CN113834419A - Pipeline depth measuring method and device - Google Patents
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Abstract
The application relates to a pipeline depth measuring method and device, and belongs to the technical field of pipeline detection. The receiver antenna is lifted at the primary scaling point to obtain first electromagnetic signal intensity corresponding to a first height difference lifted by the first burial depth adding antenna, and then the receiver antenna is lowered to the ground height to obtain a secondary scaling point with the actual burial depth being the first burial depth and the first height difference. And after the model is corrected, the electromagnetic calibration model can represent the corresponding relation between the distance between the receiver antenna and the large buried depth pipe section and the corresponding electromagnetic signal strength, so that the buried depth of the pipe section to be detected can be obtained by obtaining the electromagnetic signal strength of each point along the pipe section to be detected and inputting the electromagnetic signal strength into the electromagnetic calibration model, the buried depth of the large buried depth pipe section can be detected, and the accuracy of a detection result is better.
Description
Technical Field
The application relates to the technical field of pipeline detection, in particular to a pipeline depth measuring method and device.
Background
Oil and gas pipeline generally includes land pipeline and submarine pipeline, and wherein, submarine pipeline has higher safety risk because of receiving outside conditions such as rivers erode, external object striking, submarine soil corruption and the effect of activities such as sand production throughout the year, submarine pipeline. In order to ensure the safety of the operation of the oil and gas pipeline, the laying state of the oil and gas conveying pipeline needs to be detected regularly, and one detection content is pipeline burial depth detection.
The conventional method and device for detecting the pipeline buried depth are general for land detection and underwater detection, and have the defects of small range of the detected pipeline buried depth and poor accuracy of a detection result under the limitation of the technical characteristics of the device.
Disclosure of Invention
The embodiment of the application provides a method and a device for measuring the depth of a pipeline, and can solve the problems that the existing method and device for detecting the buried depth of the pipeline have small range of the buried depth of the pipeline and poor accuracy of a detection result. The technical scheme is as follows:
in one aspect, a method for measuring a depth of a pipeline is provided, the method comprising:
selecting a primary calibration point right above the central line of the pipeline of the pipe section to be measured, wherein the primary calibration point is a point capable of directly measuring the first burial depth by an electromagnetic method;
arranging a receiver antenna at a first height difference from the ground on a primary calibration point, and acquiring a first electromagnetic signal strength when the distance between the receiver antenna and the primary calibration point is the first height difference plus the first burial depth, wherein the first height difference is the maximum height which can be raised by the receiver antenna;
the receiver antenna is arranged on the ground of the primary calibration point, and the receiver antenna moves from the primary calibration point to a position with larger burial depth along the central line of the pipeline, so that the strength of a second electromagnetic signal at the moment is obtained;
when the second electromagnetic signal intensity is equal to the first electromagnetic signal intensity, acquiring a corresponding position as a secondary calibration point, wherein the second burial depth of the secondary calibration point is the first height difference plus the first burial depth;
adjusting the height of the receiver antenna at the secondary calibration point from the bottom surface upwards to obtain third electromagnetic signal strengths of a plurality of positions with different heights;
establishing an electromagnetic scaling model based on the electromagnetic signal strengths of the secondary scaling points at a plurality of different heights, wherein the electromagnetic scaling model represents the corresponding relation between the distance between the receiver antenna and the large buried depth pipe section and the corresponding electromagnetic signal strength;
correcting the electromagnetic calibration model;
acquiring the electromagnetic signal intensity of each point along the pipeline section to be detected;
and inputting the electromagnetic signal intensity into the electromagnetic calibration model to obtain the burial depth of the pipe section to be measured.
In one possible implementation manner, when the second electromagnetic signal strength is equal to the first electromagnetic signal strength, after the corresponding position is acquired as the second calibration point, the method further includes:
arranging a receiver antenna at the ground of the secondary calibration point, and moving the receiver antenna from the secondary calibration point to a position with larger burial depth along the central line of the pipeline to obtain the intensity of a fourth electromagnetic signal at the moment;
when the intensity of the fourth electromagnetic signal is equal to the intensity of the second electromagnetic signal, acquiring a corresponding position as a third calibration point, wherein the third burial depth of the third calibration point is twice the first height difference plus the first burial depth;
and adjusting the height of the receiver antenna at the third calibration point from the bottom surface upwards to acquire the strength of the fifth electromagnetic signal at a plurality of different height positions.
In one possible implementation, the establishing an electromagnetic calibration model includes:
respectively establishing an infinite long pipeline calibration model, a semi-finite long pipeline calibration model and a finite long pipeline calibration model;
based on the electromagnetic signal intensity of the receiver antenna at the calibration point at a plurality of different heights, respectively adopting the infinite long pipeline calibration model, the semi-finite long pipeline calibration model and the finite long pipeline calibration model to obtain the calculated distance between the receiver antenna corresponding to the different heights and the pipeline;
acquiring actual distances between the receiver antennas corresponding to the different heights and the pipeline based on the buried depth of the pipeline and the height of the receiver antennas from the ground;
and acquiring a model with the minimum difference between the calculated distance and the actual distance as the electromagnetic calibration model.
In one possible implementation, the modifying the electromagnetic calibration model includes:
and respectively correcting the time dimension, the space dimension and the angle dimension of the electromagnetic calibration model.
In a possible implementation manner, after obtaining the burial depth of the pipe section to be measured, the method further includes:
and drawing an image based on the burial depth data of the pipe section to be detected.
In one aspect, there is provided a pipe depth measuring device, the device comprising:
the calibration point selection module is used for selecting a primary calibration point right above the central line of the pipeline of the pipe section to be measured, and the primary calibration point is a point capable of directly measuring the first burial depth by an electromagnetic method;
the electromagnetic signal intensity measuring module is used for arranging the receiver antenna at a first height difference from the ground on a primary calibration point, and acquiring first electromagnetic signal intensity when the distance between the receiver antenna and the primary calibration point is the first height difference plus the first burial depth, wherein the first height difference is the maximum height which can be raised by the receiver antenna;
the moving module is used for arranging the receiver antenna at the ground of the primary calibration point, moving the receiver antenna from the primary calibration point to a position with larger burial depth along the central line of the pipeline, and acquiring the intensity of a second electromagnetic signal at the moment;
the calibration point selecting module is further configured to obtain a corresponding position as a secondary calibration point when the second electromagnetic signal intensity is equal to the first electromagnetic signal intensity, and a second burial depth of the secondary calibration point is the first height difference plus the first burial depth;
the electromagnetic signal intensity measuring module is also used for adjusting the height of the receiver antenna at the secondary calibration point from the bottom surface upwards to obtain third electromagnetic signal intensities at a plurality of different height positions;
the model acquisition module is used for establishing an electromagnetic scaling model based on the electromagnetic signal strengths of the secondary scaling points at a plurality of different heights, and the electromagnetic scaling model represents the corresponding relation between the distance between the receiver antenna and the large buried depth pipe section and the corresponding electromagnetic signal strength;
the model correction module is used for correcting the electromagnetic calibration model;
the electromagnetic signal intensity measuring module is also used for acquiring the electromagnetic signal intensity of each point along the pipeline section to be measured;
and the buried depth acquisition module is used for inputting the electromagnetic signal intensity into the electromagnetic calibration model to obtain the buried depth of the pipe section to be measured.
In a possible implementation manner, the electromagnetic signal strength measuring module is further configured to set the receiver antenna at the ground of the secondary calibration point, and move the receiver antenna from the secondary calibration point to a position with a larger burial depth along a central line of the pipeline, so as to obtain a fourth electromagnetic signal strength at the time;
the calibration point selecting module is further configured to obtain a corresponding position as a third calibration point when the fourth electromagnetic signal intensity is equal to the second electromagnetic signal intensity, where a third burial depth of the third calibration point is twice the first height difference plus the first burial depth;
and the electromagnetic signal strength measuring module is also used for adjusting the height of the receiver antenna at the third calibration point from the bottom surface upwards to acquire fifth electromagnetic signal strengths of a plurality of different height positions.
In one possible implementation, the model obtaining module is configured to:
respectively establishing an infinite long pipeline calibration model, a semi-finite long pipeline calibration model and a finite long pipeline calibration model;
based on the electromagnetic signal intensity of the receiver antenna at the calibration point at a plurality of different heights, respectively adopting the infinite long pipeline calibration model, the semi-finite long pipeline calibration model and the finite long pipeline calibration model to obtain the calculated distance between the receiver antenna corresponding to the different heights and the pipeline;
acquiring actual distances between the receiver antennas corresponding to the different heights and the pipeline based on the buried depth of the pipeline and the height of the receiver antennas from the ground;
and acquiring a model with the minimum difference between the calculated distance and the actual distance as the electromagnetic calibration model.
In one possible implementation, the model modification module is configured to:
and respectively correcting the time dimension, the space dimension and the angle dimension of the electromagnetic calibration model.
In one possible implementation, the apparatus further includes: and the image drawing module is used for drawing an image based on the buried depth data of the pipe section to be measured.
This application can directly record a scaling point of first burial depth through selecting through the electromagnetic method, the receiver antenna that rises obtains first burial depth through rising the receiver antenna and adds the first electromagnetic signal intensity that the first difference in height that the antenna promoted at a scaling point department, then descends the receiver antenna to ground height, and move along the direction of the bigger burial depth of pipeline central line, with the secondary scaling point that obtains electromagnetic signal intensity and be first electromagnetic signal intensity equally, the actual burial depth of this secondary scaling point is first burial depth and first difference in height promptly. And after the model is corrected, the electromagnetic calibration model can represent the corresponding relation between the distance between the receiver antenna and the large buried depth pipe section and the corresponding electromagnetic signal strength, so that the buried depth of the pipe section to be detected can be obtained by obtaining the electromagnetic signal strength of each point along the pipe section to be detected and inputting the electromagnetic signal strength into the electromagnetic calibration model, the buried depth of the large buried depth pipe section can be detected, and the accuracy of a detection result is better.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for measuring a depth of a pipeline provided by an embodiment of the present application;
FIG. 2 is a flow chart of a method for measuring a depth of a pipeline provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of a calibration point selection process provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of a pipeline buried depth measurement provided by an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a pipeline burial device provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for measuring a depth of a pipeline according to an embodiment of the present application, please refer to fig. 1, where the method includes:
101. and respectively selecting a primary calibration point right above the central line of the pipeline of the pipe section to be measured, wherein the primary calibration point is a point capable of directly measuring the first burial depth by an electromagnetic method.
102. And arranging the receiver antenna at a first height difference from the ground on the primary calibration point, and acquiring the first electromagnetic signal intensity when the distance between the receiver antenna and the primary calibration point is the first height difference plus the first burial depth.
Wherein the first height difference is the maximum height that the receiver antenna can rise.
103. And arranging the receiver antenna at the ground of the primary calibration point, and moving the receiver antenna from the primary calibration point to a position with larger burial depth along the central line of the pipeline to obtain the second electromagnetic signal intensity at the moment.
104. And when the intensity of the second electromagnetic signal is equal to that of the first electromagnetic signal, acquiring the corresponding position as a secondary calibration point.
Wherein, the second burial depth of the secondary calibration point is the first height difference plus the first burial depth.
105. And adjusting the height of the receiver antenna at the secondary calibration point from the bottom surface upwards to acquire third electromagnetic signal strengths of a plurality of different height positions.
106. And establishing an electromagnetic calibration model based on the electromagnetic signal intensities of the secondary calibration points at a plurality of different heights.
The electromagnetic scaling model represents the corresponding relation between the distance between the receiver antenna and the large buried pipe section and the corresponding electromagnetic signal strength.
107. And correcting the electromagnetic calibration model.
108. And acquiring the electromagnetic signal intensity of each point along the pipeline section to be detected.
109. And inputting the electromagnetic signal intensity into the electromagnetic calibration model to obtain the burial depth of the pipe section to be measured.
The method provided by the application comprises the steps that a primary scaling point capable of directly measuring the first burial depth through an electromagnetic method is selected, the first electromagnetic signal strength corresponding to the first height difference of the first burial depth and the antenna lifting is obtained at the primary scaling point through the rising of the receiver antenna, then the receiver antenna is lowered to the ground height, and the receiver antenna moves towards the direction with larger burial depth along the central line of the pipeline, so that the secondary scaling point with the electromagnetic signal strength being the first electromagnetic signal strength is obtained, and the actual burial depth of the secondary scaling point is the first burial depth and the first height difference. And after the model is corrected, the electromagnetic calibration model can represent the corresponding relation between the distance between the receiver antenna and the large buried depth pipe section and the corresponding electromagnetic signal strength, so that the buried depth of the pipe section to be detected can be obtained by obtaining the electromagnetic signal strength of each point along the pipe section to be detected and inputting the electromagnetic signal strength into the electromagnetic calibration model, the buried depth of the large buried depth pipe section can be detected, and the accuracy of a detection result is better.
In one possible implementation manner, when the second electromagnetic signal strength is equal to the first electromagnetic signal strength, after the corresponding position is acquired as the second calibration point, the method further includes: arranging a receiver antenna at the ground of the secondary calibration point, and moving the receiver antenna from the secondary calibration point to a position with larger burial depth along the central line of the pipeline to obtain the intensity of a fourth electromagnetic signal at the moment; when the intensity of the fourth electromagnetic signal is equal to the intensity of the second electromagnetic signal, acquiring a corresponding position as a third calibration point, wherein the third burial depth of the third calibration point is twice the first height difference plus the first burial depth; and adjusting the height of the receiver antenna at the third calibration point from the bottom surface upwards to acquire the strength of the fifth electromagnetic signal at a plurality of different height positions.
In one possible implementation, the establishing an electromagnetic calibration model includes: respectively establishing an infinite long pipeline calibration model, a semi-finite long pipeline calibration model and a finite long pipeline calibration model; based on the electromagnetic signal intensity of the receiver antenna at the calibration point at a plurality of different heights, respectively adopting the infinite long pipeline calibration model, the semi-finite long pipeline calibration model and the finite long pipeline calibration model to obtain the calculated distance between the receiver antenna corresponding to the different heights and the pipeline; acquiring actual distances between the receiver antennas corresponding to the different heights and the pipeline based on the buried depth of the pipeline and the height of the receiver antennas from the ground; and acquiring a model with the minimum difference between the calculated distance and the actual distance as the electromagnetic calibration model.
In one possible implementation, the modifying the electromagnetic calibration model includes: and respectively correcting the time dimension, the space dimension and the angle dimension of the electromagnetic calibration model.
In a possible implementation manner, after obtaining the burial depth of the pipe section to be measured, the method further includes: and drawing an image based on the burial depth data of the pipe section to be detected.
Fig. 2 is a flowchart of a method for measuring a depth of a pipeline according to an embodiment of the present application, please refer to fig. 2, the method includes:
201. and determining the scaling times.
In the step, the scaling times can be determined according to the designed average burial depth of the crossing pipe section, for the pipe section of which the maximum distance from the detection surface to the center of the pipe is smaller than the designed average burial depth of the crossing pipe section, single scaling can be adopted, and for the pipe section of which the maximum distance from the detection surface to the center of the pipe is smaller than the designed average burial depth of the crossing pipe section, multiple scaling is adopted. This embodiment will specifically describe the case of multiple scaling.
201. And respectively selecting a primary calibration point right above the central line of the pipeline of the pipe section to be measured, wherein the primary calibration point is a point capable of directly measuring the first burial depth by an electromagnetic method.
The pipe section to be measured can be a large buried depth pipe section located underground or at the bottom of a river, and the depth is large, for example, the large buried depth pipe section can be a pipe section with the buried depth exceeding 18 m.
When the large buried depth pipe section is positioned at the river bottom, the primary calibration point can be selected on the pipeline central lines of two banks of the pipe section to be measured.
The burial depth of the primary calibration point is smaller, for example, the burial depth can be less than or equal to 4m, and since the range of a common electromagnetic signal receiver is slightly larger than 4m, the burial depth of the primary calibration point is within the range of the electromagnetic signal receiver, the measured corresponding electromagnetic signal intensity is more accurate, and therefore the first burial depth obtained according to the electromagnetic signal intensity is also an accurate value.
For example, limited by the detection principle of a common probe, under the condition that sufficient accuracy is ensured in the test of the pipeline burial depth, the maximum measurement range of the common probe can only be 4m, that is, only a point with the pipeline burial depth of 4m can be selected as a primary calibration point, and the maximum length of a tower ruler used for the distance between the probe and the pipeline in calibration can be 7 m. Therefore, we can only obtain accurate calibration data of 4m-11 m. If the calibration file formed according to the 4m-11m calibration data is used for inverting a pipeline with the depth of 30m, the accuracy is very low, so that a secondary calibration method can be used for finding a secondary calibration point and calibrating, and the calibration data of 11m-18m can be obtained, so that the inversion precision can be obviously improved by the established calibration file. Of course, if necessary, the same method can be used to find the calibration point 3 times, and the precision can be further improved.
203. And arranging the receiver antenna at a first height difference from the ground on the primary calibration point, and acquiring the first electromagnetic signal intensity when the distance between the receiver antenna and the primary calibration point is the first height difference plus the first burial depth.
Wherein the first height difference is the maximum height that the receiver antenna can rise. In this embodiment, the height may be measured using a tower ruler, which is a ruler used as a gauge for measuring the height difference in cooperation with a level. The first electromagnetic signal strength can provide a basis for acquiring subsequent calibration points. And during each reading, slowly rotating the sliding staff tied with the probe in the horizontal direction, and synchronously recording the maximum value of the electromagnetic signal of the receiver and the distance between the corresponding pipeline and the probe.
204. The receiver antenna is located at the ground level of the primary calibration point.
In this step, when the operator lowers the height of the receiver antenna, the direction of the receiver antenna needs to be kept perpendicular to the pipeline all the time, so that the accuracy of the height of the receiver antenna is ensured, and the accuracy of the measurement result is further ensured.
205. And moving the receiver antenna from the primary calibration point to a position with larger burial depth along the central line of the pipeline, and acquiring the second electromagnetic signal strength at the moment.
In the step, an operator observes the reading of the receiver in due time, so that the reading is carried out while moving, the efficiency is improved, and the time is saved for obtaining the secondary calibration point.
206. And when the intensity of the second electromagnetic signal is equal to that of the first electromagnetic signal, acquiring the corresponding position as a secondary calibration point.
Wherein, the second burial depth of the secondary calibration point is the first height difference plus the first burial depth.
In this step, the secondary calibration point is obtained based on the known electromagnetic signal strength and the distance between the corresponding receiver antenna and the pipe segment, that is, although the second burial depth exceeds the range of the electromagnetic signal receiver, based on the first electromagnetic signal strength being equal to the second electromagnetic signal strength, the first burial depth and the first height difference, the second burial depth of the secondary calibration point can also be obtained, and the second burial depth is also an accurate value, that is, the second burial depth is equal to the first height difference plus the first burial depth. Therefore, the problem that the burial depth of a large burial depth pipe section cannot be obtained by using the conventional electromagnetic signal receiver is solved.
However, the burial depth of the secondary calibration point is not equal to the designed average burial depth of the pipe section, and a large difference may exist between the two, so that the burial depth measuring method of the secondary calibration point cannot be directly used for measuring the true burial depth of the pipe section, and a specific acquisition process of the burial depth of the pipe section to be measured is further described below.
207. And adjusting the height of the receiver antenna at the secondary calibration point from the bottom surface upwards to acquire third electromagnetic signal strengths of a plurality of different height positions.
The height values corresponding to the third electromagnetic signal strengths are accurate values, and the burial depth of the second pipe section is also accurate values, so that the distance value between the antenna and the pipe section corresponding to each third electromagnetic signal strength is also accurate values.
Illustratively, the receiver antenna is raised section by section from the ground to the first height difference, so that the receiver antenna is at a plurality of different heights, and the difference between two adjacent heights can be a fixed value.
For example, the above steps 204 to 207 are explained by taking fig. 3 as an example: keeping the direction of an antenna of the electromagnetic signal receiver to be vertical to the pipeline at a primary calibration point, recording the reading W1 of the receiver at the moment and the vertical distance H1 between the antenna of the receiver and the central line of the pipeline at the moment as Dj1+ delta H, wherein the maximum height of the antenna of the receiver from the ground is delta H; (H1 is the vertical distance between the receiver antenna and the center line of the pipeline; Dj1 is the depth of the pipeline at the primary calibration point; Δ H is the maximum height of the receiver antenna from the ground).
The receiver antenna is placed on the ground in a state of keeping the antenna perpendicular to the pipeline, then the receiver is translated along the direction of the central line of the pipeline, and the reading of the receiver is observed until the reading of the receiver is equal to W1 again, and the burial depth of the pipeline is Dj1+ delta H.
It should be noted that, after step 206, an electromagnetic calibration model may be directly established according to the data acquired in step 206, and this way may be referred to as a secondary calibration method; after the third calibration point is obtained (steps 208-210), an electromagnetic calibration model is established according to the corresponding data obtained from the third calibration point, which may be referred to as a cubic calibration method. In actual operation, a secondary calibration method is usually adopted for a large shallow buried depth pipe section, for example, the pipe section with the buried depth of 18 m-32 m; three scaling methods can be used for large, relatively deep buried pipe sections, for example, pipe sections with a buried depth of between 32m and 46 m.
Further, if the pipe section is buried deeper, for example, the pipe section with the buried depth greater than 46m, multiple calibration may be performed in the same manner as the second calibration method and the third calibration method, so as to obtain the electromagnetic calibration model. For example, the receiver reading W2 and the distance H2 ═ Dj1+2 Δ H between the receiver antenna and the centerline of the pipe may be obtained.
208. And arranging the receiver antenna at the ground of the secondary calibration point, and moving the receiver antenna from the secondary calibration point to a position with larger burial depth along the central line of the pipeline to obtain the intensity of the fourth electromagnetic signal at the moment.
209. And when the intensity of the fourth electromagnetic signal is equal to the intensity of the second electromagnetic signal, acquiring the corresponding position as a third calibration point.
Wherein the third burial depth of the third calibration point is twice the first height difference plus the first burial depth.
210. And adjusting the height of the receiver antenna at the third calibration point from the bottom surface upwards to acquire the strength of the fifth electromagnetic signal at a plurality of different height positions.
The steps 208 to 210 are similar to the steps 204 to 207, and are not described herein again.
The process of establishing an electromagnetic calibration model is described below.
Because the instrument reading of the measuring circuit can not directly reflect the buried depth information of the actual pipeline, an accurate and proper calibration model needs to be established to calibrate the instrument reading, and the accuracy of the establishment of the calibration model directly influences the accuracy of the pipeline buried depth inversion.
211. And establishing an electromagnetic scaling model based on the electromagnetic signal intensities of the secondary scaling point or the third scaling point at a plurality of different heights.
The electromagnetic scaling model represents the corresponding relation between the distance between the receiver antenna and the large buried pipe section and the corresponding electromagnetic signal strength.
And respectively establishing an infinite pipeline calibration model, a semi-finite pipeline calibration model and a finite pipeline calibration model corresponding to pipelines with different lengths to calibrate the reading of the instrument. The finite length calibration model, the semi-finite length calibration model and the wireless length calibration model are respectively established according to the extension conditions of different pipelines, the calibration of pipeline buried depth detection is realized by matching and comparing theoretical calculation data of the three models with actual buried depth electromagnetic detection data of the pipelines, the direct relation between instrument reading and pipeline buried depth is established, and the pipeline buried depth can be quickly, directly and accurately obtained by inverting the instrument reading through the electromagnetic calibration model. The following describes the process of model building.
(1) For an infinitely long pipeline, as shown in fig. 4, the ONEPASS detection system uses a wire to connect two test piles on both banks of a river and a crossing pipeline to form a closed loop, the whole loop continuously transmits a low-frequency signal through a transmitter to supply power, low-frequency current propagating along the pipeline can be generated on the pipeline, and a physical model is constructed by combining the characteristic of long extension length of an underwater crossing pipeline.
Assuming that there is a linear current with a length of 2L in the space, the vector magnetic potential generated by the current element Idl' is:
integrating the line L yields:
considering that the actual underwater crossing pipeline extends for a long distance, it can be approximately considered that there is an infinitely long linear current in the space, so when L → ∞ we get:
it can be seen that when L → ∞, a is infinite, that is, the vector magnetic potential of the infinite direct current is infinite. To solve this difficulty, we choose the point where a is 0 (i.e., the reference point for the vector magnetic bit) at h-h0To make it
Therefore, the method comprises the following steps:
because the addition of a constant vector C to the expression of a does not affect the calculation of B, we obtain:
and then the corresponding magnetic induction intensity is obtained as follows:
Wherein: b is the magnetic induction intensity at the receiving antenna, T;
h is the magnetic field intensity, A/m;
h is the height of the receiving antenna from the pipeline, m;
μ0measuring the magnetic permeability of the environment for the buried depth of the pipeline, wherein the magnetic permeability is H/m;
i is the current, A.
(2) For a semi-finite-length pipeline, when the river crossing distance is far, the distance from the shore to the test pile can be regarded as finite length, the distance from the river section to the other side of the river bank can be regarded as infinite length, the whole river crossing electromagnetic detection model is regarded as a semi-finite-length model, and for the semi-finite-length model, the magnetic induction intensity and the magnetic field are obtained through the similar derivation:
Wherein: b is the magnetic induction intensity at the receiving antenna, T;
h is the magnetic field intensity, A/m;
h is the height of the receiving antenna from the pipeline, m;
μ0measuring the magnetic permeability of the environment for the buried depth of the pipeline, wherein the magnetic permeability is H/m;
i is current, A;
x is the distance, m, of the receiving antenna from the end point of the finite length of the pipeline.
(3) For a finite length pipeline, because the actual pipeline of the river crossing pipeline detection model is not an infinite length long straight current, when the width of a river is narrow or the distance between two bank test piles is short, the river crossing pipeline detection model can be regarded as a semi-finite length model. For the finite length model, it is known that:
the magnetic induction machine magnetic field of the finite length pipeline can be obtained by the following steps:
Wherein: b is the magnetic induction intensity at the receiving antenna, T;
h is the magnetic field intensity, A/m;
h is the height of the receiving antenna from the pipeline, m;
μ0measuring the magnetic permeability of the environment for the buried depth of the pipeline, wherein the magnetic permeability is H/m;
i is current, A;
x is the distance from the receiving antenna to the end point of the finite length of the pipeline, m;
l is the total length of the pipeline to be tested, m.
After obtaining each electromagnetic calibration model, respectively adopting the infinite long pipeline calibration model, the semi-finite long pipeline calibration model and the finite long pipeline calibration model to obtain the calculated distances between the receiver antennas corresponding to the positions at different heights and the pipeline based on the electromagnetic signal intensity of the receiver antenna at the calibration point at a plurality of different heights; acquiring actual distances between the receiver antennas corresponding to the different heights and the pipeline based on the buried depth of the pipeline and the height of the receiver antennas from the ground; and acquiring a model with the minimum difference between the calculated distance and the actual distance as the electromagnetic calibration model.
In the step, the residual error between the actually measured data at the calibration point and the calibration data calculated through the electromagnetic calibration model is calculated, meanwhile, in order to visually obtain the difference between the actually measured data and the calibration data, the actually measured data and the calibration data are respectively displayed in an image form and are subjected to fitting comparison, and finally, the electromagnetic calibration model with the minimum error is selected as the final calibration model, so that the accuracy of pipeline buried depth detection is ensured.
212. And correcting the electromagnetic calibration model.
In one possible implementation, the modifying the electromagnetic calibration model includes:
and respectively correcting the time dimension, the space dimension and the angle dimension of the electromagnetic calibration model.
When data detection is carried out, the cable and the pipeline form a complete closed loop, the current on the pipeline is kept unchanged in an ideal state, but due to the influences of large pipeline spanning distance, cable loss, space environment and the like, the current at different positions of the pipeline can be changed to further influence corresponding magnetic induction intensity, in order to ensure the accuracy of the electromagnetic calibration model, the electromagnetic calibration model needs to be subjected to space correction, and a space correction coefficient alpha is introduced.
Meanwhile, the distribution law of the magnetic field of each point of the detected pipe section can change along with the time due to the change of the environmental permeability in the detection process, and in order to avoid the influence of the change, the electromagnetic calibration model must be corrected in time, and a time correction coefficient beta is introduced.
During measurement, the detection antenna is required to be perpendicular to the pipeline trend to obtain a peak value of detection data, but in actual measurement, the detection antenna is difficult to be precisely perpendicular to the pipeline trend to generate angle deviation, so that the detection data is unreliable.
The functional expression of the electromagnetic calibration model is modified as:
wherein
Is the primitive function expression of the electromagnetic calibration model.
Aiming at the spatial correction coefficient alpha, selecting two calibration points 1 and 2 with known burial depths, respectively recording the readings when the distances between the probe and the pipeline at the calibration points 1 and 2 are h1, reading the respective magnetic induction intensity values which are respectively B11And B12And then, correcting the functional relation of the electromagnetic calibration model of any point Q of the detected pipe section into:
wherein:
alpha is a space correction coefficient and is dimensionless;
B11-magnetic induction at the calibration point 1, T, at a distance h1 between the probe and the pipe;
B12-magnetic induction at the calibration point 2, T, at a distance h1 between the probe and the pipe;
SQ1-inspection ofThe spatial distance m between the measuring point Q and the calibration point 1;
S12the spatial distance, m, of the calibration point 1 and the calibration point 2.
The steps fully consider the problem that the accuracy of the electromagnetic calibration model is influenced by the current on the pipeline along with the spatial change in the process of pipeline buried depth inversion calculation, the electromagnetic calibration model is subjected to spatial correction, a spatial correction parameter alpha is introduced to perform spatial correction on the electromagnetic calibration model, and the pipeline buried depth inversion error brought to the electromagnetic calibration model by the change of the current in the space is effectively reduced.
Aiming at the time correction coefficient beta, at the beginning of detection, the reading B of the probe on the ground is recorded at a calibration point 1 and a calibration point 2 respectively01start、B02start(ii) a At the end of detection, recording the reading B of the probe on the ground at a calibration point 1 and a calibration point 2 respectively01end、B02end(ii) a Then the function of any point Q of the detected pipe section should be modified as:
wherein:
beta is a time correction coefficient, and is dimensionless;
Bstart-magnetic induction at the calibration point 1, T, at a distance h1 between the probe and the pipe;
Bend-magnetic induction at the calibration point 2, T, at a distance h1 between the probe and the pipe;
tQ-reading the time, s, of the magnetic induction intensity value of the detection point Q;
tstart-detecting the moment of start, s;
tend-the moment of detection end, s;
the steps fully consider the problem that the current on the pipeline influences the accuracy of the electromagnetic calibration model along with the time change in the process of pipeline buried depth inversion calculation, time correction is carried out on the electromagnetic calibration model, and a time correction parameter beta is introduced to carry out time correction on the electromagnetic calibration model, so that the pipeline buried depth inversion error brought to the electromagnetic calibration model by the time change of the current is effectively reduced.
And aiming at the angle correction coefficient gamma, after the detection data of the relevant instrument is acquired, the axial direction of the detection antenna is recorded, the included angle between the axial direction of the detection antenna and the pipeline trend is calculated, and the angle correction is carried out on the detection data by utilizing the triangular relation between the detection data and the dip angle of the probe.
The steps fully consider the influence of the inclination angle of the pipeline on the electromagnetic calibration model in the process of pipeline buried depth inversion calculation, carry out angle correction on the electromagnetic calibration model, and introduce an angle correction parameter gamma to carry out angle correction on the electromagnetic calibration model; and inversion errors caused by the dip angle of the probe on the electromagnetic calibration model are effectively reduced by utilizing the triangular relation between the detection data and the dip angle of the probe.
213. And acquiring the electromagnetic signal intensity of each point along the pipeline section to be detected.
214. And inputting the electromagnetic signal intensity into the electromagnetic calibration model to obtain the burial depth of the pipe section to be measured.
And (3) measuring actual data along the pipeline, substituting the actual measured data into the electromagnetic calibration model selected in the step 211 for inverse calculation, and finally obtaining the actual buried depth of the pipeline, namely: and converting the actual electromagnetic measurement data of the pipeline burial depth into the burial depth of the pipeline.
215. And drawing an image based on the burial depth data of the pipe section to be detected.
And (3) importing the pipeline buried depth data obtained by inversion in the step 214 into special drawing imaging software, wherein the drawing imaging software corresponds the pipeline buried depth and the coordinates on the pipeline one by one and draws the pipeline buried depth and the coordinates to form a pipeline image.
In a possible implementation mode, before the pipeline buried depth inversion is carried out, calibration needs to be carried out in advance, and the calibration can be completed through a calibration module in relevant software.
For example, the calibration module includes two parts, the two banks of the river are divided into the bank A and the bank B, and then calibration is performed on the bank A and the bank B.
Respectively selecting calibration points with known actual burial depths from the bank A and the bank B, measuring magnetic field information at different heights at the calibration points through a measuring instrument, inputting the actual burial depths of the pipeline and the magnetic field information (instrument reading) into a calibration module, selecting a calibration model in the calibration module, automatically fitting and comparing the calculation data of the actual pipeline burial depths and the calibration model by the calibration module to obtain pipeline calibration data, residual errors and calibrated data, and finally selecting the calibration model with the minimum error.
After calibration and calibration are completed, land section pipeline buried depth inversion is started, and a land section inversion module comprises two parts: and the module realizes A, B buried depth inversion of measured data of a series of points of the bank along the pipeline, and comprises GPS land coordinate conversion and pipeline buried depth inversion of a series of points of the land section along the pipeline.
Data of series points measured along the pipeline on two banks of the river can be recorded on the module interface, data are imported, land coordinate conversion is achieved, the measurement result after coordinate conversion is displayed on the interface, and in addition, inversion of the pipeline burial depth of the land section can be achieved by selecting a land section inversion button.
After the land section pipeline buried depth inversion is completed, river section pipeline buried depth inversion can be performed, when a pipeline penetrates through the water surface to collect data, the collected data are sent to a river section data detection module, and the river section data detection module can achieve a data collection function in a river section detection process. The module functions include: drawing a pipeline base line, displaying acquired data in real time, manually acquiring and storing the data, drawing a ship travelling route and the like. The module interface can select a proper baseline point from the two-bank measuring points to draw a pipeline baseline, the real-time data acquisition window can display the measuring data in real time, the manual recording data can be recorded and displayed in the river section data acquisition window, and a ship traveling route can be drawn when the ship position data is obtained.
And then, river section pipeline buried depth inversion is carried out through a river section inversion module, and the river section buried depth inversion module can realize pipeline buried depth inversion of all measured data of the river section. The module functions include: inversion of river section pipeline burial depth, pipeline current space calibration, pipeline current time calibration, calculation of river overburden layer elevation and pipeline elevation and the like.
And (3) importing overwater measurement data on a module interface, selecting scaling points on two banks of the river, adding measurement data of the starting measurement time and the ending measurement time to realize pipeline current time scaling, and adding measurement data of equal height points on the two banks to realize space scaling of pipeline current. In addition, the module is jointly adjusted with a measuring circuit, has the function of leading in real-time current data, can more accurately realize the time calibration of pipeline current, and can realize the inversion of the river section pipeline buried depth by selecting a river section pipeline buried depth inversion button.
And leading the obtained buried depth data of the pipeline at the land section and the pipeline at the river section into a pipeline buried depth imaging module, wherein the pipeline buried depth imaging module can realize the inversion function of the buried depth of the pipeline at the land section and the river section. The module functions include: the method comprises the following steps of land section and river section pipeline buried depth imaging, pipeline imaging zooming, pipeline buried depth data deriving functions and the like. Drawing data is led in on the module interface, imaging of pipeline burial depth of the land section and the river section can be achieved by clicking a drawing button, zooming of pipeline imaging can be achieved through a pipeline imaging zooming window, and pipeline burial depth data can be led out at any time for subsequent processing.
All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.
The method provided by the application comprises the steps of directly measuring a primary scaling point of a first burial depth through an electromagnetic method, obtaining first electromagnetic signal strength corresponding to the height of the first burial depth tower ruler at the primary scaling point through a rising receiver antenna, then descending the receiver antenna to the ground height, and moving along the central line of a pipeline to the direction of larger burial depth to obtain a secondary scaling point of which the electromagnetic signal strength is also the first electromagnetic signal strength, wherein the actual burial depth of the secondary scaling point is the first burial depth tower ruler height. The method comprises the steps of obtaining a plurality of third electromagnetic signal strengths corresponding to different heights at a secondary calibration point, obtaining an electromagnetic calibration model based on the third electromagnetic signal strengths, and after time, space and angle correction is carried out on the model, enabling the electromagnetic calibration model to represent the corresponding relation between the distance between a receiver antenna and a large buried depth pipe section and the corresponding electromagnetic signal strength.
Fig. 5 is a schematic structural diagram of a pipeline depth measuring device according to an embodiment of the present application, please refer to fig. 5, the device includes:
a calibration point selection module 501, configured to select a first calibration point directly above a center line of a pipeline of a pipe segment to be measured, where the first calibration point is a point where a first burial depth can be directly measured by an electromagnetic method;
an electromagnetic signal strength measuring module 502, configured to set a receiver antenna at a first height difference from the ground on a first calibration point, and obtain a first electromagnetic signal strength when a distance between the receiver antenna and the first calibration point is the first height difference plus the first burial depth, where the first height difference is a maximum height at which the receiver antenna can rise;
a moving module 503, configured to set the receiver antenna at the ground of the first calibration point, and move the receiver antenna from the first calibration point to a position with a larger burial depth along a pipeline centerline, so as to obtain a second electromagnetic signal strength at this time;
the calibration point selecting module 501 is further configured to obtain a corresponding position as a second calibration point when the second electromagnetic signal strength is equal to the first electromagnetic signal strength, where a second burial depth of the second calibration point is the first height difference plus the first burial depth;
the electromagnetic signal strength measuring module 502 is further configured to adjust the height of the receiver antenna at the second calibration point from the bottom surface upward, and obtain third electromagnetic signal strengths at a plurality of different height positions;
a model obtaining module 504, configured to establish an electromagnetic scaling model based on the electromagnetic signal strengths at multiple different heights of the second scaling point, where the electromagnetic scaling model represents a correspondence between a distance between a receiver antenna and the large buried depth pipe segment and a corresponding electromagnetic signal strength;
a model modification module 505, configured to modify the electromagnetic calibration model;
the electromagnetic signal intensity measuring module 502 is further configured to obtain electromagnetic signal intensities of points along the pipeline section to be measured;
a burial depth obtaining module 506, configured to input the electromagnetic signal strength into the electromagnetic calibration model, so as to obtain the burial depth of the pipe segment to be measured.
In a possible implementation manner, the electromagnetic signal strength measuring module 502 is further configured to set the receiver antenna at the ground of the second calibration point, and move the receiver antenna from the second calibration point to a position with a larger burial depth along the central line of the pipeline, so as to obtain a fourth electromagnetic signal strength at this time;
the calibration point selecting module 501 is further configured to, when the fourth electromagnetic signal strength is equal to the second electromagnetic signal strength, obtain a corresponding position as a third calibration point, where a third burial depth of the third calibration point is twice the first height difference plus the first burial depth;
the electromagnetic signal strength measuring module 502 is further configured to adjust the height of the receiver antenna at the third calibration point from the bottom surface upward, and obtain fifth electromagnetic signal strengths of a plurality of different height positions.
In one possible implementation, the model obtaining module 504 is configured to:
respectively establishing an infinite long pipeline calibration model, a semi-finite long pipeline calibration model and a finite long pipeline calibration model;
based on the electromagnetic signal intensity of the receiver antenna at the calibration point at a plurality of different heights, respectively adopting the infinite long pipeline calibration model, the semi-finite long pipeline calibration model and the finite long pipeline calibration model to obtain the calculated distance between the receiver antenna corresponding to the different heights and the pipeline;
acquiring actual distances between the receiver antennas corresponding to the different heights and the pipeline based on the buried depth of the pipeline and the height of the receiver antennas from the ground;
and acquiring a model with the minimum difference between the calculated distance and the actual distance as the electromagnetic calibration model.
In one possible implementation, the model modification module 505 is configured to:
and respectively correcting the time dimension, the space dimension and the angle dimension of the electromagnetic calibration model.
In one possible implementation, the apparatus further includes: and the image drawing module 507 is used for drawing an image based on the burial depth data of the pipe section to be detected.
It should be noted that: the pipeline depth measuring device provided in the above embodiment is only illustrated by dividing the functional modules when performing the pipeline depth measurement, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the pipeline depth measuring device provided by the above embodiment and the pipeline depth measuring method embodiment belong to the same concept, and the specific implementation process thereof is described in the method embodiment, and is not described herein again.
The device that this application provided can directly record a scaling point of first burial depth through selecting through the electromagnetic method, the receiver antenna obtains the first electromagnetic signal intensity that first burial depth adds the sopwith staff height and correspond through rising at a scaling point department, then descends the receiver antenna to ground height, and move to the direction of bigger burial depth along pipeline central line, with the secondary scaling point that obtains electromagnetic signal intensity and be first electromagnetic signal intensity equally, the actual burial depth of this secondary scaling point is first burial depth and adds the sopwith staff height promptly. The method comprises the steps of obtaining a plurality of third electromagnetic signal strengths corresponding to different heights at a secondary calibration point, obtaining an electromagnetic calibration model based on the third electromagnetic signal strengths, and after time, space and angle correction is carried out on the model, enabling the electromagnetic calibration model to represent the corresponding relation between the distance between a receiver antenna and a large buried depth pipe section and the corresponding electromagnetic signal strength.
Fig. 6 is a schematic structural diagram of a computer device 600 according to an embodiment of the present disclosure, where the computer device 600 may generate a relatively large difference due to a difference in configuration or performance, and may include one or more processors (CPUs) 601 and one or more memories 602, where the memory 602 stores at least one instruction, and the at least one instruction is loaded and executed by the processor 601 to implement the methods according to the embodiments of the pipeline depth measurement method. Certainly, the computer device may further have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input and output, and the computer device may further include other components for implementing the functions of the device, which is not described herein again.
In an exemplary embodiment, a computer-readable storage medium, such as a memory, is also provided that includes instructions executable by a processor in a terminal to perform the pipe depth measuring device method of the above embodiments. For example, the computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A method of measuring the depth of a pipe, the method comprising:
selecting a primary calibration point right above the central line of the pipeline of the pipe section to be measured, wherein the primary calibration point is a point capable of directly measuring a first burial depth by an electromagnetic method;
arranging a receiver antenna at a first height difference from the ground on a primary calibration point, and acquiring first electromagnetic signal strength when the distance between the receiver antenna and the primary calibration point is the first height difference plus the first burial depth, wherein the first height difference is the maximum height which can be raised by the receiver antenna;
arranging a receiver antenna on the ground of the primary calibration point, and moving the receiver antenna from the primary calibration point to a position with larger burial depth along the central line of the pipeline to obtain the intensity of a second electromagnetic signal at the moment;
when the second electromagnetic signal intensity is equal to the first electromagnetic signal intensity, acquiring a corresponding position as a secondary scaling point, wherein a second burial depth of the secondary scaling point is the first height difference plus the first burial depth;
adjusting the height of the receiver antenna at the secondary calibration point from the bottom surface upwards to obtain third electromagnetic signal strengths of a plurality of positions with different heights;
establishing an electromagnetic scaling model based on the electromagnetic signal strengths of the secondary scaling points at a plurality of different heights, wherein the electromagnetic scaling model represents the corresponding relation between the distance between the receiver antenna and the large buried depth pipe section and the corresponding electromagnetic signal strength;
correcting the electromagnetic calibration model;
acquiring the electromagnetic signal intensity of each point along the pipeline section to be detected;
and inputting the electromagnetic signal intensity into the electromagnetic calibration model to obtain the burial depth of the pipe section to be measured.
2. The method of claim 1, wherein after acquiring the corresponding location as a secondary calibration point when the second electromagnetic signal strength is equal to the first electromagnetic signal strength, the method further comprises:
arranging a receiver antenna at the ground of the secondary calibration point, and moving the receiver antenna from the secondary calibration point to a position with larger burial depth along the central line of the pipeline to obtain the intensity of a fourth electromagnetic signal at the moment;
when the intensity of the fourth electromagnetic signal is equal to the intensity of the second electromagnetic signal, acquiring a corresponding position as a third calibration point, wherein the third burial depth of the third calibration point is twice the first height difference plus the first burial depth;
and adjusting the height of the receiver antenna at the third calibration point from the bottom surface upwards to acquire the strength of a fifth electromagnetic signal at a plurality of different height positions.
3. The method of claim 1, wherein said establishing an electromagnetic calibration model comprises:
respectively establishing an infinite long pipeline calibration model, a semi-finite long pipeline calibration model and a finite long pipeline calibration model;
based on the electromagnetic signal intensity of the receiver antenna at the calibration point at a plurality of different heights, respectively adopting the infinite long pipeline calibration model, the semi-finite long pipeline calibration model and the finite long pipeline calibration model to obtain the calculated distance between the receiver antenna and the pipeline corresponding to the positions at different heights;
acquiring actual distances between the receiver antennas corresponding to the different heights and the pipeline based on the buried depth of the pipeline and the height of the receiver antennas from the ground;
and acquiring a model with the minimum difference between the calculated distance and the actual distance as the electromagnetic calibration model.
4. The method of claim 1, wherein said modifying said electromagnetic scaling model comprises:
and respectively correcting the time dimension, the space dimension and the angle dimension of the electromagnetic calibration model.
5. The method of claim 1, wherein after obtaining the burial depth of the pipe segment to be tested, the method further comprises:
and drawing an image based on the burial depth data of the pipe section to be detected.
6. A pipe depth measuring device, comprising:
the calibration point selection module is used for selecting a primary calibration point right above the central line of the pipeline section to be measured, and the primary calibration point is a point capable of directly measuring the first burial depth by an electromagnetic method;
the electromagnetic signal intensity measuring module is used for arranging the receiver antenna at a first height difference from the ground on a primary calibration point, and acquiring first electromagnetic signal intensity when the distance between the receiver antenna and the primary calibration point is the first height difference plus the first burial depth, wherein the first height difference is the maximum height which can be raised by the receiver antenna;
the moving module is used for arranging the receiver antenna at the ground of the primary calibration point, moving the receiver antenna from the primary calibration point to a position with larger burial depth along the central line of the pipeline, and acquiring the intensity of a second electromagnetic signal at the moment;
the calibration point selecting module is further configured to obtain a corresponding position as a secondary calibration point when the second electromagnetic signal intensity is equal to the first electromagnetic signal intensity, and a second burial depth of the secondary calibration point is the first height difference plus the first burial depth;
the electromagnetic signal intensity measuring module is also used for adjusting the height of the receiver antenna at the secondary calibration point from the bottom surface upwards to obtain third electromagnetic signal intensities at a plurality of different height positions;
the model acquisition module is used for establishing an electromagnetic scaling model based on the electromagnetic signal strengths of the secondary scaling points at a plurality of different heights, wherein the electromagnetic scaling model represents the corresponding relation between the distance between the receiver antenna and the large buried depth pipe section and the corresponding electromagnetic signal strength;
the model correction module is used for correcting the electromagnetic calibration model;
the electromagnetic signal intensity measuring module is also used for acquiring the electromagnetic signal intensity of each point along the pipeline section to be measured;
and the buried depth acquisition module is used for inputting the electromagnetic signal intensity into the electromagnetic calibration model to obtain the buried depth of the pipe section to be measured.
7. The apparatus of claim 6, wherein:
the electromagnetic signal intensity measuring module is further used for arranging a receiver antenna at the ground of the secondary calibration point, moving the receiver antenna from the secondary calibration point to a position with larger burial depth along the central line of the pipeline, and acquiring the fourth electromagnetic signal intensity at the moment;
the calibration point selecting module is further configured to, when the fourth electromagnetic signal intensity is equal to the second electromagnetic signal intensity, acquire a corresponding position as a third calibration point, where a third burial depth of the third calibration point is twice the first height difference plus the first burial depth;
and the electromagnetic signal strength measuring module is also used for adjusting the height of the receiver antenna at the third calibration point from the bottom surface upwards to obtain the fifth electromagnetic signal strength of a plurality of different height positions.
8. The apparatus of claim 6, wherein the model acquisition module is configured to:
respectively establishing an infinite long pipeline calibration model, a semi-finite long pipeline calibration model and a finite long pipeline calibration model;
based on the electromagnetic signal intensity of the receiver antenna at the calibration point at a plurality of different heights, respectively adopting the infinite long pipeline calibration model, the semi-finite long pipeline calibration model and the finite long pipeline calibration model to obtain the calculated distance between the receiver antenna and the pipeline corresponding to the positions at different heights;
acquiring actual distances between the receiver antennas corresponding to the different heights and the pipeline based on the buried depth of the pipeline and the height of the receiver antennas from the ground;
and acquiring a model with the minimum difference between the calculated distance and the actual distance as the electromagnetic calibration model.
9. The apparatus of claim 6, wherein the model modification module is configured to:
and respectively correcting the time dimension, the space dimension and the angle dimension of the electromagnetic calibration model.
10. The apparatus of claim 6, further comprising:
and the image drawing module is used for drawing an image based on the burial depth data of the pipe section to be measured.
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