CN106597566A - Non-excavation underground pipeline detection system and realization method thereof - Google Patents
Non-excavation underground pipeline detection system and realization method thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses a non-excavation underground pipeline detection system and a realization method thereof; the system comprises a movable underground pipeline detection robot, a memory unit and pipeline model reconstruction software; the movable underground pipeline detection robot comprises a processor, and a posture sensor, a metering device and a pipeline state detection sensor respectively electrically connected with the processor; the movable underground pipeline detection robot can obtain discreet position coordinates and pipeline state information; the pipeline model reconstruction software can fit a continuous three dimensional pipeline model; the non-excavation underground pipeline detection system is high in measuring precision, cannot be affected by environment electromagnetic interferences, and cannot be affected by pipeline burying depth.
Description
Technical field
The present invention relates to pipeline field, especially a kind of trenchless underground pipeline detection system and its implementation.
Background technology
After non-excavating underground pipe line technology is risen, underground utilities spy must be carried out before civilian infrastructure underground engineering construction
Work is looked into, and necessary tracking detection is carried out according to field condition in work progress.It is existing based on electromagnetic induction principle
The problems such as detection instrument generally existing of technology is by pipeline itself material, pipe laying depth, environment is affected, it is impossible under realizing intricately
Pipe network is accurately positioned.
The content of the invention
In order to the detection instrument generally existing for solving the technology based on electromagnetic induction principle receives pipeline itself material, pipe laying
The factors such as depth, environment, it is impossible to realize the pinpoint problem of complicated underground pipe network, it is an object of the invention to provide a kind of non-
Excavation underground pipeline detection system and its implementation.
For achieving the above object, the technical solution adopted in the present invention is：A kind of trenchless underground pipeline detection system, its
Including moveable underground piping sniffing robot, memory cell and pipeline model reconstruction software, it is described movably
Lower pipeline sniffing robot includes processor, and attitude transducer, log arrangement and the pipeline conditions being electrically connected respectively
Detection sensor；The attitude transducer is used to gather what moveable underground piping sniffing robot was detected in pipeline down below
Attitude information is simultaneously transferred to processor；The log arrangement is used to gather the traveling road of moveable underground piping sniffing robot
Journey information is simultaneously transferred to processor, and it is corresponding discrete that the processor calculates generation according to attitude information and traveling distance information
Position coordinateses；The pipeline state inspection sensor is used to gather the pipeline conditions information of each position of underground piping and be transferred to
Processor；The memory cell, for receiving and stores discrete position coordinateses and pipeline conditions after processor is processed and believes
Breath；The pipeline model reconstruction software, for reading memorizer in information, and PC ends generate and show underground piping three
Dimension module.
Motion carrier is provided with, for fixed -piping sniffing robot, and the two is protected in movement locus and pipe curve
Hold consistent.
The log arrangement adopts high-precision encoder, the attitude transducer to include high-precision electronic compass and acceleration
Degree meter, gyroscope.
The pipeline state inspection sensor can continuous acquisition pipeline conditions information, or by setting distance fixed point detection pipe
Channel state information.
The memory cell is using SD card or cloud storage.
The processor is with memory cell by being wirelessly transferred.
The implementation method of pipeline detection system under a kind of no-dig technique, its step is,
Step 1, discrete position coordinateses and pipe-like are gathered and processed using moveable underground piping sniffing robot
State information；
Step 2, processor by process after discrete position coordinateses and pipeline conditions information be sent to memory cell；
Step 3, digital independent is carried out to memory cell at PC ends, and imported in pipeline model reconstruction software, by managing
Line model reconstruction software fits continuous three-dimensional pipeline model.
In step 3, pipeline model reconstruction software reads discrete position coordinateses, sets up corresponding space coordinates, and
The coordinate corresponding to discrete positional information is calculated, the coordinate points of various discrete is fitted to continuously using curve fitting technique
Three-dimensional pipeline model.
It is not enough to constitute under continuous curve condition in discrete space coordinatess point, is locally entered using the method for approximate circular arc
Row curve matching.
In the not fairing part for processing connection between different sections, become using the method for locally-weighted fitting, iteration
Continuously, smooth curve.
The present invention obtains discrete position coordinateses and pipeline conditions information using moveable underground piping sniffing robot,
Again Jing pipeline models reconstruction software fits continuous three-dimensional pipeline model, and certainty of measurement is higher, with being difficult by environment electromagnetics
Interference, is difficult the outstanding advantages by buried depth of pipeline effect of depth.
Description of the drawings
Fig. 1 is trenchless underground pipeline detection system construction drawing of the present invention.
Fig. 2 is inventive pipeline sniffing robot flowchart.
Fig. 3, Fig. 4 realize process for compliant tube line model reconstruction software of the present invention.
Fig. 5 is the schematic diagram of discrete point circular curve approximating method of the present invention.
Fig. 6, Fig. 7 are that discrete space coordinate points of the present invention directly increase the schematic diagram that multiple points realize serialization.
Fig. 8 is three-dimensional pipeline model schematic diagram of the present invention with pipeline conditions information.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description：
As shown in figure 1, a kind of trenchless underground pipeline detection system, it includes moveable underground piping detection machine
People, memory cell and pipeline model reconstruction software, the moveable underground piping sniffing robot includes processor, with
And attitude transducer, log arrangement and the pipeline state inspection sensor being electrically connected respectively；The attitude transducer is used for
Gather attitude information that moveable underground piping sniffing robot detected in pipeline down below and be transferred to processor；The meter
Range device is used to gather the traveling distance information of moveable underground piping sniffing robot and be transferred to processor, the process
Device is calculated according to attitude information and traveling distance information and generates corresponding discrete position coordinateses；The pipeline state inspection sensing
Device is used to gather the pipeline conditions information of each position of underground piping and be transferred to processor；The memory cell, for connecing
Receive and store the discrete position coordinateses and pipeline conditions information after processor is processed；The pipeline model reconstruction software, is used for
The information in memorizer is read, and is generated at PC ends and is shown the threedimensional model of underground piping, using moveable underground piping
Sniffing robot obtains discrete position coordinateses and pipeline conditions information, then Jing pipeline model reconstruction softwares fit continuous three
Dimension pipeline model, certainty of measurement is higher, with being difficult to be disturbed by environment electromagnetics, is difficult excellent by the protrusion of buried depth of pipeline effect of depth
Point.
Motion carrier is provided with, for fixed -piping sniffing robot, the motion carrier there can be many kinds
Form, such as the foot that can be walked in the bottom dress of pipeline detection robot, or moveable wheel, then or, directly will pipe
Road sniffing robot is fixed on moveable dolly, and only guaranteed pipeline detection robot being capable of barrier free moving in the duct
Move, and the two is consistent in movement locus with pipe curve, to ensure the accuracy of result.
The log arrangement adopts high-precision encoder, can measure the distance that pipeline detection robot is walked, the appearance
State sensor includes high-precision electronic compass and accelerometer, gyroscope, can accurately obtain pipeline detection robot ambulation mistake
The inclination angle of journey, orientation angle information, according to direction and the stroke of underground utilities walking process real-time motion vector is obtained, will
The necessary space curve location records of process get off to obtain pipeline discrete point, only press close to pipeline as much as possible originally in collection
State, just can guarantee that the accuracy for fitting the three-dimensional pipeline model for coming.
The pipeline state inspection sensor can continuous acquisition pipeline conditions information, or by setting distance fixed point detection pipe
Channel state information is complete and detailed to the point for ensureing to gather.
The memory cell is using SD card or cloud storage, there is provided a temporary address, prevents data from surprisingly losing；
The processor, by being wirelessly transferred, is wirelessly transferred more convenient with memory cell.
As shown in Figure 2, Figure 3, Figure 4 under a kind of no-dig technique pipeline detection system implementation method, its step is,
Step 1, discrete position coordinateses and pipe-like are gathered and processed using moveable underground piping sniffing robot
State information；
Step 2, processor by process after discrete position coordinateses and pipeline conditions information be sent to memory cell；
Step 3, digital independent is carried out to memory cell at PC ends, and imported in pipeline model reconstruction software, by managing
Line model reconstruction software fits continuous three-dimensional pipeline model.
In step 3, pipeline model reconstruction software reads discrete position coordinateses, sets up corresponding space coordinates, and
The coordinate corresponding to discrete positional information is calculated, the coordinate points of various discrete is fitted to continuously using curve fitting technique
Three-dimensional pipeline model, can take directly increases multiple point implementation pipeline serializations.
It is not enough to constitute under continuous curve condition in discrete space coordinatess point, is locally entered using the method for approximate circular arc
Row curve matching, as shown in figure 5, discrete coordinate P, Q, V increase between discrete coordinate P and Q and N number of be enough to make former discrete seat
Punctuate constitutes the point of full curve, and the point of increase is on the circular curve at 3 points of places of P, Q, V.
In the not fairing part for processing connection between different sections, become using the method for locally-weighted fitting, iteration
Continuously, smooth curve, as shown in Figure 6, Figure 7.
Locally-weighted fitting is the several points for local, and the curve that iterative fitting is multi-section point local fit is connected
Process after connecing.Curve local fit selects minority basic point to be fitted to smooth arc curve, and different camber lines connects
To become unsmooth, prominent, iterative fitting is constantly to select different basic points on the basis of first curve local fit
Curve local fit smoothing processing is carried out, till whole piece curve smoothing.
Above method combines the characteristic of pipeline processing deformation and circular curve approximating method has simple and is easy to solve
Advantage.
As shown in figure 8, pipeline model reconstruction software according to the pipeline conditions abnormal condition of setting by abnormal pipeline color
Red grade for other colors are changed into, the specific pipeline conditions information in each position can be checked by software, if exception occurs in pipeline
Situation, then it is very clear, it is not necessary to expend again it is huge manually look for whether having exception, and abnormal conditions pipeline what
Place.
The abnormal state of pipeline is determined that such as detection pipe road starts a leak, through hole uses leakage field by pipe detection sensor
Detection sensor is detected, when the situation for detecting piping failure is abnormal conditions；Such as detecting pipeline inner wall smooth journey
Spend for examination criteria, when the signal of sensor detection is not abnormal in range of set value；Specific abnormal condition is with actual need
Ask and be defined, material tests, image detection etc. can.
The above is the preferred embodiment of the present invention, can not limit the right model of the present invention with this certainly
Enclose, it is noted that for those skilled in the art, technical scheme is modified or is waited
With replacing, without departure from the protection domain of technical solution of the present invention.
Claims (10)
1. a kind of trenchless underground pipeline detection system, it is characterised in that：It include moveable underground piping sniffing robot,
Memory cell and pipeline model reconstruction software,
The moveable underground piping sniffing robot include processor, and be electrically connected respectively attitude transducer,
Log arrangement and pipeline state inspection sensor；The attitude transducer is used to gather moveable underground piping sniffing robot
Down below in pipeline detect attitude information and be transferred to processor；The log arrangement is used to gather moveable underground piping
The traveling distance information of sniffing robot is simultaneously transferred to processor, and the processor is according to attitude information and traveling distance information meter
Calculate and generate corresponding discrete position coordinateses；The pipeline state inspection sensor is used to gather the pipe of each position of underground piping
Channel state information is simultaneously transferred to processor；
The memory cell, for receiving and stores discrete position coordinateses and pipeline conditions information after processor is processed；
The pipeline model reconstruction software, for reading memorizer in information, and generate and show underground piping at PC ends
Threedimensional model.
2. a kind of trenchless underground pipeline detection system according to claim 1, it is characterised in that：It is provided with motion load
Body, for fixed -piping sniffing robot, and the two is consistent in movement locus with pipe curve.
3. a kind of trenchless underground pipeline detection system according to claim 1, it is characterised in that：The log arrangement is adopted
With high-precision encoder, the attitude transducer includes high-precision electronic compass and accelerometer, gyroscope.
4. a kind of trenchless underground pipeline detection system according to claim 1, it is characterised in that：The pipeline conditions inspection
Survey sensor can continuous acquisition pipeline conditions information, or by setting distance fixed point detection pipe channel state information.
5. a kind of trenchless underground pipeline detection system according to claim 1, it is characterised in that：The memory cell
Using SD card or cloud storage.
6. a kind of trenchless underground pipeline detection system according to claim 1, it is characterised in that：The processor with deposit
Storage unit is by being wirelessly transferred.
7. under a kind of a kind of no-dig technique according to claim 1-6 pipeline detection system implementation method, its feature exists
In：Its step is,
Step 1, discrete position coordinateses and pipeline conditions letter are gathered and processed using moveable underground piping sniffing robot
Breath；
Step 2, processor by process after discrete position coordinateses and pipeline conditions information be sent to memory cell；
Step 3, digital independent is carried out to memory cell at PC ends, and imported in pipeline model reconstruction software, by pipeline mould
Type reconstruction software fits continuous three-dimensional pipeline model.
8. a kind of implementation method according to claim 7, it is characterised in that：In step 3, pipeline model reconstruction software is read
Discrete position coordinateses are taken, corresponding space coordinates are set up, and calculates the coordinate corresponding to discrete positional information, using song
The coordinate points of various discrete are fitted to continuous three-dimensional pipeline model by line fitting technique.
9. a kind of implementation method according to claim 8, it is characterised in that：It is not enough to constitute in discrete space coordinatess point
Under continuous curve condition, locally carried out curve fitting using the method for approximate circular arc.
10. a kind of implementation method according to claim 9, it is characterised in that：Connect not only between different sections processing
Along part, continuous, smooth curve is become using the method for locally-weighted fitting, iteration.
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Cited By (10)
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| CN107966138A (en) * | 2017-11-28 | 2018-04-27 | 北京零偏科技有限责任公司 | Underground utilities accurate positioning method based on single mouth of pipe geographic coordinate information |
| CN108168529A (en) * | 2017-12-29 | 2018-06-15 | 安徽迈普德康信息科技有限公司 | Construction warning system based on underground piping mapping |
| CN108626580A (en) * | 2018-05-10 | 2018-10-09 | 北京零偏科技有限责任公司 | A kind of equipment, the method and system of the detection of pipeline fault autonomous positioning |
| CN109410325A (en) * | 2018-11-01 | 2019-03-01 | 中国矿业大学(北京) | A kind of pipeline inner wall three-dimensional reconstruction algorithm based on monocular image sequence |
| CN109446621A (en) * | 2018-10-18 | 2019-03-08 | 国网山西省电力公司太原供电公司 | A kind of underground electric pipe network data building system and construction method |
| WO2019051961A1 (en) * | 2017-09-18 | 2019-03-21 | 深圳大学 | Pipeline detection method and apparatus, and storage medium |
| CN109669221A (en) * | 2019-02-23 | 2019-04-23 | 克拉玛依友诚实验检测分析有限责任公司 | A kind of oil field underground metal pipeline detection system |
| CN110766785A (en) * | 2019-09-17 | 2020-02-07 | 武汉大学 | Real-time positioning and three-dimensional reconstruction device and method for underground pipeline |
| CN112462448A (en) * | 2020-11-16 | 2021-03-09 | 中国地质科学院岩溶地质研究所 | Pipeline type karst underground space detection device and detection method based on WIFI positioning |
| CN112859195A (en) * | 2021-01-04 | 2021-05-28 | 国网上海市电力公司 | Accurate positioning method for trenchless power pipeline |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019051961A1 (en) * | 2017-09-18 | 2019-03-21 | 深圳大学 | Pipeline detection method and apparatus, and storage medium |
| US10931871B2 (en) | 2017-09-18 | 2021-02-23 | Shenzhen University | Pipeline detection method and apparatus, and storage medium |
| CN107966138B (en) * | 2017-11-28 | 2020-06-05 | 北京零偏科技有限责任公司 | Underground pipeline accurate positioning method based on single pipe orifice geographical coordinate information |
| CN107966138A (en) * | 2017-11-28 | 2018-04-27 | 北京零偏科技有限责任公司 | Underground utilities accurate positioning method based on single mouth of pipe geographic coordinate information |
| CN108168529A (en) * | 2017-12-29 | 2018-06-15 | 安徽迈普德康信息科技有限公司 | Construction warning system based on underground piping mapping |
| CN108626580A (en) * | 2018-05-10 | 2018-10-09 | 北京零偏科技有限责任公司 | A kind of equipment, the method and system of the detection of pipeline fault autonomous positioning |
| CN109446621A (en) * | 2018-10-18 | 2019-03-08 | 国网山西省电力公司太原供电公司 | A kind of underground electric pipe network data building system and construction method |
| CN109410325A (en) * | 2018-11-01 | 2019-03-01 | 中国矿业大学(北京) | A kind of pipeline inner wall three-dimensional reconstruction algorithm based on monocular image sequence |
| CN109669221A (en) * | 2019-02-23 | 2019-04-23 | 克拉玛依友诚实验检测分析有限责任公司 | A kind of oil field underground metal pipeline detection system |
| CN109669221B (en) * | 2019-02-23 | 2020-10-02 | 克拉玛依友诚实验检测分析有限责任公司 | Oil field underground metal pipeline detection system |
| CN110766785A (en) * | 2019-09-17 | 2020-02-07 | 武汉大学 | Real-time positioning and three-dimensional reconstruction device and method for underground pipeline |
| CN110766785B (en) * | 2019-09-17 | 2023-05-05 | 武汉大学 | Real-time positioning and three-dimensional reconstruction device and method for underground pipeline |
| CN112462448A (en) * | 2020-11-16 | 2021-03-09 | 中国地质科学院岩溶地质研究所 | Pipeline type karst underground space detection device and detection method based on WIFI positioning |
| CN112462448B (en) * | 2020-11-16 | 2021-07-06 | 中国地质科学院岩溶地质研究所 | Pipeline type karst underground space detection device and detection method based on WIFI positioning |
| CN112859195A (en) * | 2021-01-04 | 2021-05-28 | 国网上海市电力公司 | Accurate positioning method for trenchless power pipeline |
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Application publication date: 20170426 |