a kind of detection of buried irony pipeline and the side of being accurately positioned based on magnetizing field indirect detection according to claim 1
Method, it is characterised in that the angle that the location survey detective path is substantially moved towards with aforementioned buried irony pipeline is 90 °, according to reality
Topographic features can be adjusted accordingly.
5. a kind of detection of buried irony pipeline and the side of being accurately positioned based on magnetizing field indirect detection according to claim 1
Method, it is characterised in that the background magnetic field for reference comes from detected region with a magnetic-field measurement data.
6. a kind of detection of buried irony pipeline and the side of being accurately positioned based on magnetizing field indirect detection according to claim 1
Method, it is characterised in that when triaxial magnetic field sensor is installed, three axial directions are consistent, and measuring point is located along the same line.
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| CN110260044A (en) * | 2019-06-06 | 2019-09-20 | 天津大学 | A kind of submarine pipeline localization method |
| CN110531430A (en) * | 2019-08-29 | 2019-12-03 | 中国石油天然气集团公司 | Processing method, device and the electronic equipment of submarine pipeline magnetic survey data |
| CN111025408A (en) * | 2018-10-10 | 2020-04-17 | 中央大学 | Artificial object structure scanning device and scanning method thereof |
| CN111158058A (en) * | 2018-11-08 | 2020-05-15 | 中国石油化工股份有限公司 | Metal abandoned well detection method based on geomagnetic memory |
| CN111221046A (en) * | 2020-01-21 | 2020-06-02 | 清华大学 | Three-dimensional tracking method and device for in-pipeline detector |
| CN111239838A (en) * | 2020-01-16 | 2020-06-05 | 哈尔滨工业大学 | Detection method for magnetic detection precision |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111025408A (en) * | 2018-10-10 | 2020-04-17 | 中央大学 | Artificial object structure scanning device and scanning method thereof |
| CN111158058A (en) * | 2018-11-08 | 2020-05-15 | 中国石油化工股份有限公司 | Metal abandoned well detection method based on geomagnetic memory |
| CN111158058B (en) * | 2018-11-08 | 2024-03-22 | 中国石油化工股份有限公司 | Method for detecting metal abandoned well based on geomagnetic memory |
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| CN111239838A (en) * | 2020-01-16 | 2020-06-05 | 哈尔滨工业大学 | Detection method for magnetic detection precision |
| CN111239838B (en) * | 2020-01-16 | 2022-04-12 | 哈尔滨工业大学 | Detection method for magnetic detection precision |
| CN111221046A (en) * | 2020-01-21 | 2020-06-02 | 清华大学 | Three-dimensional tracking method and device for in-pipeline detector |
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