CN110376584B - Water supply pipeline leakage detection method based on ground penetrating radar image characteristic signal identification - Google Patents
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Abstract
The invention belongs to the field of nondestructive detection of urban water supply pipeline leakage in municipal engineering, and discloses a water supply pipeline leakage detection method based on ground penetrating radar image characteristic signal identification. Acquiring original image data of a ground penetrating radar of a water supply pipeline; step two, performing DC removal, zero-time correction, amplitude enhancement and band-pass filtering processing on the acquired original image data; and thirdly, observing the characteristics of each signal in the image by combining the hyperbolic signal characteristics and the multiple wave forming principle and the position information of the hyperbolic signal characteristics and the multiple waves on the image, and identifying the pipeline leakage signal and the interference signal in the image so as to accurately identify the pipeline leakage information in the image. The method changes the traditional ground penetrating radar image analysis mode, not only can identify the pipeline leakage signal on the radar image, but also can eliminate the interference signal, and also can accurately position the specific position and depth of the leakage, thereby improving the efficiency and accuracy of the ground penetrating radar in the water supply pipeline leakage detection.
Description
Technical Field
The invention belongs to the field of nondestructive detection of urban water supply pipeline leakage in municipal engineering, and particularly relates to a water supply pipeline leakage detection method based on ground penetrating radar image characteristic signal identification.
Background
As a nondestructive detection method, the ground penetrating radar has the advantages of high efficiency, visual image, difficulty in external interference and the like, and has good application in the fields of archaeology, underground cavity detection, geological forecast and the like, but the application and research in the aspect of leakage detection of municipal water supply pipelines are few. Fig. 1 shows an imaging principle of a ground penetrating radar, which is based on an electromagnetic wave propagation theory and detects a target object by using reflection of high-frequency pulse electromagnetic waves on the premise of differences in electrical properties (electrical conductivity and dielectric constant) of media. The larger the dielectric constant difference between the target object and the soil body is, the larger the reflected power of the target object is, and the clearer the radar imaging of the target object is. Table 1 shows the relative dielectric constant of a common material at 100MHz, and it can be seen from the table that the dielectric constant of water is 81, the dielectric constant of a general soil body is 16, the difference is large, theoretically, when the electromagnetic wave reaches the interface of dry soil and wet soil, the reflection coefficient is large enough, and the radar can receive the electromagnetic wave reflected by the radar, so that a signal generated by leakage of a water supply pipeline appears on a radar image. Therefore, the ground penetrating radar has an advantage in the aspect of detecting the leakage of the water supply pipeline theoretically. However, in actual engineering, due to the diversity and complexity of underground media, interference signals similar to leakage signals always appear on the images, so that the leakage signals on the radar images are difficult to accurately identify, and the application effect of the ground penetrating radar in the aspect of pipeline leakage detection is poor. For example, the casing often contains rocks of varying sizes, each of which produces interference signals on the radar image similar to the leakage signals. The main problems of the identification of the leakage signal in the existing image are as follows:
(1) the images contain a large amount of information, i.e. there are many complex, similar signals in the images;
(2) the image signal has strong explanation subjectivity, namely the theoretical basis of the image signal is insufficient, and the image signal is greatly dependent on the detection personnel with rich experience;
(3) the image signal is underutilized, i.e. the detector usually only focuses on where the signal appears in the image, but does not analyze the signal itself.
Therefore, how to accurately identify the leakage signals on the image from the ground penetrating radar image and eliminate the non-leakage signals on the image becomes a key problem for detecting the pipeline leakage by applying the ground penetrating radar. The problem is solved, whether the pipeline leaks or not and the leakage condition can be detected more efficiently and accurately, and the popularization of the ground penetrating radar in the aspect of pipeline leakage detection is facilitated.
TABLE 1 relative dielectric constant of common substances at 100MHz
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a water supply pipeline leakage detection method based on ground penetrating radar image characteristic signal identification.
The invention is realized in such a way, and the method for detecting the leakage of the water supply pipeline based on the ground penetrating radar image characteristic signal identification is characterized by comprising the following steps:
acquiring original image data of a ground penetrating radar of a water supply pipeline;
step two, performing DC removal, zero-time correction, amplitude enhancement and band-pass filtering processing on the acquired original image data;
and thirdly, observing the characteristics of each signal in the image by combining the hyperbolic signal characteristics and the multiple wave forming principle and the position information of the hyperbolic signal characteristics and the multiple waves on the image, and identifying the pipeline leakage signal and the interference signal in the image so as to accurately identify the pipeline leakage information in the image.
Further, the acquisition of the raw image data of the ground penetrating radar in the first step includes the following steps:
(1) according to the known pipeline buried depth and pipe diameter, determining the center frequency of the used radar antenna through a ground penetrating radar horizontal resolution and vertical resolution formula; the relation between the horizontal resolution and the vertical resolution of the ground penetrating radar is shown as the following formula:
wherein: rf、RνRespectively the horizontal resolution and the vertical resolution of the ground penetrating radar; h is the embedding depth of the object; lambda is the wavelength of the ground penetrating radar electromagnetic wave when the ground penetrating radar electromagnetic wave is transmitted in an underground medium; c is the propagation rate of the electromagnetic wave in vacuum; f is probeCenter frequency of the radar antenna; ε is the relative permittivity of the subsurface medium;
(2) and according to the position and the trend of the pipeline, the radar antenna is arranged right above the pipeline and moves along the axial direction of the pipeline to finish the acquisition of the original image data.
Further, the second step is as follows:
firstly, zeroing a direct current component of an acquired radar original image signal by using a gather-DC-Shift module in reflexw one-dimensional filtering of radar general processing software to achieve the purposes of removing direct current and zero point drift;
then, a Move start time module in reflexw static correction is used for selecting a first negative peak value or a positive peak value of a direct wave as a zero-time correction point, and the time of the position is set to be 0;
finally, an Energy decay module in the reflexw gain is used for amplifying the amplitude of the weak signals in depth, and then a bandpassbatterfworth module in the reflexw one-dimensional filtering is used for selecting frequency signals in a specific range, so that high-frequency signals can pass through to the maximum extent, and low-frequency signals are attenuated and suppressed.
Further, the third step is as follows:
firstly, according to the formation process of a hyperbolic signal, the size and the depth position of an object can be calculated by a hyperbolic equation extracted from a radar image; the calculated size or depth position of the object can exclude non-leakage signals which do not meet the actual situation on the size or depth position;
secondly, according to the formation principle of multiple waves, when the electromagnetic waves reach an object for the first time, the first reflection occurs, when the reflected waves return to the ground, a part of energy can penetrate through the ground to be received by the radar for the first time, the other part of energy can reach the object again through the ground reflection to form the second reflection and reception, and the second reflection and reception are sequentially performed until the reflected energy is attenuated to the extent that the radar cannot receive, so that a plurality of vertically distributed hyperbolas generated by the same object can appear on an image, and then interference signals are eliminated;
finally, according to the position relation between the water supply pipeline and the leakage area, the hyperbolic signal of the pipeline leakage on the image is overlapped with the banded signal of the water supply pipeline, so that the banded signal of the pipeline is discontinuous, and the isolated hyperbolic signal in the image can be eliminated.
Further, the step three interference signals include: signals generated by air, stone, plastic and metal existing underground on radar images
Further, when the object is a cylindrical object, the relationship between the hyperbolic equation and the size and depth of the object is shown in the formula:
wherein: t is tn、t0At positions x and x for the antenna, respectively0Travel time of the electromagnetic wave; r is the radius of the cylindrical object; v is the propagation velocity of the radar electromagnetic wave in the underground medium; x is the number of1、y1The abscissa and the ordinate are respectively the central point of the hyperbola; p and q are respectively the half-axis length of a hyperbolic real axis and the half-axis length of a virtual axis; h is0Burying the object deeply; and t is the electromagnetic wave travel time when the antenna is right above the object.
In conclusion, the beneficial effects of the invention are as follows: the leakage signal identification method is applied to the ground penetrating radar water supply pipeline image, can identify the pipeline leakage signal on the image, eliminates non-leakage signals such as stones and the like on the image, and further more accurately and efficiently positions the pipeline leakage position. The method changes the analysis mode of the traditional ground penetrating radar image signals in the aspect of leakage signal identification, and can accurately judge non-leakage signals such as pipeline leakage signals and stones and the like according to hyperbolic signal characteristics, a multiple wave forming principle and position information of the hyperbolic signal characteristics and the multiple waves on the image. For example, in fig. 7, the dashed box is a pipe leakage signal, and the solid box is a stone non-leakage signal. Comparing the signal characteristics of the two signals can clearly see the multiple wave phenomenon of the leakage signal and the phenomenon that the water supply pipeline signal is overlapped to make the pipeline strip signal discontinuous, but the non-leakage signal does not have the two characteristics.
Drawings
Fig. 1 is a schematic diagram of a ground penetrating radar imaging principle provided by an embodiment of the present invention.
FIG. 2 is a flow chart of a water supply pipeline leakage detection method based on ground penetrating radar image characteristic signal identification according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a hyperbolic curve forming process provided by an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a multiple forming principle according to an embodiment of the present invention.
FIG. 5 is a schematic view of a water supply pipeline leakage model according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of radar acquisition provided by an embodiment of the present invention.
Fig. 7 is a cross-sectional view of a radar including leakage and non-leakage signals according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 2, the invention provides a method for detecting leakage of a water supply pipeline based on ground penetrating radar image characteristic signal identification, which is characterized by comprising the following steps:
acquiring original image data of a ground penetrating radar of a water supply pipeline;
step two, performing DC removal, zero-time correction, amplitude enhancement and band-pass filtering processing on the acquired original image data;
and thirdly, observing the characteristics of each signal in the image by combining the hyperbolic signal characteristics and the multiple wave forming principle and the position information of the hyperbolic signal characteristics and the multiple waves on the image, and identifying the pipeline leakage signal and the interference signal in the image so as to accurately identify the pipeline leakage information in the image.
According to the method, the characteristic performance of the pipeline leakage signal is summarized by analyzing the formation principle of the pipeline leakage signal in the ground penetrating radar image, and the characteristic performance is distinguished from the common stone non-leakage signal, so that the judgment basis of the pipeline leakage signal is enhanced, and the leakage position of the water supply pipeline is judged more efficiently and accurately.
In a preferred embodiment of the present invention, the obtaining of the ground penetrating radar raw image data comprises:
(1) according to the known pipeline buried depth and pipe diameter, determining the center frequency of the used radar antenna through a ground penetrating radar horizontal resolution and vertical resolution formula; the relation between the horizontal resolution and the vertical resolution of the ground penetrating radar is shown in a formula:
wherein: rf、RνRespectively the horizontal resolution and the vertical resolution of the ground penetrating radar; h is the embedding depth of the object; lambda is the wavelength of the ground penetrating radar electromagnetic wave when the ground penetrating radar electromagnetic wave is transmitted in an underground medium; c is the propagation rate of the electromagnetic wave in vacuum; f is the center frequency of the ground penetrating radar antenna; ε is the relative permittivity of the subsurface medium.
(2) And according to the position and the trend of the pipeline, the radar antenna is arranged right above the pipeline and moves along the axial direction of the pipeline to finish the acquisition of the original image data.
In the preferred embodiment of the invention, the acquired raw image data is subjected to de-DC, zero-time correction, amplitude enhancement and band-pass filtering. The method comprises the following specific steps:
firstly, for an acquired radar original image signal, a direct current component of the signal is set to be zero by using a solenoid-DC-Shift module in reflexw one-dimensional filtering of radar general processing software, so that the purposes of removing direct current and zero point drift are achieved. And then, selecting a first negative peak value or a positive peak value of the direct wave as a zero-time correction point by using a Move start time module in reflexw static correction, and setting the time of the position to be 0. Finally, an Energy decay module in the reflexw gain is used for amplifying the amplitude of the weak signals in depth, and then a bandpassbatterfworth module in the reflexw one-dimensional filtering is used for selecting frequency signals in a specific range, so that high-frequency signals can pass through to the maximum extent, and low-frequency signals are attenuated and suppressed.
In a preferred embodiment of the present invention, the third step is specifically as follows:
first, as shown in fig. 3, according to the formation process of the hyperbolic signal, the hyperbolic equation extracted from the radar image can calculate the size and depth position of the object. Taking a cylindrical object as an example, the relationship between the hyperbolic equation and the size and depth position of the object is shown in the formula:
wherein: t is tn、t0At positions x and x for the antenna, respectively0Travel time of the electromagnetic wave; r is the radius of the cylindrical object; v is the propagation velocity of the radar electromagnetic wave in the underground medium; x is the number of1、y1The abscissa and the ordinate are respectively the central point of the hyperbola; p and q are respectively the half-axis length of a hyperbolic real axis and the half-axis length of a virtual axis; h is0Burying the object deeply; and t is the electromagnetic wave travel time when the antenna is right above the object.
The calculated size or depth position of the object can exclude non-leakage signals which do not meet the actual situation on the size or depth position;
next, as shown in fig. 4, according to the formation principle of multiple waves, when an electromagnetic wave reaches an object for the first time, a first reflection occurs, when the reflected wave returns to the ground, a part of energy penetrates through the ground and is received by the radar for the first time, and another part of energy is reflected by the ground and reaches the object again, so as to form a second reflection and reception, and the second reflection and reception are sequentially performed until the reflected energy is attenuated until the radar cannot receive, so that a plurality of vertically distributed hyperbolas generated by the same object appear on an image. Because the dielectric constant of the leakage area is greatly different from the surrounding medium, the energy of the first reflected wave is strong, a remarkable multiple wave phenomenon can be generated on the image, and the dielectric constant of the interfering object such as stone is slightly different from the surrounding medium, the multiple wave phenomenon on the image is not obvious, so that the non-leakage signal of the interfering object such as stone can be eliminated;
finally, according to the position relation between the water supply pipeline and the leakage area, the hyperbolic signal of the pipeline leakage on the image is overlapped with the banded signal of the water supply pipeline, so that the banded signal of the pipeline is discontinuous, and the isolated hyperbolic signal in the image can be eliminated.
The application of the principles of the present invention will now be described in further detail with reference to the accompanying drawings.
As shown in fig. 5 to 7, the method for detecting water supply pipeline leakage based on ground penetrating radar image characteristic signal identification provided by the embodiment of the invention comprises the following steps:
(1) and establishing a water supply pipeline leakage model. The method comprises the following steps: the buried depth of the pipeline is 1.0m, the pipe diameter is 100mm, the pipe is filled with water, a round hole with the diameter of 5mm is formed in the front end of the pipeline, dry sand with uniform particles is filled in the model, and a square concrete block with the side length of about 35cm and the thickness of about 5cm is arranged above the rear end of the pipeline. Fig. 5 is a schematic view of a water supply pipeline leakage model after 3 hours of leakage, in fig. 5, 1 is a square concrete block, 2 is a water supply pipeline, and 3 is a spherical leakage area.
(2) And according to the position and the trend of the pipeline, the radar antenna is arranged right above the pipeline and moves along the axial direction of the pipeline to finish the acquisition of the original image data. Fig. 6 shows data acquisition by radar, wherein 4 in fig. 6 is a water supply pipeline, 5 is a ground penetrating radar antenna, and 6 is a moving path of the antenna.
(3) After the original data are obtained, the radar profile is subjected to basic processing, including direct current removal, zero time correction, amplitude enhancement and band-pass filtering.
(4) Fig. 7 is a cross-sectional view of the ground penetrating radar with pipeline leakage obtained after processing, wherein pipeline leakage signals are shown in a dotted line frame in fig. 7, and interference signals of a disturbing object, namely a stone block, are shown in a solid line frame. Comparing the signal characteristics of the two signals can clearly see the multiple wave phenomenon of the leakage signal and the phenomenon that the water supply pipeline signal is overlapped to make the pipeline strip signal discontinuous, and the interference signal does not have the two characteristics.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A water supply pipeline leakage detection method based on ground penetrating radar image characteristic signal identification is characterized by comprising the following steps:
acquiring original image data of a ground penetrating radar of a water supply pipeline;
step two, performing DC removal, zero-time correction, amplitude enhancement and band-pass filtering processing on the acquired original image data; the second step is as follows:
firstly, zeroing a direct current component of an acquired radar original image signal by using a gather-DC-Shift module in reflexw one-dimensional filtering of radar general processing software to achieve the purposes of removing direct current and zero point drift;
then, a Move start time module in reflexw static correction is used for selecting a first negative peak value or a positive peak value of a direct wave as a zero-time correction point, and the time of the position is set to be 0;
finally, an Energy decay module in the reflexw gain is used for amplifying the amplitude of the weak signals in depth, and then a bandpassbatterfworth module in the reflexw one-dimensional filtering is used for selecting frequency signals in a specific range, so that high-frequency signals can pass through to the maximum extent, and low-frequency signals are attenuated and suppressed;
and thirdly, observing the characteristics of each signal in the image by combining the hyperbolic signal characteristics and the multiple wave forming principle and the position information of the hyperbolic signal characteristics and the multiple waves on the image, and identifying the pipeline leakage signal and the interference signal in the image so as to accurately identify the pipeline leakage information in the image.
2. The method for detecting water supply pipeline leakage based on ground penetrating radar image characteristic signal identification as claimed in claim 1, wherein the step one of acquiring ground penetrating radar raw image data comprises the following steps:
(1) according to the known pipeline buried depth and pipe diameter, determining the center frequency of the used radar antenna through a ground penetrating radar horizontal resolution and vertical resolution formula; the relation between the horizontal resolution and the vertical resolution of the ground penetrating radar is shown as the following formula:
wherein: rf、RvRespectively the horizontal resolution and the vertical resolution of the ground penetrating radar; h is the embedding depth of the object; lambda is the wavelength of the ground penetrating radar electromagnetic wave when the ground penetrating radar electromagnetic wave is transmitted in an underground medium; c is the propagation rate of the electromagnetic wave in vacuum; f is the center frequency of the ground penetrating radar antenna; ε is the relative permittivity of the subsurface medium;
(2) and according to the position and the trend of the pipeline, the radar antenna is arranged right above the pipeline and moves along the axial direction of the pipeline to finish the acquisition of the original image data.
3. The method for detecting water supply pipeline leakage based on ground penetrating radar image characteristic signal identification as claimed in claim 1, wherein the third step is as follows:
firstly, according to the formation process of a hyperbolic signal, the size and the depth position of an object can be calculated by a hyperbolic equation extracted from a radar image; the calculated size or depth position of the object can exclude non-leakage signals which do not meet the actual situation on the size or depth position;
secondly, according to the formation principle of multiple waves, when the electromagnetic waves reach an object for the first time, the first reflection occurs, when the reflected waves return to the ground, a part of energy can penetrate through the ground to be received by the radar for the first time, the other part of energy can reach the object again through the ground reflection to form the second reflection and reception, and the second reflection and reception are sequentially performed until the reflected energy is attenuated to the extent that the radar cannot receive, so that a plurality of vertically distributed hyperbolas generated by the same object can appear on an image, and then interference signals are eliminated;
finally, according to the position relation between the water supply pipeline and the leakage area, the hyperbolic signal of the pipeline leakage on the image is overlapped with the banded signal of the water supply pipeline, so that the banded signal of the pipeline is discontinuous, and the isolated hyperbolic signal in the image can be eliminated.
4. The method for detecting water supply pipeline leakage based on ground penetrating radar image characteristic signal identification as claimed in claim 1, wherein the step three interference signals comprise: air, rocks, plastics and metals present in the ground produce signals on the radar image.
5. The method for detecting the leakage of the water supply pipeline based on the ground penetrating radar image characteristic signal identification as claimed in claim 3, wherein when the object is a cylindrical object, the relation between the hyperbolic equation and the size and the depth position of the object is shown in a formula:
wherein: t is tn、t0At positions x and x for the antenna, respectively0Travel time of the electromagnetic wave; r is the radius of the cylindrical object; v is the propagation velocity of the radar electromagnetic wave in the underground medium; x is the number of1、y1The abscissa and the ordinate are respectively the central point of the hyperbola; p and q are respectively the half-axis length of a hyperbolic real axis and the half-axis length of a virtual axis; h is0Burying the object deeply; and t is the electromagnetic wave travel time when the antenna is right above the object.
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| CN112285790B (en) | 2020-03-30 | 2021-06-18 | 中国科学院地质与地球物理研究所 | Method and device for determining attenuation coefficient of electromagnetic wave field and medium |
| CN111551927B (en) * | 2020-05-19 | 2023-01-31 | 上海圭目机器人有限公司 | Underground pipeline diameter measuring method based on three-dimensional ground penetrating radar |
| CN111812609B (en) * | 2020-06-28 | 2023-12-01 | 中国地质调查局西安地质调查中心(西北地质科技创新中心) | Geological radar signal recovery method with multistage filtering nested amplitude gain |
| CN111853557B (en) * | 2020-07-28 | 2021-06-08 | 中国水利水电科学研究院 | Automatic identification method and system for detecting pipeline leakage based on ground penetrating radar |
| CN112180452B (en) * | 2020-09-23 | 2023-09-29 | 中国建筑第八工程局有限公司 | Underground pipeline buried depth estimation method based on ground penetrating radar and three-dimensional velocity spectrum |
| CN112346049A (en) * | 2020-09-28 | 2021-02-09 | 浙江大学 | Pipeline leakage detection method and device based on three-dimensional image energy density attribute of ground penetrating radar |
| CN113688692A (en) * | 2021-07-29 | 2021-11-23 | 浙江大学 | Water supply pipeline leakage detection method based on time-frequency scale characteristics of ground penetrating radar |
| CN116360001A (en) * | 2023-04-04 | 2023-06-30 | 中国地质科学院地球物理地球化学勘查研究所 | Method for eliminating low-frequency unshielded ground penetrating radar multiple signal interference in frozen soil region |
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