CN111123271A - Positioning system and method for underground pipeline - Google Patents
Positioning system and method for underground pipeline Download PDFInfo
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- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
- G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
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Abstract
The embodiment of the invention relates to a positioning system and a positioning method for an underground pipeline. The system comprises: the transmitting unit is communicated with the pipeline and is used for transmitting the sound wave signal into the pipeline; the receiving and processing unit is arranged at a preset position on the ground and used for acquiring the sound wave signal radiated to the ground through the pipeline, processing the sound wave signal according to a received function instruction to generate result information corresponding to the function instruction and sending the result information; and the display control unit is in wireless communication connection with the transmitting unit and the receiving processing unit respectively, sends the function instruction to the receiving processing unit, receives the result information sent by the receiving processing unit, and displays the received result information on the display control unit. The embodiment of the invention not only realizes the accurate positioning of the horizontal position of the underground pipeline, but also can accurately measure the depth of the pipeline.
Description
Technical Field
The embodiment of the invention relates to the technical field of underground pipeline detection, in particular to a positioning system and a positioning method for underground pipelines.
Background
The PE pipeline has the advantages of strong pollution resistance, corrosion resistance, low cost and the like, and is widely applied to natural gas pipeline transportation engineering. In recent years, with the development of infrastructure construction, urban buildings, roads and the like are changed greatly, natural gas pipelines laid in part of urban areas for many years are buried deeply, and references on the ground are changed greatly, and even some natural gas pipelines are forced to be shifted and changed, so that the original completion drawing and the current situation of the pipelines are difficult to match, and the completion drawing loses use value due to the fact that individual sections are not full of faces. The method brings great difficulty to the necessary excavation work of city new construction and natural gas pipeline rush repair, causes pipeline fracture by carelessness, and is more likely to cause secondary disasters. In order to avoid blind construction in the process of digging a buried natural gas pipeline and facilitate management and maintenance of a natural gas pipeline network, it is necessary to develop a detection technology for the buried gas PE pipeline and develop a buried gas PE pipeline positioning and measuring system.
At present, the detection technology of metal pipelines in the technical field of underground pipeline detection tends to be mature, but the detection of non-metal pipelines similar to PE materials is still a difficult problem, and as the PE gas pipeline is made of inert materials, the PE gas pipeline is non-conductive and non-magnetic, and the accurate position of the PE gas pipeline cannot be directly detected on the ground after the PE gas pipeline is buried underground. In addition, in the industry, underground PE gas pipeline detection methods such as a trace line identification method, a ground penetrating radar method, a listening method and the like mostly have the problems of poor sound wave signal identification capability in an interference environment, short detection distance, no depth measurement function, poor safety performance, large positioning error and the like. Accordingly, there is a need to ameliorate one or more of the problems with the related art solutions described above.
It is noted that this section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
Disclosure of Invention
An object of embodiments of the present invention is to provide a system and method for locating underground pipes, which overcome, at least to some extent, one or more of the problems due to limitations and disadvantages of the related art.
According to a first aspect of embodiments of the present invention there is provided a positioning system for an underground pipe, the system comprising:
the transmitting unit is communicated with the pipeline and is used for transmitting the sound wave signal into the pipeline;
the receiving and processing unit is arranged at a preset position on the ground and used for acquiring the sound wave signal radiated to the ground through the pipeline, processing the sound wave signal according to a received function instruction to generate result information corresponding to the function instruction and sending the result information;
the functional instructions comprise a system dynamic adjustment functional instruction, a pipeline horizontal positioning functional instruction and a pipeline depth measurement functional instruction;
and the display control unit is in wireless communication connection with the transmitting unit and the receiving processing unit respectively, sends the function instruction to the receiving processing unit, receives the result information sent by the receiving processing unit, and displays the received result information on the display control unit.
In an embodiment of the present invention, the transmitting unit includes:
the signal generator is used for generating a signal with a preset frequency;
the driver is used for boosting the signal by a preset multiple to generate a driving signal;
the controller is used for adjusting the size of the preset multiple according to the received first instruction;
the gas vibrator is communicated with the bleeding valve of the pipeline and is driven by an external alternating magnetic field so as to generate a sound wave signal in the pipeline;
wherein the alternating magnetic field is driven and generated by an external alternating magnetic field generator through the driving signal.
In an embodiment of the present invention, the transmitting unit further includes a first communication unit, and the first communication unit wirelessly interacts with the display control unit, and is configured to send power information of the transmitting unit to the display control unit, and receive the first instruction sent by the display control unit.
In an embodiment of the present invention, the receiving and processing unit includes:
the sound pick-up is used for capturing the sound wave signal radiated to the ground by the pipeline and converting the sound wave signal into an electric energy signal;
the filter is used for amplifying the electric energy signal, filtering partial clutter and noise signals in the electric energy signal and enabling the electric energy signal to form an analog signal;
the analog-to-digital converter is used for converting the analog signal into a digital signal;
and the digital processor completes the processing of the digital signal according to the received functional instruction so as to generate result information corresponding to the functional instruction.
In an embodiment of the present invention, the receiving and processing unit further includes a second communication unit, where the second communication unit wirelessly interacts with the display and control unit, and is configured to send the result information to the display and control unit, and receive the function instruction sent by the display and control unit.
In an embodiment of the present invention, the display control unit includes:
a display screen including a plurality of touch keys;
the display controller controls result information under different functional modes to be displayed on the display screen according to the instruction triggered by the touch key;
and the third communication unit is used for receiving the power information sent by the transmitting unit, receiving result information sent by the processing unit, sending a first instruction to the transmitting unit and sending functional instruction information to the receiving processing unit.
According to a second aspect of the embodiments of the present invention, there is provided a method for locating an underground pipe, the method being applied to the system for locating an underground pipe in the above embodiments, the method including:
communicating the transmitting unit with the pipeline and transmitting sound wave signals into the pipeline;
arranging a receiving unit at a preset position on the ground, acquiring the sound wave signal radiated to the ground through the pipeline, processing the sound wave signal according to a received function instruction to generate result information corresponding to the function instruction, and sending the result information;
the functional instructions comprise a system dynamic adjustment functional instruction, a pipeline horizontal positioning functional instruction and a pipeline depth measurement functional instruction;
and the display control unit is in wireless communication connection with the transmitting unit and the receiving unit respectively, sends the function instruction to the receiving processing unit, receives the result information sent by the receiving processing unit and displays the received result information on the display control unit.
In an embodiment of the present invention, the step of communicating the transmitting unit with the pipeline and transmitting the acoustic signal into the pipeline further includes:
generating a signal with a preset frequency through a signal generator;
boosting the signal by a preset multiple through a driver to generate a driving signal;
the controller adjusts the size of the preset multiple according to the received first instruction;
the gas vibrator is communicated with a relief valve of the pipeline and is driven by an external alternating magnetic field, so that the gas vibrator generates a sound wave signal in the pipeline;
wherein the alternating magnetic field is driven by an external alternating magnetic field generator through the driving signal;
and the wireless interaction is carried out with the display control unit through a first communication unit, and the wireless interaction is used for sending the power information of the transmitting unit to the display control unit and receiving the first instruction sent by the display control unit.
In an embodiment of the present invention, the step of disposing the receiving unit at a preset position on the ground and acquiring the sound wave signal radiated to the ground through the pipeline further includes:
capturing sound wave signals radiated to the ground by the pipeline through a sound pick-up, and converting the sound wave signals into electric energy signals;
amplifying the electric energy signal through a filter, and filtering partial clutter and noise signals in the electric energy signal to form an analog signal;
converting the analog signal into a digital signal through an analog-to-digital converter;
the digital processor completes the digital signal processing according to the received functional instruction so as to generate result information corresponding to the functional instruction;
the digital signal processing by the digital processor comprises very narrow bandwidth digital filtering algorithm processing in a preset frequency domain, sound wave signal identification processing in an interference background and phase difference algorithm processing for pipeline depth measurement;
and the second communication unit wirelessly interacts with the display control unit, and is used for sending the result information to the display control unit and receiving the function instruction sent by the display control unit.
In an embodiment of the present invention, the step of wirelessly connecting the display control unit with the transmitting unit and the receiving unit, respectively, and sending the function instruction to the receiving processing unit further includes:
providing a display screen, wherein the display screen comprises a plurality of touch control buttons;
enabling a display controller to control result information under different functional modes to be displayed on the display screen according to the instruction triggered by the touch button;
and receiving the power information sent by the transmitting unit and the result information sent by the receiving processing unit through a third communication unit, and sending a first instruction to the transmitting unit and sending function instruction information to the receiving processing unit.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects:
in the embodiment of the invention, according to the positioning system and the method for the underground pipeline, the transmitting unit, the receiving unit and the display control unit are combined by adopting a communication technology, so that the positioning operation is more convenient and faster; the positioning result is displayed on the display control unit, so that the positioning of the underground pipeline is more accurate; meanwhile, the positioning system has the function of positioning the depth of the pipeline, and the accuracy is further improved for positioning the underground pipeline.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is apparent that the drawings in the following description are only some embodiments of the disclosure, and that other drawings may be derived from those drawings by a person of ordinary skill in the art without inventive effort.
FIG. 1 shows a schematic diagram of an overall positioning system for an underground pipe in an exemplary embodiment of the invention;
FIG. 2 shows a schematic diagram of a frame of a transmitting unit in an exemplary embodiment of the invention;
FIG. 3 shows a block diagram of a receiving unit in an exemplary embodiment of the invention;
FIG. 4 shows a schematic diagram of a framework of a display and control unit in an exemplary embodiment of the invention;
FIG. 5 is a schematic view illustrating a horizontal positioning mode of a pipe in an exemplary embodiment of the invention;
FIG. 6 is a diagram illustrating a system dynamic adjustment mode in an exemplary embodiment of the invention;
FIG. 7 illustrates a schematic diagram of the horizontal positioning operation in an exemplary embodiment of the invention;
FIG. 8 shows a signal and noise spectrum diagram in an exemplary embodiment of the invention;
FIG. 9 is a schematic diagram illustrating placement of horizontally positioned test points of a pipeline in an exemplary embodiment of the invention;
FIG. 10 shows a schematic view of the pipe depth location principle in an exemplary embodiment of the invention;
FIG. 11 shows a schematic view of a duct depth positioning pickup placement in an exemplary embodiment of the invention;
FIG. 12 shows a schematic diagram of a three microphone depth gauge pipeline in an exemplary embodiment of the invention;
FIG. 13 shows a flow chart of underground pipe location in an exemplary embodiment of the invention;
FIG. 14 shows a flow chart of the operation of a transmitting unit in an exemplary embodiment of the invention;
FIG. 15 shows a flow chart of the operation of a receiving unit in an exemplary embodiment of the invention;
fig. 16 is a flowchart showing the operation of the display control unit in the exemplary embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of embodiments of the invention, which are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities.
In the exemplary embodiment, a system for locating an underground pipe is first provided. Referring to fig. 1, the system may include: a transmitting unit 100, a receiving processing unit 200 and a display control unit 300.
The transmitting unit 100 is communicated with the pipeline and is used for transmitting sound wave signals into the pipeline; the receiving and processing unit 200 is disposed at a preset position on the ground, and is configured to acquire the acoustic wave signal radiated to the ground through the pipeline, process the acoustic wave signal according to a received function instruction, generate result information corresponding to the function instruction, and send the result information; the functional instructions comprise a system dynamic adjustment functional instruction, a pipeline horizontal positioning functional instruction and a pipeline depth measurement functional instruction; the display control unit 300 is connected to the transmitting unit 100 and the receiving processing unit 200 in a wireless communication manner, and sends the function instruction to the receiving processing unit 200, receives the result information sent by the receiving processing unit 200, and displays the received result information on the display control unit 300.
According to the positioning system of the underground pipeline, the transmitting unit 100, the receiving processing unit 200 and the display control unit 300 are combined by adopting a communication technology, so that the positioning operation is more convenient and faster; the positioning result is displayed on the display control unit 300, so that the positioning of the underground pipeline is more accurate; meanwhile, the positioning system has the function of positioning the depth of the pipeline, and the accuracy is further improved for positioning the underground pipeline.
Next, the respective parts of the above-described underground piping positioning system in the present exemplary embodiment will be described in more detail with reference to fig. 1 to 12.
In one embodiment, the transmitting unit 100 is in communication with the pipe for transmitting the acoustic signal into the pipe.
The transmitter unit 100 is used to generate detectable acoustic signals, providing the basis for the overall pipe location. In one example, the transmitting unit 100 may include a signal generator for generating a signal of a preset frequency; the driver is used for boosting the signal by a preset multiple to generate a driving signal; the controller is used for adjusting the size of the preset multiple according to the received first instruction; the gas vibrator is communicated with the bleeding valve of the pipeline and is driven by an external alternating magnetic field so as to generate a sound wave signal in the pipeline; wherein the alternating magnetic field is driven and generated by an external alternating magnetic field generator through the driving signal.
Specifically, before starting the emission unit 100, the gas vibrator is firstly communicated with a bleeding valve of a gas pipeline, and the specific steps are that a bleeding valve plug is detached, a bleeding valve switch is opened to remove impurities and moisture in the bleeding valve, and the bleeding valve is closed; confirming that the gas vibrator is well connected with a transmitter cable, and connecting the gas vibrator with a bleeding valve by using a quick connector; opening a diffusion valve switch to allow gas to enter a gas vibrator (the opening operation of the diffusion valve switch must be slow to avoid gas impact to damage a vibrating membrane); checking the sealing condition of each connecting part, if leakage exists, immediately closing the bleeding valve, and disposing in time; and opening an exhaust valve of the gas vibrator, and deflating for about 5 seconds to ensure that the pressure inside the gas vibrator is the same as that in the pipeline. The specific operation steps can be carried out according to actual conditions, and are not limited to the above.
For ease of understanding, the signal generator, driver, controller are referred to as a transmitter and the transmitter is electrically connected to a gas vibrator which is connected to a blow-off valve of the pipeline within the hoistway when actually positioning the underground gas pipeline, and the transmitter is placed on the ground near the outside of the hoistway and should be placed smoothly.
As shown in fig. 2, before the transmitting unit 100 starts to work, a low-frequency signal with stable frequency, such as 470Hz, is generated by the signal generator, but not limited thereto, the frequency is selected to simultaneously take account of the transmission characteristics of the audio signal in the soil and the transmission characteristics of the audio signal in the compressed gas, and can be set according to the actual situation; then, the low-frequency signal is amplified by a signal driver, and the power boost multiple can be controlled by the following display control unit 300 through a wireless signal, specifically, in an example, the transmitting unit 100 further includes a first communication unit, where the first communication unit wirelessly interacts with the display control unit 300, and is configured to send power information of the transmitting unit 100 to the display control unit 300, and receive the first instruction sent by the display control unit 300. In order to indirectly ensure the signal display quality of the following display control unit 300, the first communication unit receives a first instruction sent by the display control unit 300, and the first instruction is transmitted to a controller through the first communication unit, and the controller is used for adjusting the size of the preset multiple according to the received first instruction; the power information sent from the first communication unit to the display control unit 300 described below is displayed on the display control unit 300 as a specific numerical value for the operator to refer to.
In addition, after the low-frequency signal is increased to a high-power signal by a preset multiple, an alternating magnetic field generator in the gas vibrator is pushed to generate an alternating magnetic field, and the magnetic field drives the gas vibrator in the pipeline to generate a sound wave signal with a certain frequency in the pipeline gas. It should be noted that the gas vibrator structure completely isolates the electric appliance driving part from the gas, which not only ensures the test safety, but also meets the national requirement of explosion prevention in dangerous working environment. The further principle is that the sound wave signal is transmitted to the far end along the pipeline along the gas flow, the sound wave signal vibrates the pipeline wall in the transmission process, then the sound wave signal in the underground pipeline is transmitted to the ground through the soil surrounding the pipeline wall, and the positioning system judges the burying position of the pipeline according to the strength of the sound wave signal on the ground.
In one embodiment, the receiving processing unit 200 is disposed at a preset position on the ground, and is configured to acquire the acoustic wave signal radiated to the ground through the pipeline, process the acoustic wave signal according to a received function instruction, generate result information corresponding to the function instruction, and send the result information; the functional instructions comprise a system dynamic adjustment functional instruction, a pipeline horizontal positioning functional instruction and a pipeline depth measurement functional instruction.
The receiving processing unit 200 is a core unit of the positioning system. In one example, the reception processing unit 200 includes: the sound pick-up is used for capturing the sound wave signal radiated to the ground by the pipeline and converting the sound wave signal into an electric energy signal; the filter is used for amplifying the electric energy signal, filtering partial clutter and noise signals in the electric energy signal and enabling the electric energy signal to form an analog signal; the analog-to-digital converter is used for converting the analog signal into a digital signal; and the digital processor completes the processing of the digital signal according to the received functional instruction so as to generate result information corresponding to the functional instruction.
Specifically, as shown in fig. 3, the receiving processing unit 200 includes a sound pickup, a filter, an analog-to-digital converter, a digital processor, and a second communication unit described below. The adapter catches the sound wave signal that underground pipe radiates to ground and converts it into the electric energy signal, selects the adapter of having used piezoceramics sensor structure in this embodiment, and the piezoelectric type adapter has higher sensitivity than moving coil adapter, is favorable to weak signal detection, and prior art can be referred to the theory of operation of specific adapter, no longer has been repeated here. The filter is used for amplifying the weak signal output by the sound pickup, and filtering out part of clutter and noise signals in the signal with a bandwidth of, for example, 100Hz, and the filter can be specifically set according to actual conditions, which is not described herein; then, converting the analog signal processed by the filter into a digital signal through an analog-to-digital converter, and transmitting the digital signal to a digital processor; the digital processor completes corresponding function processing according to the following working mode command sent by the second communication unit, and the processing result is also sent to the display control unit 300 through the second communication unit. The receiving processing unit 200 can realize the horizontal and depth positioning function of the underground gas pipeline.
In one embodiment, the display control unit 300 is connected to the transmitting unit 100 and the receiving processing unit 200 in a wireless communication manner, and sends the function instruction to the receiving processing unit 200, receives the result information sent by the receiving processing unit 200, and displays the received result information on the display control unit 300.
In one example, the display control unit 300 includes: a display screen including a plurality of touch keys; the display controller controls result information under different functional modes to be displayed on the display screen according to the instruction triggered by the touch key; and a third communication unit, configured to receive the power information sent by the transmitting unit 100, receive result information sent by the processing unit 200, send a first instruction to the transmitting unit 100, and send function instruction information to the processing unit 200.
Specifically, as shown in fig. 1 and 4, the display and control unit 300 is interconnected with the transmitting unit 100 and the receiving and processing unit 200 through a third communication unit to form a positioning system. Because the distance between the transmitting unit 100 and the receiving processing unit 200 is furthest larger than 1 kilometer, in order to ensure reliable communication interconnection in measurement, the system communication adopts a ZigBee wireless communication module, wherein ZigBee is a low-power consumption local area network protocol based on IEEE802.15.4 standard. The communication module developed according to this protocol has the advantages of low power consumption, low cost and highly reliable communication.
The display screen of the display and control unit 300 vividly displays the test point signal condition, as shown in fig. 5, a display screen area ① of fig. 5 is an instantaneous signal strength display area, a horizontal bar reflects the current system received signal strength, and an excessively strong signal (greater than 80%) affects the detection accuracy, the instantaneous signal strength is a basis for adjusting the dynamic range of the system, and may be determined according to actual conditions, without limitation, a display screen area ② of fig. 5 is a probe positioning result display area, the color of a histogram represents the quality of the test point signal, the gray represents good reliability of the signal quality, the stripe represents poor reliability of the signal quality, the black represents test failure, the horizontal coordinate of the histogram represents different test point numbers, the vertical coordinate of the histogram represents a sound wave signal strength digital quantization result, the display and control unit 300 may store sixteen measured points, but is not limited thereto, for analysis of the entire pipeline trend after offline (in this example, only the points in the display screen display interface of the display screen may be displayed by sliding display and display ten points which are displayed, and the display unit 300 may display the power of the test point signal strength of the test point processing system, and the signal processing unit may be switched to the "a remote processing unit" when the system is switched "the system is in a low-transmitting and the system, the system transmitting and the system is switched" the receiving signal processing unit 300 "the receiving unit, the receiving unit may be switched" when the system is switched to a low-receiving signal processing unit, the system processing unit is switched "the system processing unit, the system processing unit is switched to a low-transmitting and the system processing unit, such that the system processing unit is capable of a low-receiving system processing unit, and the system processing unit is capable of transmitting and the system processing unit is switched" the system processing unit, such that the system processing unit 300 is capable of transmitting and the system processing unit is switched "the system processing unit, such that the system processing unit is capable of transmitting and the system processing unit, such that the system processing unit is capable of transmitting a low-processing unit, such that the system processing unit 300, and the system processing unit is capable of transmitting.
Next, the transmitting unit 100, the receiving processing unit 200, and the display control unit 300 are combined to explain an application of the positioning system in practice. As an example, the specific operation principle of the horizontal positioning of the pipeline is that the horizontal positioning is mainly based on the sound wave intensity of the preset position point. The intensity of the sound wave is determined by the transmission distance and the included angle between the sound source ray and the sound pick-up, and the sound pick-up adopts a vertical installation structure, so that the sound wave signal in the vertical direction has higher gain, when the sound pick-up probe of the receiving processing unit 200 on the ground surface is positioned above the pipeline, the intensity of the sound wave is maximum, when the sound pick-up probe is deviated above the pipeline, the intensity of the sound wave is weakened, and generally, the position of the pipeline can be determined as long as the maximum point of the intensity of the sound wave is found in a certain. The method for positioning the position of the underground pipeline by comparing the strength of different test points is also called as a strength comparison method. The schematic diagram of the horizontal positioning working principle is shown in fig. 7. However, in the positioning of the gas pipeline, because the sound source is far away according to the receiving distance, and the propagation path passes through different media such as compressed gas, plastic pipe walls, soil sand and stones and the like, the signals which can be collected are extremely weak, so that the traditional sound wave signal intensity detection method cannot meet the long-distance detection requirement. In addition, the strong sound wave interference signals brought by field construction often cover the real signals, so that the detection and positioning accuracy is reduced, and sometimes even positioning errors occur. Aiming at the technical difficulties of weak signal detection and strong signal interference, the digital processor adopts a weak sound wave signal detection technology and an interference signal spectrum identification technology.
(1) Weak sound wave signal detection technology
The system sensitivity of the receiving processing unit 200 reflects the capability of the system to detect weak signals, and the system sensitivity of the receiving processing unit 200 must be greatly improved to improve the detection capability of the weak signals. The sensitivity calculation formula is as follows:
receiver sensitivity-174 + NF +10lgB +10lgSNR
NF noise coefficient B filter bandwidth SNR signal to noise ratio
As can be seen from the sensitivity calculation formula of the receiving processing unit 200, when the noise coefficient and the signal-to-noise ratio of the receiving processing unit 200 are not changed, the narrower the filter bandwidth is, the higher the sensitivity of the receiving processing unit 200 is. The detection distance is increased for improving the sensitivity of the system, the system greatly improves the index of spectral analysis resolution, and the bandwidth equivalent to the filter bank is narrowed according to the improvement of the frequency resolution of the digital filter design principle, so that the sensitivity of the system is changed by the bandwidth.
Since the frequency of the sound wave signal emitted by the sound source is known, the spectrum intensity analysis of the signal detection adopts a Chirp Z Transform (CZT) algorithm with extremely high spectrum resolution. The specific algorithm architecture can be understood according to the prior art, and is not described herein.
By adopting the detection technology, the sensitivity of the system is improved by replacing the bandwidth of the filter bank, and the detection capability of the remote weak sound wave signal is improved by the higher sensitivity of the receiving and processing unit 200. The system realizes the long-distance detection of about 1.2 kilometers.
(2) Interference signal spectrum identification technology
The strong sound wave interference signal is a characteristic of a construction site, and the interference signal is mostly a wide-spectrum signal as can be seen through spectrum analysis of experimental data of the strong interference signal. The interference signal and the detection sound wave signal have obvious difference in spectrum width. As shown in fig. 8, a graph (a) shows a spectrum of a single acoustic signal, a graph (b) shows a spectrum of an interference signal, and a graph (c) shows a spectrum when the acoustic signal and the interference signal coexist.
According to the characteristics, the embodiment provides a spectrum identification technology for detecting the interference signal. After the CZT algorithm is used for completing spectrum analysis with a certain width, attention is paid to the energy of the frequency of the determined sound wave signal, other spectrum signal states are also detected, and when a plurality of strong frequency signals beyond the center frequency of the sound wave signal are found, the interference can be judged to exist. According to the spectrum width and the intensity of the interference signal, the detection threshold is improved, and misjudgment caused by interference can be effectively inhibited. When the interference signal is too strong, the display control unit 300 is reported that the signal quality cannot meet the test requirement, and the test is invalid.
In the horizontal positioning working mode, in order to improve the reliability of the detection result, each test point is subjected to multiple sound wave intensity measurements, and when more than six times of ten measurement results capture sound wave signals and the intensity is greater than the detection threshold, the signal quality can be considered to be good, and the test result is credible.
The identification technology is adopted, and the wide-spectrum detection is carried out by utilizing the characteristic that most of strong interference signals existing in a construction site are wide-spectrum signals. When other strong frequency spectrum signals exist in a certain range outside the center frequency of the sound wave, the detection threshold is improved, interference can be effectively inhibited, and the anti-interference capability of the positioning system is higher.
As an example, the specific operation process of the horizontal positioning of the pipeline is that the detection positioning using the receiving processing unit 200 is a process of determining the coordinate position of the pipeline according to the intensity of the surface acoustic wave. During measurement, test point positions are arranged at certain intervals along the direction of the pipeline, each test point position is provided with at least 10 test points along the transverse tangent line of the direction of the pipeline, the interval of each test point is about 20cm, as shown in figure 9, in actual measurement, the direction of the pipeline is estimated, and therefore the starting point, the ending point and the distance between the test points of the transverse tangent line need to be adjusted according to the situation. That is to say, the process of locating the position of the pipeline coordinate is a process of multiple measurement, repeated correction and successive approximation. In order to minimize this process time, scientific measurement procedures must be established.
The operation steps are as follows:
1) observing the approximate trend of the pipeline, and setting a test point position 20m away from the previous test point position along the trend of the pipeline. And setting an initial test point position, observing the approximate trend of the pipeline under the dispersion valve, and setting a first test point position 10 meters away from the launching unit along the trend of the pipeline.
2) And (5) roughly measuring the position.
The display control unit 300 controls the receiving processing unit 200 to enter the horizontal positioning mode. And estimating the position of the pipeline on a transverse cutting line of the point position along the direction of the pipeline. And taking the estimated position as a starting point, and carrying out multiple sound wave intensity tests along the transverse tangent line in a span of more than 30cm in the range of 1m on the left side and the right side. And recording and displaying the test result. Observing the whole test result, if the displayed signal quality is good and the histogram amplitude value is moderate, indicating that the dynamic range of the system is proper, entering a position accurate measurement step 4), if the states of the amplitude values of the histograms of the plurality of test points being too large and too small or the instantaneous signal intensity exceeding 80% or being lower than 10% and the like indicate that the dynamic range of the system needs to be reset, entering a system dynamic adjustment mode 3).
3) And (5) dynamically adjusting the system.
The display control unit 300 controls the receiving processing unit 200 to enter a system dynamic adjustment mode. When the sound wave signal is too strong, the receiving processing unit 200 is placed at a place where the signal strength is large, and the signal strength can be reduced by reducing the gain of the receiving processing unit 200 or reducing the power of the transmitting unit 100 according to the signal strength. When the sound wave signal is too low, the signal strength can be increased by increasing the gain of the receiving processing unit 200 or increasing the power of the transmitting unit 100. If the method for increasing the gain and the power cannot increase the strength of the sound wave signal to a detectable degree, the arrangement of the detection point position has a large deviation from the actual position of the pipeline, and the point position must be arranged close to the upper test point position. The receiving processing unit 200 should return to operation step 2) after adjusting the dynamic range, and restart the position rough measurement.
4) And (6) accurately measuring the position.
And (3) taking the maximum intensity point obtained in the position rough measurement 2) as a base point, measuring the intensity of the sound wave signal for multiple times at the distance of less than 10cm on two sides of the base point, and correcting the position of the maximum intensity point. And planning 10 test points by taking the maximum strength point as a reference point and taking 20cm as an interval on the left side and the right side of the reference point along the transverse tangential direction. And finishing the measurement of each test point. Under the conditions that the soil filling quality of the ground is full and the pressure is uniform, the test result presents a bell-shaped envelope curve with obvious characteristics, and the highest point of the envelope curve is the specific position coordinate of the pipeline and is recorded. If the envelope position of the test result is not obvious, the influence caused by soil quality change and pressure change existing in the ground filling is eliminated, and a new point position can be selected nearby to be performed again if necessary.
5) And testing the new point location.
And (3) extrapolating about 20m to the direction of the pipeline to plan a new testing point position by taking the point position which is successfully tested as a reference, and repeating the steps 2), 3) and 4). Until the pipeline is finished.
It should be noted that, the above-mentioned horizontal positioning steps and parameters of the pipeline can be adjusted according to actual situations, and are not limited herein.
As an example, the specific operation principle of the pipe depth positioning is that, in this embodiment, a "phase difference method" is adopted to realize the pipe depth positioning function. The method for positioning the depth of the pipeline by using the phase difference method needs two sound pickups to synchronously measure the phases of sound wave signals emitted by the same sound source at specified test points, and obtains the time difference according to the phase difference so as to obtain the depth of the sound source, which is also called as an interference method. The working principle is shown in fig. 10 and 11.
The phase difference method requires simultaneous sampling of the microphone output signals from A, B acquisition points, and the depth measurement positioning mode must be performed after the horizontal positioning mode, where microphone a is placed at the top end a of the underground pipe determined by the horizontal positioning mode, and microphone B is placed at the position B along the transverse tangent line of the pipeline, as shown in fig. 11.
As can be seen from fig. 10, the distance from the pipe to the microphone a is R, and the distance from the pipe to the microphone B is R + R1; A. the distance B is C. Then there are:
(R+R1)2＝R2+C2(1-1)
the above formula R1 can be obtained by a phase difference method.
The sound wave phase is measured at A, B at the same time to obtain the phase thetaA、θB. Determining the phase difference thetaΔ。
θΔ＝θB-θA(1-3)
Frequency f of known sound source signal0Period of signal
The time difference t between the arrival A, B of the same sound source can be obtained from the phase differenceΔ
θΔ/360＝tΔ/T (1-4)
tΔ＝θΔ/360×T (1-5)
If the propagation speed of the sound wave in the soil is V, R1 is:
R1＝V×tΔ(1-6)
however, the propagation speed of sound waves in soil at a deep measurement site often has a large difference due to a construction party, and the inaccuracy of the speed affects the error of depth measurement. In order to improve the depth measurement precision, the propagation speed of sound waves in specific soil can be calculated by adopting a three-sound-pickup phase difference method. The working principle of the three-pickup phase difference method speed measurement is shown in figure seven.
The pickup A is placed above the pipe, and the pickup B, C is placed along the direction transverse to the direction of the pipe. The cross-sectional view of the duct and A, B, C, as shown in FIG. 12, to avoid phase ambiguity of the sound wave signal, the distance between A, C two points should be less than or equal to the wavelength λ of the sound wave, such as
According to the Pythagorean theorem, the method comprises the following steps:
(R+R1)2＝R2+d2(1-7)
(R+R2)2＝R2+4d2(1-8)
in the illustration, R1 is the difference between the distances from the pipe to points A and B, and R2 is the difference between the distances from the pipe to points A and C. When the acoustic wave transmission speed V is constant, the distance difference can be represented by a time difference tΔThe product with speed represents:
R1＝V·tΔ1(1-9)
R2＝V·tΔ2(1-10)
substituting (1-9) into (1-7), and substituting (1-10) into (1-8), there are
(R+V·tΔ1)2＝R2+d2(1-11)
(R+V·tΔ2)2＝R2+4d2(1-12)
(1-11) multiplication of t on both sidesΔ2To obtain
(1-12) multiplication of t on both sidesΔ1To obtain
(1-13, (1-14) solving simultaneously:
the pipeline depth R can be obtained by substituting V solved in (1-15) into (1-6) to obtain the distance difference R1, and substituting R1 into (1-2).
The specific operation process of the pipeline depth positioning is as follows:
(1) and selecting a depth test point.
The depth measurement must be performed after the horizontal positioning test. And selecting a test point with obvious bell-shaped envelope characteristics from the horizontal positioning test result to carry out the pipeline depth test.
(2) The processing unit 200 location is received.
The sound pick-up (receiving processing unit 200) A is arranged at the position corresponding to the maximum point of the bell-shaped envelope, and the sound pick-up B is arranged at the position 0.5m away from the left (right) side of the sound pick-up A along the transverse tangent of the pipeline.
(3) And (5) dynamically adjusting the system.
And controlling the receiver to enter a system dynamic adjustment mode through the display control handbook. The signal intensities of the two receivers are observed, the signal gains of the receivers are respectively adjusted, and the signal intensity of the sound wave is adjusted as much as possible under the condition of no saturation. If the receiver gain adjustment is not satisfactory, the transmit unit 100 power may be further adjusted.
(4) And (4) measuring the depth.
The display control unit 300 controls the receiving processing unit 200 to enter the depth positioning mode. Under the management of the synchronization signal of the display control unit 300, the receiving processing unit A, B intercepts the sound wave signal sent by the transmitting unit 100, and each of them completes the measurement of the signal phase at the same time, and the measurement result is sent to the display control unit 300 through the second communication unit, thus completing the phase difference operation.
It should be noted that, the above-mentioned pipe depth positioning steps and parameters can be adjusted according to actual situations, and are not limited herein.
In addition, according to the above embodiments, it can be seen that in the underground pipeline detection and location process, since the location system determines the position of the pipeline according to the signal strength comparison method, the strength of the acoustic wave signal determines the quality of the measurement data. When the signal amplitudes of different test points exceed the maximum value, the intensity information data are saturated, and the comparison method is invalid. Otherwise, the signal intensity of the test point is too low, even weak to be detected, and the correct position information can not be obtained by using a comparison method. The signal strength is related to both the output power of the transmitting unit 100 and the amplification gain of the receiving processing unit 200, and the test point location. The same transmit unit 100 power will cause receiver saturation when the test point is located closer to the transmit unit 100, and may be insufficient at longer distances, which is a system dynamic range adjustment problem. In order to ensure that the whole-course test is normally performed, the system designs a power adjustment circuit of the transmitting unit 100 and a gain adjustment circuit (not shown in the figure) of the receiving processing unit 200. In the system dynamic adjustment mode, as shown in fig. 6, an operator adjusts the power of the transmitting unit 100 and the power of the receiving processing unit 200 through the display control unit 300 according to the signal intensity of the test point. The whole dynamic adjustment adopts a wireless communication unit, and has the function of remote power adjustment operation.
According to the positioning system of the underground pipeline, the whole system is simple to operate and convenient to use, and can quickly search and position the specified gas pipeline in the multi-pipeline mixed burying environment; the transmitting unit, the receiving processing unit and the display control unit are combined by adopting a communication technology, so that the positioning operation is more convenient and faster; the positioning result is displayed on the display control unit, so that the positioning of the underground pipeline is more accurate; meanwhile, the positioning system has the function of positioning the depth of the pipeline, and the accuracy is further improved for positioning the underground pipeline.
The example embodiment also provides a positioning method of the underground pipeline. Referring to fig. 13, the method is applied to the positioning system of the underground piping described in the above embodiment, and includes:
and S101, communicating the transmitting unit with the pipeline and transmitting the sound wave signal into the pipeline.
Step S102, arranging a receiving unit at a preset position on the ground, acquiring the sound wave signal radiated to the ground through the pipeline, processing the sound wave signal according to a received function instruction to generate result information corresponding to the function instruction, and sending the result information;
the functional instructions comprise a system dynamic adjustment functional instruction, a pipeline horizontal positioning functional instruction and a pipeline depth measurement functional instruction.
And step S103, connecting a display control unit with the transmitting unit and the receiving unit in a wireless communication mode, sending the function instruction to the receiving processing unit, receiving the result information sent by the receiving processing unit, and displaying the received result information on the display control unit.
The specific pipeline positioning method can be understood by referring to the above embodiments, and is not described herein again.
In one embodiment, as shown in fig. 14, step S101 includes:
in step S1011, a signal with a preset frequency is generated by the signal generator.
Step S1012, boosting the signal by a preset multiple through a driver to generate a driving signal.
In step S1013, the controller adjusts the preset multiple according to the received first instruction.
Step S1014, communicating a gas vibrator with a relief valve of the pipeline, and driving the gas vibrator by an external alternating magnetic field to enable the gas vibrator to generate a sound wave signal in the pipeline;
wherein the alternating magnetic field is driven and generated by an external alternating magnetic field generator through the driving signal.
Step S1015, wirelessly interact with the display control unit through the first communication unit, and is configured to send the power information of the transmitting unit to the display control unit, and to receive the first instruction sent by the display control unit.
The steps of the positioning method of the specific transmitting unit can be understood by referring to the above embodiments, and are not described herein again.
In one embodiment, as shown in fig. 15, step S102 includes:
and step S1021, capturing the sound wave signal radiated to the ground by the pipeline through a sound pick-up, and converting the sound wave signal into an electric energy signal.
Step S1022, amplifying the electric energy signal by a filter, and filtering out part of clutter and noise signals in the electric energy signal, so that the electric energy signal is formed into an analog signal.
In step S1023, the analog signal is converted into a digital signal by an analog-to-digital converter.
Step S1024, the digital processor completes the processing of the digital signal according to the received functional instruction to generate result information corresponding to the functional instruction;
the digital signal processing by the digital processor comprises very narrow bandwidth digital filtering algorithm processing in a preset frequency domain, sound wave signal identification processing in an interference background and phase difference algorithm processing for pipeline depth measurement.
And S1025, wirelessly interacting with the display control unit through a second communication unit, and sending the processing result information of the receiving processing unit to the display control unit and receiving the function instruction sent by the display control unit.
The specific steps of the positioning method of the receiving processing unit can be understood with reference to the above embodiments, and are not described herein again.
In one embodiment, as shown in fig. 16, step S103 includes:
step S1031, providing a display screen, where the display screen includes a plurality of touch buttons.
And step S1031, enabling the display controller to control result information in different functional modes to be displayed on the display screen according to the instruction that the touch button is triggered.
And step S1031, receiving the power information sent by the transmitting unit and the result information sent by the receiving processing unit through a third communication unit, and sending a first instruction to the transmitting unit and function instruction information to the receiving processing unit.
The specific steps of the positioning method of the display and control unit can be understood by referring to the above embodiments, and are not described herein again.
According to the positioning system and the method for the underground pipeline, the whole system is simple to operate and convenient to use, and the specified gas pipeline can be quickly searched and positioned in the multi-pipeline mixed burying environment; the transmitting unit, the receiving processing unit and the display control unit are combined by adopting a communication technology, so that the positioning operation is more convenient and faster; the positioning result is displayed on the display control unit, so that the positioning of the underground pipeline is more accurate; meanwhile, the positioning system has the function of positioning the depth of the pipeline, and the accuracy is further improved for positioning the underground pipeline.
It is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like in the foregoing description are used for indicating or indicating the orientation or positional relationship illustrated in the drawings, and are used merely for convenience in describing embodiments of the present invention and for simplifying the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the embodiments of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or the first and second features being in contact, not directly, but via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (10)
1. A system for locating an underground pipe, the system comprising:
the transmitting unit is communicated with the pipeline and is used for transmitting the sound wave signal into the pipeline;
the receiving and processing unit is arranged at a preset position on the ground and used for acquiring the sound wave signal radiated to the ground through the pipeline, processing the sound wave signal according to a received function instruction to generate result information corresponding to the function instruction and sending the result information;
the functional instructions comprise a system dynamic adjustment functional instruction, a pipeline horizontal positioning functional instruction and a pipeline depth measurement functional instruction;
and the display control unit is in wireless communication connection with the transmitting unit and the receiving processing unit respectively, sends the function instruction to the receiving processing unit, receives the result information sent by the receiving processing unit, and displays the received result information on the display control unit.
2. The positioning system of claim 1, wherein the transmitting unit comprises:
the signal generator is used for generating a signal with a preset frequency;
the driver is used for boosting the signal by a preset multiple to generate a driving signal;
the controller is used for adjusting the size of the preset multiple according to the received first instruction;
the gas vibrator is communicated with the bleeding valve of the pipeline and is driven by an external alternating magnetic field so as to generate a sound wave signal in the pipeline;
wherein the alternating magnetic field is driven and generated by an external alternating magnetic field generator through the driving signal.
3. The positioning system of claim 2, wherein the transmitting unit further comprises a first communication unit, the first communication unit wirelessly interacts with the display control unit, and is configured to send power information of the transmitting unit to the display control unit and receive the first command sent by the display control unit.
4. The positioning system of claim 1, wherein the receive processing unit comprises:
the sound pick-up is used for capturing the sound wave signal radiated to the ground by the pipeline and converting the sound wave signal into an electric energy signal;
the filter is used for amplifying the electric energy signal, filtering partial clutter and noise signals in the electric energy signal and enabling the electric energy signal to form an analog signal;
the analog-to-digital converter is used for converting the analog signal into a digital signal;
and the digital processor completes the processing of the digital signal according to the received functional instruction so as to generate result information corresponding to the functional instruction.
5. The positioning system of claim 4, wherein the receiving processing unit further comprises a second communication unit, the second communication unit wirelessly interacts with the display control unit, and is configured to send the result information to the display control unit and receive the function command sent by the display control unit.
6. The positioning system according to claim 3 or 5, wherein the display control unit comprises:
a display screen including a plurality of touch keys;
the display controller controls result information under different functional modes to be displayed on the display screen according to the instruction triggered by the touch key;
and the third communication unit is used for receiving the power information sent by the transmitting unit, receiving result information sent by the processing unit, sending a first instruction to the transmitting unit and sending functional instruction information to the receiving processing unit.
7. A method for positioning an underground pipeline, which is applied to the positioning system of the underground pipeline according to any one of claims 1 to 6, the method comprising:
communicating the transmitting unit with the pipeline and transmitting sound wave signals into the pipeline;
arranging a receiving unit at a preset position on the ground, acquiring the sound wave signal radiated to the ground through the pipeline, processing the sound wave signal according to a received function instruction to generate result information corresponding to the function instruction, and sending the result information;
the functional instructions comprise a system dynamic adjustment functional instruction, a pipeline horizontal positioning functional instruction and a pipeline depth measurement functional instruction;
and the display control unit is in wireless communication connection with the transmitting unit and the receiving unit respectively, sends the function instruction to the receiving processing unit, receives the result information sent by the receiving processing unit and displays the received result information on the display control unit.
8. The method of claim 7, wherein the step of communicating a transmitter unit with the conduit and transmitting the acoustic signal into the conduit further comprises:
generating a signal with a preset frequency through a signal generator;
boosting the signal by a preset multiple through a driver to generate a driving signal;
the controller adjusts the size of the preset multiple according to the received first instruction;
the gas vibrator is communicated with a relief valve of the pipeline and is driven by an external alternating magnetic field, so that the gas vibrator generates a sound wave signal in the pipeline;
wherein the alternating magnetic field is driven by an external alternating magnetic field generator through the driving signal;
and the wireless interaction is carried out with the display control unit through a first communication unit, and the wireless interaction is used for sending the power information of the transmitting unit to the display control unit and receiving the first instruction sent by the display control unit.
9. The method according to claim 7, wherein the step of providing a receiving unit at a predetermined position on the ground and acquiring the sound wave signal radiated to the ground through the pipe further comprises:
capturing sound wave signals radiated to the ground by the pipeline through a sound pick-up, and converting the sound wave signals into electric energy signals;
amplifying the electric energy signal through a filter, and filtering partial clutter and noise signals in the electric energy signal to form an analog signal;
converting the analog signal into a digital signal through an analog-to-digital converter;
the digital processor completes the digital signal processing according to the received functional instruction so as to generate result information corresponding to the functional instruction;
the digital signal processing by the digital processor comprises very narrow bandwidth digital filtering algorithm processing in a preset frequency domain, sound wave signal identification processing in an interference background and phase difference algorithm processing for pipeline depth measurement;
and the second communication unit wirelessly interacts with the display control unit, and is used for sending the result information to the display control unit and receiving the function instruction sent by the display control unit.
10. The positioning method according to claim 8 or 9, wherein the step of connecting a display control unit with the transmitting unit and the receiving unit in a wireless communication manner, respectively, and sending the function instruction to the receiving processing unit further comprises:
providing a display screen, wherein the display screen comprises a plurality of touch control buttons;
enabling a display controller to control result information under different functional modes to be displayed on the display screen according to the instruction triggered by the touch button;
and receiving the power information sent by the transmitting unit and the result information sent by the receiving processing unit through a third communication unit, and sending a first instruction to the transmitting unit and sending function instruction information to the receiving processing unit.
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| CN113916469A (en) * | 2021-10-25 | 2022-01-11 | 湖南普奇地质勘探设备研究院（普通合伙) | Pipeline leakage detection method and system based on gas detection |
| CN115793035A (en) * | 2022-11-11 | 2023-03-14 | 北京信息科技大学 | Underground nonmetal pipeline detection system and method based on sound wave active excitation |
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