CN113759358A - Detection method and system for buried pipeline - Google Patents
Detection method and system for buried pipeline Download PDFInfo
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- CN113759358A CN113759358A CN202111047343.XA CN202111047343A CN113759358A CN 113759358 A CN113759358 A CN 113759358A CN 202111047343 A CN202111047343 A CN 202111047343A CN 113759358 A CN113759358 A CN 113759358A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/06—Accessories therefor, e.g. anchors
- F16L1/11—Accessories therefor, e.g. anchors for the detection or protection of pipes in the ground
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Abstract
The invention provides a detection method and a detection system of a buried pipeline, which do not depend on the experience of detection personnel, are convenient to popularize and can accurately position the coordinates of the pipeline underground, and the step S1: applying an acoustic wave vibration signal to a conveying medium in a pipeline by an acoustic wave generator at the position of an interface of the pipeline; collecting sound wave vibration signals transmitted along with the pipeline through a vibration sensor, when the detected signal intensity is at a peak value, taking the position of the vibration sensor as the position right above the pipeline, repeatedly collecting and detecting for a plurality of times to obtain coordinates right above a plurality of pipelines, and determining horizontal plane coordinates of the pipelines under the ground; step S2: measuring the embedding depth of the pipeline right above the pipeline through a radar according to the obtained horizontal plane coordinates of the pipeline under the ground; step S3: and obtaining the three-dimensional position coordinates of the pipeline under the ground through the horizontal plane coordinates of the pipeline under the ground and the embedding depth of the pipeline.
Description
Technical Field
The invention relates to a detection method of a buried pipeline position, in particular to a detection method and a detection system of a buried pipeline.
Background
The PE gas pipe is widely used in the construction of gas pipe networks due to the low manufacturing cost and good performances of corrosion resistance, aging resistance and the like. Because the more PE gas pipeline that comes and more in the city adopts the trenchless pipe jacking technique to lay, or because of the city construction has thickened the overburden layer on original buried gas pipeline for the pipeline buries deeply and has exceeded more than 3 meters, adopt the pipeline that the directional brill of trenchless laid simultaneously in early stage, because historical reason drawing data is uneven totally inaccurate, when newly-built pipeline carries out construction operation, bring huge challenge for current gas pipeline safety operation management. Therefore, the existing PE gas pipe at the position to be constructed needs to be positioned. The existing pipeline positioning method comprises the following steps:
1. the conventional physical methods such as gravity magnetic electroseismic method are adopted for positioning, but the method has low positioning precision and larger error.
2. The method adopts the sound wave detection technology, but the method depends on the ear to identify the sound wave intensity, cannot identify the sound wave intensity remotely and combines the empirical judgment, cannot digitize the sound wave intensity, has subjective judgment and is inconvenient to popularize.
Based on the defects of poor precision and dependence on the experience of detection personnel in the existing method, the invention aims to provide a detection method and a system for buried pipelines to solve the problems.
Disclosure of Invention
The invention provides a detection method and a detection system for a buried pipeline, which do not depend on the experience of detection personnel, are convenient to popularize and can accurately position the coordinates of the pipeline underground.
The technical scheme is as follows: a method of detecting a buried pipeline, comprising the steps of:
step S1: applying an acoustic wave vibration signal to a conveying medium in a pipeline by an acoustic wave generator at the position of an interface of the pipeline; collecting sound wave vibration signals transmitted along with the pipeline through a vibration sensor, when the detected signal intensity is at a peak value, taking the position of the vibration sensor as the position right above the pipeline, repeatedly collecting and detecting for a plurality of times to obtain coordinates right above a plurality of pipelines, and determining horizontal plane coordinates of the pipelines under the ground;
step S2: measuring the embedding depth of the pipeline right above the pipeline through a radar according to the obtained horizontal plane coordinates of the pipeline under the ground;
step S3: and obtaining the three-dimensional position coordinates of the pipeline under the ground through the horizontal plane coordinates of the pipeline under the ground and the embedding depth of the pipeline.
Further, step S1 specifically includes the following steps:
s101: applying a sound wave vibration signal with fixed frequency to a conveying medium in a pipeline by a sound wave generator at the position of an interface of the pipeline;
s102: starting from the position of an interface where a sound wave generator is located, setting a sampling position at a set sampling distance interval, respectively acquiring sound wave vibration signals with fixed frequency transmitted along a pipeline by a vibration sensor at different positions near the sampling position, and taking the position of the vibration sensor as the position right above the pipeline when the detected signal intensity is at a peak value;
s103: and repeating the acquisition and detection for a plurality of times to obtain coordinates right above a plurality of pipelines and determine the horizontal plane coordinates of the pipelines underground.
Further, a, FFT transformation: converting the acquired signal data from a time domain signal into a frequency domain signal through fast Fourier transform;
b. removing a direct current component: for frequency domain signal data, accumulating and summing firstly, then averaging, then subtracting the average value from the obtained original value to obtain a zero value position, and removing direct current components in a zero value drifting mode;
c. band-pass filtering: filtering frequency domain signal data outside a set fixed frequency range through band-pass filtering;
d. removing abnormal data: summing n groups of signal data subjected to band-pass filtering, then calculating an average value, dividing each group of signal data by the average value of the n groups of signal data to obtain proportion data, judging whether the proportion data is greater than a set proportion coefficient, if so, deleting the corresponding signal data, and if not, keeping the proportion data;
e. frequency domain superposition: and carrying out frequency domain superposition on the frequency spectrum signal data left after the abnormal data of each group are removed to obtain effective frequency domain signal data.
Further, by obtaining the valid frequency domain signal data through step e, finding the first peak apex maxV1 and the second peak apex maxV2 of the frequency domain signal data, and if:
(maxV1-maxV2)/maxV2>maxG
wherein maxG is a set proportionality coefficient; and all while satisfying: and if the frequencies corresponding to the first peak apex maxV1 and the second peak apex maxV2 are in the specified frequency domain range, the first peak apex is considered as the peak value of the detected signal intensity, otherwise, the first peak apex and the second peak apex are searched again.
Further, in step S101, the acoustic wave generator emits two fixed frequency acoustic wave vibration signals having different frequencies.
Further, in step S102, the vibration sensor detects two fixed-frequency acoustic vibration signals with different frequencies at the same time, and when the signal intensities of the two detected acoustic vibration signals are both at peak values, the position of the vibration sensor at this moment is regarded as being right above the pipeline.
Further, the sound wave vibration signal is any one of a square wave or a sine wave.
A buried pipeline detection system comprising communicatively coupled:
the sound wave generator is arranged at the interface position of the pipeline and used for applying sound wave vibration signals to the conveying medium in the pipeline;
the vibration sensor is used for collecting sound wave vibration signals transmitted along with the pipeline;
the control terminal receives the sound wave vibration signals collected by the vibration sensor, displays the signal intensity of the sound wave vibration signals, takes the position of the vibration sensor as the position right above the pipeline when the detected signal intensity is at the peak value, and determines the horizontal plane coordinates of the pipeline under the ground through multiple collection and detection;
and the radar is used for measuring the burying depth of the pipeline after acquiring the horizontal plane coordinates of the pipeline under the ground.
Furthermore, the interface of the pipeline comprises a relief valve, a pressure regulating box and a pipeline well.
Furthermore, the control terminal and the mode of vibration sensor communication include any one of wifi, 2G, 3G, 4G, 5G network, control terminal is cell-phone or panel computer.
Further, the vibration sensor further comprises a GPS module, the GPS module employs a differential GPS device, the differential GPS device comprises a mobile station disposed on the vibration sensor, the differential GPS device further comprises a reference station, the mobile station is capable of locating the geographical position of the pipeline, the reference station records GPS locating information in real time, and the GPS locating information is compared with actual coordinate values of known control points on the ground to calculate a correction amount of the mobile station, so as to correct the measured geographical position of the pipeline of the mobile station.
The detection method of the buried pipeline of the invention is adopted, the sound wave vibration signal with specific frequency is applied to the fuel gas in the fuel gas pipeline through the sound wave generator, the sound wave vibration signal is transmitted forwards along the fuel gas in the fuel gas pipeline, the vibration of the fuel gas pipeline is also driven in the process of being transmitted forwards along the fuel gas pipeline, the vibration of the fuel gas pipeline drives the vibration of the soil buried pipeline, the soil vibration drives the ground vibration, then the sound wave vibration signal is detected through the vibration sensor, the sound wave vibration signal with fixed frequency is transmitted by the sound wave generator, only the frequency range in the fixed frequency range is detected when the vibration sensor detects, other frequencies are filtered, most of the external vibration is included, and therefore the interference can not be received, the vibration sensor is used for collecting the strength of the sound wave vibration signal on the ground at the far end, the position of the pipeline is positioned according to the characteristics and the strength of the sound wave vibration signal, the method can detect the plane position, can judge the buried depth of the pipeline by combining the prior radar technology, can carry out acquisition and detection for multiple times, and can use the position of the vibration sensor as the position right above the pipeline when the detected signal intensity is at the peak value.
Drawings
Fig. 1 is a schematic main flow diagram of a buried pipeline detection method of the present invention;
FIG. 2 is a system block diagram of a buried pipeline detection system of the present invention;
FIG. 3 is a graph of signal strength exhibited by a control terminal of the present invention;
fig. 4 is a schematic diagram of the positioning of the differential GPS device of the present invention.
Detailed Description
Example 1:
referring to fig. 1, the method for detecting a buried pipeline of the present invention includes the following steps:
step S1: applying an acoustic wave vibration signal to a conveying medium in a pipeline by an acoustic wave generator at the position of an interface of the pipeline; collecting sound wave vibration signals transmitted along with the pipeline through a vibration sensor, when the detected signal intensity is at a peak value, taking the position of the vibration sensor as the position right above the pipeline, repeatedly collecting and detecting for a plurality of times to obtain coordinates right above a plurality of pipelines, and determining horizontal plane coordinates of the pipelines under the ground;
step S2: measuring the embedding depth of the pipeline right above the pipeline through a radar according to the obtained horizontal plane coordinates of the pipeline under the ground;
step S3: and obtaining the three-dimensional position coordinates of the pipeline under the ground through the horizontal plane coordinates of the pipeline under the ground and the embedding depth of the pipeline.
In the embodiment of the present invention, the gas pipeline is a detection pipeline, the conveying medium in the gas pipeline is gas, and generally, the gas pipeline is provided with interfaces on the ground, where the interfaces may include a bleeding valve, a pressure regulating tank, and a gas pipeline well. The sound wave vibration signals are also transmitted to the periphery through the gas pipeline in the transmission process of the gas pipeline, transmitted to the ground bottom environment such as soil, gravels, sand and soil outside the gas pipeline and then transmitted to the ground;
then, sound wave vibration signals transmitted along with the pipeline are collected through a vibration sensor, when the detected signal intensity is at a peak value, the position where the vibration sensor is located is regarded as being right above the pipeline, namely the position of the pipeline is found, after one point of the pipeline is determined, the collection and the detection are repeated for a plurality of times, coordinates right above a plurality of pipelines are obtained, horizontal plane coordinates of the pipeline under the ground are determined, then the embedding depth of the pipeline is measured right above the pipeline through a radar, and the three-dimensional position coordinates of the pipeline under the ground can be obtained by combining the horizontal plane coordinates.
Example 2:
in an embodiment of the present invention, there is also provided a more detailed method for detecting a buried pipeline, specifically, in step S1, the method includes the following steps:
s101: applying a sound wave vibration signal with fixed frequency to a conveying medium in a pipeline by a sound wave generator at the position of an interface of the pipeline, wherein the sound wave vibration signal is a sine wave signal of 500Hz in the embodiment;
s102: starting from the interface position where the sound wave generator is located, setting a sampling position at a set sampling distance interval, respectively acquiring sound wave vibration signals with fixed frequency transmitted along with a pipeline by the vibration sensor at different positions near the sampling position, and performing the following processing on the acquired signal data by the vibration sensor:
a. FFT transformation: the acquired signal data are converted from time domain signals to frequency domain signals through fast Fourier transform, and in the embodiment, the frequency is changed through the fast Fourier transform, so that compared with DFT, the calculation complexity is lower, and the data are more accurate;
b. removing a direct current component: for frequency domain signal data, accumulating and summing firstly, then averaging, then subtracting the average value from the obtained original value to obtain a zero value position, and removing direct current components in a zero value drifting mode;
c. band-pass filtering: filtering frequency domain signal data outside a set fixed frequency range through band-pass filtering; in this embodiment, signals below 494Hz and above 506Hz are filtered by band pass filtering. Band pass filtering allows signals of a particular frequency to pass through, reducing or eliminating signals at frequencies above and below the band as a result of the high pass and low pass filters acting in concert, the cut-off frequencies of the high pass and low pass filters serving as the lower and upper limit frequencies of the pass band.
d. Removing abnormal data: summing n groups of signal data subjected to band-pass filtering, then calculating an average value, dividing each group of signal data by the average value of the n groups of signal data to obtain proportion data, judging whether the proportion data is greater than a set proportion coefficient, if so, deleting the corresponding signal data, and if not, keeping the proportion data; the method aims to prevent the sensor from generating false alarm in the detection process, eliminates invalid data and facilitates subsequent data processing;
e. frequency domain superposition: and carrying out frequency domain superposition on the frequency spectrum signal data left after the abnormal data of each group are removed to obtain effective frequency domain signal data.
Obtaining effective frequency domain signal data through the step e, and searching a first peak apex maxV1 and a second peak apex maxV2 of the frequency domain signal data, when:
(maxV1-maxV2)/maxV2>maxG
wherein maxG is a set proportionality coefficient; and all while satisfying: and if the frequencies corresponding to the first peak apex maxV1 and the second peak apex maxV2 are in the specified frequency domain range, the first peak apex is considered as the peak value of the detected signal intensity, otherwise, the first peak apex and the second peak apex are searched again.
In step S102, removing a dc component to eliminate a dc offset influence, performing band-pass filtering on a fixed frequency to filter a sound wave vibration signal other than the set fixed frequency, then obtaining a frequency spectrum through fast fourier transform, and then superimposing the frequency spectrum for a plurality of times to obtain an effective sound wave vibration signal, and determining a horizontal plane coordinate of the pipeline underground by observing the effective sound wave vibration signal and taking a position of a vibration sensor as a position right above the pipeline when the detected signal intensity is at a peak value;
s103: and repeating the acquisition and detection for a plurality of times to obtain coordinates right above a plurality of pipelines and determine the horizontal plane coordinates of the pipelines underground.
Step S2: measuring the embedding depth of the pipeline right above the pipeline through a radar according to the obtained horizontal plane coordinates of the pipeline under the ground;
step S3: and obtaining the three-dimensional position coordinates of the pipeline under the ground through the horizontal plane coordinates of the pipeline under the ground and the embedding depth of the pipeline.
In the embodiment, the signal generator emits a fixed frequency, and the detector only detects a frequency range within the fixed frequency range during detection, so that the detection reliability is ensured.
When the detection position of the detection pipeline signal is far away from the signal source, for example, more than 400 meters, the signal source is transmitted to the ground through the transmission of 400 meters and then through the underground structure, the signal is very weak, and a plurality of noise signals are added. The signals need to be subjected to band-pass filtering, high-frequency and low-frequency signals are filtered, only signals near a set fixed frequency are reserved, and since the interference signals are also very large and possibly exceed the signals of the signal source, but the interference signals are interference signals which are not very large every time, but the signals of the signal source are really fixed, the direct-current components of the signals are firstly removed, then the band-pass filtering is carried out, FFT frequency conversion is carried out, then frequency domain signals for many times are superposed, and effective signals of the vibration source can be continuously superposed and are highlighted.
In this embodiment, the frequency of the sound source emitted by the sound generator is near 500Hz, and the vibration sensor removes the dc component from each piece of measurement data, performs band-pass filtering, finds the frequency spectrum, and superimposes the frequency spectrum for multiple times. Along with the distance between the sensor to be tested and the sound source, the collection frequency can be adjusted, the more the collection frequency is, the farther the intensity of the sound wave vibration signal recognized by the sensor is, the farthest the transmission distance of the 500Hz signal in the pipeline is found through testing, and the slowest attenuation is realized. Both square and sine waves are possible.
In the embodiment, the horizontal detection precision of the pipeline is high, and the requirement that the horizontal detection precision is larger than 10 cm is met, namely, different signal intensity values of two detection points with the minimum distance of 10 cm can be detected.
By adopting the detection method of the embodiment, the sound wave vibration signal with fixed frequency is applied to the gas in the gas pipeline through the sound wave generator, the sound wave vibration signal is transmitted forwards along the gas in the gas pipeline, the vibration of the gas pipeline is also driven in the process of being transmitted forwards along the gas pipeline, the vibration of the gas pipeline drives the vibration of the soil embedded with the pipeline, the soil vibration drives the ground vibration, then the sound wave vibration signal is detected through the vibration sensor, the sound wave vibration signal with fixed frequency is transmitted by the sound wave generator, only the frequency range in the fixed frequency range is detected when the vibration sensor detects, other frequencies are filtered, most of the vibration outside is included, and therefore, the interference can not be received, the vibration sensor is used for collecting the strength of the sound wave vibration signal on the ground at the far end, the position of the pipeline is positioned according to the characteristics and the strength of the sound wave vibration signal, with this observable play plane position, combine current radar technology, can tell the pipeline buried depth, gather and detect through carrying out many times, when the signal intensity who detects is in the peak value, with the position of vibration sensor place as the pipeline directly over, interference is not afraid of to this kind of detection scheme, can not the misdetection misdirection, but the three-dimensional space of the accurate positioning pipeline of the method of this embodiment of adoption, simultaneously all be audio-visual demonstration to the signal intensity result that detects, do not rely on detection personnel's experience, and the facilitate promotion is popularized.
Example 3:
the step S1 includes the following steps:
s101: applying a fixed-frequency acoustic vibration signal to a conveying medium in the pipeline by using an acoustic generator at the position of an interface of the pipeline, wherein the acoustic generator emits two fixed-frequency acoustic vibration signals with different frequencies, such as 500Hz and 700 Hz;
s102: starting from the interface position where the sound wave generator is located, setting a sampling position at a set sampling distance interval, respectively acquiring sound wave vibration signals with fixed frequency transmitted along with a pipeline by the vibration sensor at different positions near the sampling position, and performing the following processing on the acquired signal data by the vibration sensor:
in step S102, the vibration sensor performs the following processing on the acquired signal data:
a. FFT transformation: converting the acquired signal data from a time domain signal into a frequency domain signal through fast Fourier transform;
b. removing a direct current component: for frequency domain signal data, accumulating and summing firstly, then averaging, then subtracting the average value from the obtained original value to obtain a zero value position, and removing direct current components in a zero value drifting mode;
c. band-pass filtering: filtering frequency domain signal data outside a set fixed frequency range through band-pass filtering;
d. removing abnormal data: summing n groups of signal data subjected to band-pass filtering, then calculating an average value, dividing each group of signal data by the average value of the n groups of signal data to obtain proportion data, judging whether the proportion data is greater than a set proportion coefficient, if so, deleting the corresponding signal data, and if not, keeping the proportion data;
e. frequency domain superposition: and carrying out frequency domain superposition on the frequency spectrum signal data left after the abnormal data of each group are removed to obtain effective frequency domain signal data.
Obtaining effective frequency domain signal data through the step e, finding a first peak apex maxV1 and a second peak apex maxV2 of the frequency domain signal data,
when the peak value of the first peak point maxV1 is 30% larger than that of the second peak point maxV2 and the frequencies of the first peak point and the second peak point maxV2 are within the range of the fixed frequency +/-5 Hz, the first peak point is considered as the peak value of the detected signal intensity, otherwise, the first peak point and the second peak point are searched again.
When the vibration sensor detects that the sound wave vibration signals of 500Hz and 700Hz are both at peak values, taking the position of the vibration sensor at the moment as the position right above the pipeline, and determining a horizontal plane coordinate of the pipeline under the ground;
step S103: and repeating the acquisition and detection for a plurality of times to obtain coordinates right above a plurality of pipelines and determine the horizontal plane coordinates of the pipelines underground.
Step S2: measuring the embedding depth of the pipeline right above the pipeline through a radar according to the obtained horizontal plane coordinates of the pipeline under the ground;
step S3: and obtaining the three-dimensional position coordinates of the pipeline under the ground through the horizontal plane coordinates of the pipeline under the ground and the embedding depth of the pipeline.
Install signal generator at the gas pipeline well head, signal generator is fixed frequency, and in order to ensure propagation distance, this embodiment is being adopted the sound wave of low frequency, 500Hz or 700Hz, is full of the gas in the gas pipeline, and the sound can be passed through gas medium and along pipeline transmission. Sound also can be transmitted to all around through the gas pipeline in the gas pipeline transmission process, transmits to the ground bottom environment such as soil, rubble, sand and soil of the outside of gas pipeline in, and then transmits to ground.
The signal generator emits fixed frequency, and the detector only detects frequency ranges near the two fixed frequencies during detection, and filters other frequencies including most external vibration.
In the embodiment, in order to further ensure the reliability of data, two sound wave vibration signals with different frequencies are adopted, and the detection results are mutually proved through the two sound wave vibration signals with different frequencies, so that the detection scheme of the embodiment is further guaranteed not to be affected by interference, and error detection is not carried out.
Referring to fig. 2, in an embodiment of the present invention, there is also provided a buried pipeline detection system, including communicatively connected:
the acoustic wave generator 1 is arranged at the position of an interface of a pipeline, such as a relief valve, a pressure regulating box and a pipeline well, and is used for applying an acoustic wave vibration signal to a conveying medium in the pipeline;
the vibration sensor 2 is used for collecting sound wave vibration signals transmitted along with the pipeline;
the control terminal 3 is used for receiving the sound wave vibration signals collected by the vibration sensor 2, displaying the signal intensity of the sound wave vibration signals, taking the position of the vibration sensor 2 as the position right above the pipeline when the detected signal intensity is at the peak value, and determining a plurality of coordinates through multiple times of collection and detection so as to obtain the underground horizontal plane coordinates of the pipeline;
and the radar 4 is used for measuring the burying depth of the pipeline after acquiring the horizontal plane coordinates of the pipeline under the ground.
When the vibration sensor is connected with the control terminal and a user clicks a detection button of the control terminal, wifi is taken as an example, the control terminal sends an ACK-A command to the vibration sensor through a TCPClinet connection channel to tell the vibration sensor that data collection is to be started, meanwhile, an S-ACB data packet is waited to be sent by the vibration sensor in a task blocking mode, if the task blocking time exceeds two seconds, the command is judged to be overtime and not responded, the ACK-A command is issued again, and the cycle is executed until the S-ACB data packet of the vibration sensor is received.
The ACK-A data command comprises a 6-byte frame header, 2-byte command characters, a 2-byte reading time length, a 6-byte frame tail, and an S-ACA data packet comprising an IP address, an MAC address, a port number and sensor number information of a sensor
When the vibration sensor receives an ACK-A command sent by the control terminal, the vibration sensor analyzes the data of the ACK-A command, firstly, the XOR check is carried out, and after the XOR check is passed, the acquisition duration is confirmed by analyzing the eighth bit and the ninth bit in the ACK-A command sent by the control terminal. And then, starting to execute an acquisition command issued by the control terminal, and transmitting the data back to the control terminal in the format of an S-ACB data packet after the acquisition is finished.
The vibration sensor carries out data acquisition after analyzing the time required by acquisition in the ACK-A data packet, the S-ACB data packet is returned to the control terminal for processing after the acquisition is finished, the control terminal carries out XOR verification after receiving the S-ACB data packet, if the verification fails, the ACK-A command is issued again to enable the vibration sensor to carry out data acquisition again, after the verification passes, whether the number of points on the acquired waveform time domain graph is 4000 points is judged, the 4000 points are set acquisition number, the acquisition number can also be other numbers, if the original data are stored in files without TXT format by using the appointed file name, and the later-stage data reading is facilitated. And if the number of the acquisition points is less than 4000, the control terminal issues the ACK-A command again to enable the vibration sensor to acquire data again.
Next, the buried pipeline detection system in this embodiment can complete the detection of the buried pipeline by performing the detection method in any one of embodiments 1, 2, and 3.
In this embodiment, the mode of control terminal 3 and 2 communications of vibration sensor includes wifi, 2G, 3G, 4G, arbitrary one in the 5G network, control terminal can be cell-phone or panel computer, through the wireless technology mode, give control terminal with data transmission, can survey vibration signal intensity in real time, the signal intensity that detects all is audio-visual show, do not rely on detection personnel's experience, the facilitate promotion is popularized, as the show of figure 3, the abscissa is the gauge point, can show 9 gauge points at most, through horizontal multiple spot data contrast signal intensity, can clearly judge and read out gas pipeline horizontal position.
In addition, in this embodiment, the vibration sensor further includes a GPS module, the GPS module employs a differential GPS device, see fig. 4, the differential GPS device includes a mobile station 201 disposed on the vibration sensor, the differential GPS device further includes a reference station 202, the mobile station is capable of locating the geographical position of the pipeline, the reference station records GPS locating information in real time, the reference station performs a comparison process with actual coordinate values of known control points on the ground to calculate a correction amount of the mobile station, so as to correct the geographical position of the pipeline measured by the mobile station, when determining the position of the pipeline, the vibration sensor is located right above the pipeline during detection, the position of the vibration sensor is obtained, that is, the position of the pipeline is obtained, the geographical position of the pipeline can be located by combining with the three-dimensional position coordinates of the pipeline under the ground, the geographical position of the pipeline can be accurately located by the GPS locating function, thus restoring the true position of the pipeline, and the differential GPS equipment arranges a GPS receiver on a reference station for observation. And calculating the correction quantity of the real coordinate and the coordinate obtained by GPS positioning according to the actual coordinate of the known control point of the reference station and the coordinate calculated by the GPS receiver, and transmitting the data in real time by the reference station. The user receiver receives the correction quantity sent by the reference station while carrying out GPS observation, and corrects the positioning result, thereby improving the positioning precision.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A method of detecting a buried pipeline, comprising the steps of:
step S1: applying an acoustic wave vibration signal to a conveying medium in a pipeline by an acoustic wave generator at the position of an interface of the pipeline; collecting sound wave vibration signals transmitted along with the pipeline through a vibration sensor, when the detected signal intensity is at a peak value, taking the position of the vibration sensor as the position right above the pipeline, repeatedly collecting and detecting for a plurality of times to obtain coordinates right above a plurality of pipelines, and determining horizontal plane coordinates of the pipelines under the ground;
step S2: measuring the embedding depth of the pipeline right above the pipeline through a radar according to the obtained horizontal plane coordinates of the pipeline under the ground;
step S3: and obtaining the three-dimensional position coordinates of the pipeline under the ground through the horizontal plane coordinates of the pipeline under the ground and the embedding depth of the pipeline.
2. A method of detecting a buried pipeline according to claim 1, wherein: in step S1, the method specifically includes the following steps:
s101: applying a sound wave vibration signal with fixed frequency to a conveying medium in a pipeline by a sound wave generator at the position of an interface of the pipeline;
s102: starting from the position of an interface where a sound wave generator is located, setting a sampling position at a set sampling distance interval, respectively acquiring sound wave vibration signals with fixed frequency transmitted along a pipeline by a vibration sensor at different positions near the sampling position, and taking the position of the vibration sensor as the position right above the pipeline when the detected signal intensity is at a peak value;
s103: and repeating the acquisition and detection for a plurality of times to obtain coordinates right above a plurality of pipelines and determine the horizontal plane coordinates of the pipelines underground.
3. A method of detecting a buried pipeline according to claim 2, wherein: in step S102, the vibration sensor performs the following processing on the acquired signal data:
a. FFT transformation: converting the acquired signal data from a time domain signal into a frequency domain signal through fast Fourier transform;
b. removing a direct current component: for frequency domain signal data, accumulating and summing firstly, then averaging, then subtracting the average value from the obtained original value to obtain a zero value position, and removing direct current components in a zero value drifting mode;
c. band-pass filtering: filtering frequency domain signal data outside a set fixed frequency range through band-pass filtering;
d. removing abnormal data: summing n groups of signal data subjected to band-pass filtering, then calculating an average value, dividing each group of signal data by the average value of the n groups of signal data to obtain proportion data, judging whether the proportion data is greater than a set proportion coefficient, if so, deleting the corresponding signal data, and if not, keeping the proportion data;
e. frequency domain superposition: and carrying out frequency domain superposition on the frequency spectrum signal data left after the abnormal data of each group are removed to obtain effective frequency domain signal data.
4. A method of detecting a buried pipeline according to claim 3, wherein: obtaining effective frequency domain signal data through the step e, and searching a first peak apex maxV1 and a second peak apex maxV2 of the frequency domain signal data, when:
(maxV1-maxV2)/maxV2>maxG
wherein maxG is a set proportionality coefficient; and all while satisfying: and if the frequencies corresponding to the first peak apex maxV1 and the second peak apex maxV2 are in the specified frequency domain range, the first peak apex is considered as the peak value of the detected signal intensity, otherwise, the first peak apex and the second peak apex are searched again.
5. A method of detecting a buried pipeline according to claim 4, wherein: in step S101, the acoustic wave generator emits two fixed frequency acoustic wave vibration signals having different frequencies.
6. A method of detecting a buried pipeline according to claim 5, wherein: in step S102, the vibration sensor detects two fixed-frequency acoustic vibration signals with different frequencies at the same time, and when the signal intensities of the two detected acoustic vibration signals are both at peak values, the position of the vibration sensor at that time is taken as the position right above the pipeline.
7. A method of detecting a buried pipeline according to claim 2, wherein: the sound wave vibration signal is any one of square waves or sine waves.
8. A buried pipeline detection system, characterized by: including the communication connection:
the sound wave generator is arranged at the interface position of the pipeline and used for applying sound wave vibration signals to the conveying medium in the pipeline;
the vibration sensor is used for collecting sound wave vibration signals transmitted along with the pipeline;
the control terminal receives the sound wave vibration signals collected by the vibration sensor, displays the signal intensity of the sound wave vibration signals, takes the position of the vibration sensor as the position right above the pipeline when the detected signal intensity is at the peak value, and determines the horizontal plane coordinates of the pipeline under the ground through multiple collection and detection;
and the radar is used for measuring the burying depth of the pipeline after acquiring the horizontal plane coordinates of the pipeline under the ground.
9. A buried pipeline detection system according to claim 8, wherein: the interface of the pipeline comprises a relief valve, a pressure regulating box and a pipeline well.
10. A buried pipeline detection system according to claim 8, wherein: the control terminal and the vibration sensor are in communication in a wifi, 2G, 3G, 4G or 5G network mode, the control terminal is a mobile phone or a tablet personal computer, the vibration sensor further comprises a GPS module, the GPS module adopts a differential GPS device, the differential GPS device comprises a mobile station arranged on the vibration sensor, the differential GPS device further comprises a reference station, the mobile station can locate the geographic position of the pipeline, the reference station records GPS locating information in real time, and the GPS locating information is compared with the actual coordinate value of the known control point on the ground to calculate the correction amount of the mobile station, so that the geographic position of the pipeline measured by the mobile station is corrected.
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