CN115291200A - Buried deep pipeline positioning method based on digital display - Google Patents
Buried deep pipeline positioning method based on digital display Download PDFInfo
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Abstract
The application provides a buried pipeline positioning method based on digital display, which comprises the following steps: preliminarily acquiring the position of the pipeline by adopting a plurality of detection methods; determining a complex pipeline position area according to the difference of the detection methods; detecting the metal pipeline based on a vertical component observation method; building a pipeline error confidence coefficient model based on the BP neural network; the method comprises the following steps of determining the position and the depth of the buried deep pipeline based on digital display, wherein the determining of the position and the depth of the buried deep pipeline based on the digital display specifically comprises the following steps: establishing a pipeline buried depth detection system based on a vertical component observation method, and determining the position and the depth of a buried pipeline according to the pipeline buried depth detection system; and determining the trend of each pipeline for the complex pipeline.
Description
Technical Field
The invention relates to the technical field of information, in particular to a method for positioning a buried pipeline based on digital display.
Background
The positioning and depth fixing of the buried pipeline are traditional and new work, and new scenes of new conditions continuously appear along with the continuous laying of urban underground pipelines. Particularly, when urban underground pipelines are overlapped layer by layer, the situation that a plurality of pipelines are complicated and complicated is presented, the underground pipelines are buried deeply, and the underground pipelines are difficult to detect. The characteristics of the pipelines are different, and the pipelines have metal, nonmetal, large caliber, small caliber, parallel arrangement distribution, staggered distribution and the like. When multiple conduits are in similar locations, difficulties can arise in detecting the conduits. The traditional pipeline detection method comprises a direct detection method, an induction test method, a clamp method, a tracing electromagnetic method and the like, but can effectively position and fix the depth of a pipeline with the underground buried depth of less than 5 m. With the wide application of trenchless pipeline construction technology, underground pipelines are buried deeper and deeper, and long-distance crossing pipelines with the buried depth of more than 10m and even more than 10m are more and more. The measurement error is not only changed due to the difference of the measurement method, but also different due to different pipeline quantities, geological structures and pipeline displacement conditions under geology, so that whether the result is credible or not needs to be judged for the unknown pipeline measurement. Therefore, the method has the problems that how to accurately determine the position and the depth of the complex pipeline and the measurement result is more reliable and needs to be solved urgently.
Disclosure of Invention
The invention provides a digital display-based buried pipeline positioning method, which mainly comprises the following steps:
detecting and preliminarily acquiring the position of the pipeline by adopting an electromagnetic method and a ground penetrating radar method; determining a complex pipeline position area according to the difference of the two detection methods; detecting the metal pipeline based on a vertical component observation method; building a pipeline error confidence coefficient model based on the BP neural network; the method comprises the following steps of determining the position and the depth of the buried deep pipeline based on digital display, wherein the determining of the position and the depth of the buried deep pipeline based on the digital display specifically comprises the following steps: establishing a pipeline buried depth detection system based on a vertical component observation method, and determining the position and the depth of a buried pipeline according to the pipeline buried depth detection system; and determining the trend of each pipeline for the complex pipeline.
Further optionally, the detecting and preliminarily acquiring the position of the pipeline by using an electromagnetic method and a ground penetrating radar method includes:
judging the material of the pipeline and the detection area through field investigation; testing the known pipeline in the detection area, and fully knowing the effectiveness and precision of instruments and technical methods and the reasonability of setting experimental data parameters; detecting a metal pipeline by adopting an electromagnetic method, carrying out primary positioning and depth setting, calculating an error, and primarily acquiring the position of the metal pipeline; and detecting the non-metal pipeline by adopting a ground penetrating radar method, performing initial positioning and depth setting, calculating errors, and initially acquiring the position of the non-metal pipeline.
Further optionally, the determining the complex pipe position region according to the difference of the two detection methods comprises:
detecting a complex pipeline according to a horizontal magnetic field intensity abnormal curve detected by an electromagnetic method and an underground medium reflected electromagnetic wave detected by a ground penetrating radar method; for adjacent parallel pipelines, detecting the pipelines by adopting a direct detection method or a low-frequency electromagnetic induction method, and determining the position areas of the adjacent pipelines; for the pipelines which are made of metal and are overlapped up and down, locating and searching the overlapped pipelines up and down by an electromagnetic method to find separated places, respectively setting the depth at the separated places by the electromagnetic method and estimating the buried depth of the overlapped places to obtain the position areas of the pipelines which are made of metal and are overlapped up and down; for the pipelines which are made of non-metal materials and are overlapped up and down, positioning and searching the overlapped pipelines up and down through a ground penetrating radar method to find separated places, respectively setting the depth at the separated places and presuming the buried depth of the overlapped places through the ground penetrating radar method to obtain the position areas of the pipelines which are made of non-metal materials and are overlapped up and down; for the vertically overlapped pipelines made of the nonmetal materials and the metal materials, firstly determining the positioning and depth fixing of the metal pipelines by an electromagnetic method, and then determining the positioning and depth fixing of the nonmetal pipelines by a ground penetrating radar method to obtain the position areas of the vertically overlapped pipelines made of the nonmetal materials and the metal materials.
Further optionally, the detecting the metal pipeline based on the vertical component observation method includes:
recording the initial position of a target pipeline obtained by an electromagnetic method as S0 and the initial depth as H0, and arranging a drill hole at the position 0.2H0 away from the center of the metal pipeline, wherein the drill hole depth is 1.2H0-1.3H0; acquiring electromagnetic signals transmitted along the metal pipeline by modulating through a transmitter through the drill hole by using a probe, and continuously detecting the vertical component of the vertical magnetic field, wherein the probe is used for detecting the peak position of the magnetic field intensity, namely the center burial depth H of the metal pipeline; calculating the formula: hz = Ki x L/((y-H) 2+ L2), where y is the probe depth and Ki is constant when the current is stable; and (3) obtaining the vertical component Hz of the magnetic field of the metal pipeline according to the probe and calculating the horizontal distance L between the drilling position and the metal pipeline by using a calculation formula, namely deducing the position S of the metal pipeline.
Further optionally, the building of the pipeline error confidence model based on the BP neural network includes:
detecting a target pipeline with known position, depth, pipeline quantity, pipeline displacement and a geological structure by using a vertical component observation method to obtain an error amplitude; adjusting the horizontal distance between the position of the drill hole and the target pipeline to obtain a group of sample sets, wherein the group of sample sets comprises information of 5 dimensions of pipeline quantity, pipeline displacement, geological structure, the horizontal distance between the position of the drill hole and the target pipeline and error amplitude; classifying the error amplitude in the sample set based on a K-means algorithm, wherein the number of classes is K; the error amplitude of the sample data is used as a label, and other dimensions are encoded according to real data to generate a vector set; and for the vector set, according to the following steps of 7:3, dividing the ratio into a training set and a test set, adding a softmax layer based on the BP neural network to build a pipeline error confidence coefficient model and train, and outputting probability distribution of error amplitude categories; and adjusting parameters according to the training result, and optimizing the model.
Further optionally, the determining the location and depth of the buried pipeline based on the digital display comprises:
the method comprises the steps of establishing a pipeline buried depth detection system based on a vertical component observation method, wherein the pipeline buried depth detection system comprises an acquisition module, a calculation module and a display module; detecting a target pipeline by using a pipeline burial depth detection system, and digitally displaying the horizontal distance between the drilling position and the target pipeline, the central burial depth of the target pipeline and the confidence coefficient of the error amplitude; judging whether the accurate position and the central buried depth of the target pipeline are credible or not according to the error amplitude confidence coefficient displayed by the pipeline buried depth detection system, and determining the position and the depth of the target pipeline comprises the following steps: establishing a pipeline buried depth detection system based on a vertical component observation method; determining the position and the depth of a buried pipeline according to a pipeline buried depth detection system;
the method for establishing the pipeline buried depth detection system based on the vertical component observation method specifically comprises the following steps:
the pipeline buried depth detection system comprises three modules: the device comprises an acquisition module, a calculation module and a display module. The acquisition module comprises a transmitter, a probe, a high-precision flexible cable with a meter counter and an input terminal, wherein the probe acquires the vertical component of an electromagnetic field generated by transmitting a low-frequency electromagnetic signal along a target pipeline through the transmitter, the cable acquires the depth of the probe, and the input terminal acquires the quantity of the pipeline, the displacement of the pipeline and the geological structure where the pipeline is located; the calculation module comprises: detecting the target pipeline according to a vertical component observation method to obtain the horizontal distance between the drilling position and the target pipeline and the center burial depth of the target pipeline, and calculating the confidence coefficient of the error amplitude according to a pipeline error confidence coefficient model; the display module comprises a display terminal and displays the horizontal distance between the drilling position and the target pipeline, the center burial depth of the target pipeline and the error amplitude confidence coefficient which are calculated by the calculation module by using numbers.
The method for determining the position and the depth of the buried pipeline according to the pipeline buried depth detection system specifically comprises the following steps:
and judging whether the accurate position and the central burial depth of the target pipeline are credible or not according to the error amplitude confidence coefficient displayed by the pipeline burial depth detection system. If the error amplitude confidence coefficient exceeds a preset threshold value, determining that the position of the target pipeline is the position corresponding to the error amplitude confidence coefficient, and the depth is the corresponding center burial depth; and if the error amplitude confidence coefficient does not exceed the preset threshold, continuously detecting the position of the drill hole along the straight line by adjusting the position of the drill hole until the error amplitude confidence coefficient exceeds the preset threshold, and determining the position and the depth of the corresponding target pipeline as the position and the depth of the target pipeline.
Further optionally, the determining each pipeline run for the complex pipeline comprises:
determining an origin in the position area of the complex pipeline, determining a plurality of drilling positions on two sides of the complex pipeline, detecting the metal pipeline by using a pipeline burial depth detection system for the metal pipeline, determining the position and the depth, and recording the central coordinates of the metal pipeline at the drilling positions as (x 1, y1, z 1), (x 2, y2, z 2),. Once, (xn, yn, zn), wherein n is the number of drilling holes; fitting (x 1, y1, z 1), (x 2, y2, z 2), (xn, yn, zn) based on a least square method to obtain a smooth space curve, namely the trend of the metal pipeline; performing multi-point detection on two sides of the non-metal pipeline by using a ground penetrating radar method to obtain coordinates (a 1, b1, c 1), (a 2, b2, c 2), (an, bn, cn) of the non-metal pipeline, wherein n is the number of detection points; and (a 1, b1, c 1), (a 2, b2, c 2), (a, bn, cn)) are fitted based on a least square method to obtain a smooth space curve, namely the trend of the nonmetal pipeline.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
compared with the prior art, the method integrates multiple detection methods to determine the initial position and depth of the target pipeline, and the obtained complex pipeline position area is more accurate; the underground pipeline surveying operation is more comprehensive and systematized by establishing the pipeline buried depth detecting system, the position and the depth of a target pipeline are more accurately determined, the pipeline surveying is more visualized, and the system has great significance for the perfection of an urban underground pipeline database.
Drawings
Fig. 1 is a flow chart of a digital display-based buried pipeline positioning method of the present invention.
Fig. 2 is a schematic diagram of a digital display-based method for positioning a buried pipeline according to the present invention.
Fig. 3 is another schematic diagram of the method for positioning a buried pipeline based on digital display according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a flow chart of a method for positioning a buried pipeline based on digital display according to the present invention. As shown in fig. 1, the method for positioning a buried pipeline based on digital display in this embodiment may specifically include:
step 101, a plurality of detection methods are adopted to preliminarily obtain the position of the pipeline.
Judging the material of the pipeline and the detection area through field investigation; testing the known pipeline in the detection area, and fully knowing the effectiveness and precision of instruments and technical methods and the reasonability of experimental data parameter setting; detecting a metal pipeline by adopting an electromagnetic method, carrying out primary positioning and depth setting, calculating an error, and primarily acquiring the position of the metal pipeline; detecting a non-metal pipeline by adopting a ground penetrating radar method, performing preliminary positioning, depth setting, calculating an error, and preliminarily obtaining the position of the non-metal pipeline; the underground pipelines are divided into two types of nonmetal and metal according to different materials, and the methods for detecting the pipelines adopted in China currently comprise a direct measurement method, a ground penetrating radar method (an electromagnetic wave method), an induction test method, a clamp method, a tracing electromagnetic method and the like. At present, the core technology of underground metal pipeline detection is mainly electromagnetic detection, and the non-metal pipeline detection technology is mainly ground penetrating radar detection. Multiple researches show that in underground pipeline detection, a mode of combining advanced instruments, measurement methods and means with field investigation is applied, and the method has very important significance for accurate detection of urban pipe networks.
And 102, determining a complex pipeline position area according to the difference of the detection methods.
Detecting the complex pipeline according to the horizontal magnetic field intensity abnormal curve detected by an electromagnetic method and the underground medium reflected electromagnetic wave detected by a ground penetrating radar method; for adjacent parallel pipelines, detecting the pipelines by adopting a direct detection method or a low-frequency electromagnetic induction method, and determining the position areas of the adjacent pipelines; for the pipelines which are made of metal and are overlapped up and down, locating and searching the overlapped pipelines up and down by an electromagnetic method to find separated places, respectively setting the depth at the separated places by the electromagnetic method and estimating the buried depth of the overlapped places to obtain the position areas of the pipelines which are made of metal and are overlapped up and down; for the pipelines which are made of non-metal materials and are overlapped up and down, positioning and searching the overlapped pipelines up and down through a ground penetrating radar method to find separated places, respectively setting the depth at the separated places and presuming the buried depth of the overlapped places through the ground penetrating radar method to obtain the position areas of the pipelines which are made of non-metal materials and are overlapped up and down; for the vertically overlapped pipelines made of the nonmetal materials and the metal materials, firstly, the positioning and depth fixing of the metal pipelines are determined through an electromagnetic method, and then the positioning and depth fixing of the nonmetal pipelines are determined through a ground penetrating radar method, so that the position areas of the vertically overlapped pipelines made of the nonmetal materials and the metal materials are obtained. In the detection work, more complex pipeline arrangement and pipeline material use conditions are often encountered, the complex pipelines comprise double pipes, multiple pipes, metal, nonmetal, large-caliber, small-caliber, parallel arrangement distribution, staggered arrangement distribution, overlapped arrangement distribution and the like, and the position area refers to a three-dimensional area including an error range area for detecting the horizontal position and the depth of the complex pipeline by different detection methods. According to the electromagnetic field theory, under a certain relative position, the higher the induction working frequency is, the larger the mutual induction influence of adjacent parallel pipelines is, therefore, in the pipeline detection, the low-frequency electromagnetic induction or direct detection method is adopted for detection; for the staggered pipelines, the overlapping distance of the overlapped pipelines can be regarded as short, so that the positioning method for the staggered pipelines is not described in detail in the application. For example, wu et al, in "research on application of underground pipeline exploration techniques and methods with vertical overlap and large buried depth", perform detection of pipelines of the same and similar material or similar physical property parameters by overlapping using a method such as an electromagnetic method or an electromagnetic wave method, and estimate the position and depth of the pipeline at the overlapping portion.
And 103, detecting the metal pipeline based on a vertical component observation method.
Recording the initial position of a target pipeline obtained by an electromagnetic method as S0 and the initial depth as H0, and arranging a drill hole at the position 0.2H0 away from the center of the metal pipeline, wherein the drill hole depth is 1.2H0-1.3H0; acquiring electromagnetic signals modulated by a transmitter and transmitted along the metal pipeline through the drill hole by using a probe, and continuously detecting the vertical component of the vertical magnetic field, wherein the probe is used for detecting the peak position of the magnetic field intensity, namely the center burial depth H of the metal pipeline; calculating the formula: hz = Ki x L/((y-H) 2+ L2), where y is the probe depth and Ki is constant when the current is stable; and (3) obtaining the vertical component Hz of the magnetic field of the metal pipeline according to the probe and calculating the horizontal distance L between the drilling position and the metal pipeline by using a calculation formula, namely deducing the position S of the metal pipeline. The traditional electromagnetic method underground pipeline detection equipment can effectively position and fix the depth of a metal pipeline with the underground buried depth of within 5 m. With the wide application of trenchless pipeline construction technology, underground pipelines are buried deeper and deeper, long-distance penetrating pipelines with the buried depth of more than 10m and even more than 10m are distributed all over the country more and more, the positioning and depth fixing are realized by an electromagnetic method, 0.1H0 is the error limit, and therefore, the drilling at 0.2H0 is safe. The target pipeline is a metal pipeline needing to be measured; the calculation formula is as follows:
H z is the perpendicular component of the electromagnetic field; y is the probe depth;
ki is related to the emission current, and is constant when the current is stable.
When y = H, HZ reaches a maximum value HZmax = Ki/L; when y = H ± L, HZ =0.5HZmax, from which the horizontal distance L (50% method) of the drill site from the target pipe can be deduced.
And step 104, building a pipeline error confidence coefficient model based on the BP neural network.
Referring to fig. 2, a target pipeline with a known position, depth, pipeline quantity, pipeline displacement and geological structure is detected by using a vertical component observation method to obtain an error amplitude; adjusting the horizontal distance between the drilling position and the target pipeline to obtain a group of sample sets, wherein the group of sample sets comprises information of 5 dimensions of pipeline quantity, pipeline displacement, geological structure, the horizontal distance between the drilling position and the target pipeline and error amplitude; classifying the error amplitude in the sample set based on a K-means algorithm, wherein the number of classes is K; the error amplitude of the sample data is used as a label, and other dimensions are encoded according to real data to generate a vector set; and for the vector set, according to the following steps of 7:3, dividing the ratio into a training set and a test set, adding a softmax layer based on the BP neural network to build a pipeline error confidence coefficient model and train, and outputting probability distribution of error amplitude categories; and adjusting parameters according to the training result, and optimizing the model. The horizontal distance L and the burial depth H between the drilling position and the target pipeline can be determined by using a vertical component observation method, and the horizontal distance L0 and the burial depth H0 between the actual drilling position and the target pipeline are recorded according to the known positioning and depth setting of the pipeline, so that the error amplitude is (L-L0/L0, H-H0/H0). Zhang et al indicated "vertical profiling" in "utilizing" vertical profiling "to achieve the accurate positioning of ultra-deep underground pipelines", that is, the error detected by the vertical component observation method is irrelevant to the buried depth H of the target pipeline, and is relevant to the horizontal distance L between the drilling position and the target pipeline; in addition, the error may vary depending on the amount of pipe in the geology, the geological structure, the pipe displacement, and so on. Therefore, the probability distribution of the error amplitude is predicted by using the BP neural network, the confidence coefficient of the error amplitude is obtained, and the position of the drilling hole can be adjusted when the unknown buried-depth metal pipeline is detected, so that the result is more accurate.
And step 105, determining the position and the depth of the buried pipeline based on the digital display.
The pipeline buried depth detection system is established based on a vertical component observation method and comprises an acquisition module, a calculation module and a display module. Detecting a target pipeline by using a pipeline buried depth detection system, and digitally displaying the horizontal distance between the drilling position and the target pipeline, the central buried depth of the target pipeline and the confidence coefficient of the error amplitude; and judging whether the accurate position and the central burial depth of the target pipeline are credible or not according to the error amplitude confidence coefficient displayed by the pipeline burial depth detection system, and determining the position and the depth of the target pipeline.
And establishing a pipeline buried depth detection system based on a vertical component observation method.
The pipeline burial depth detection system comprises three modules: the device comprises an acquisition module, a calculation module and a display module. The acquisition module comprises a transmitter, a probe, a high-precision flexible cable with a meter counter and an input terminal, wherein the probe acquires the vertical component of an electromagnetic field generated by transmitting a low-frequency electromagnetic signal along a target pipeline through the transmitter, the cable acquires the depth of the probe, and the input terminal acquires the quantity of the pipeline, the displacement of the pipeline and the geological structure where the pipeline is located; the calculation module comprises: detecting a target pipeline according to a vertical component observation method to obtain the horizontal distance between a drilling position and a target pipeline and the center burial depth of the target pipeline, and calculating the confidence coefficient of the error amplitude according to a pipeline error confidence coefficient model; the display module comprises a display terminal and displays the horizontal distance between the drilling position and the target pipeline, the center burial depth of the target pipeline and the error amplitude confidence coefficient which are calculated by the calculation module by using numbers. The confidence coefficient of the error amplitude is calculated by the following specific method: and inputting the quantity of the pipeline, the displacement of the pipeline, the geological structure of the pipeline and the horizontal distance between the drilling position and the target pipeline, which are acquired by the acquisition module, and the horizontal distance between the drilling position and the target pipeline, which are calculated by the calculation module, into the pipeline error confidence coefficient model to obtain the probability distribution of error amplitude categories, wherein the maximum probability and the corresponding category are the error amplitude confidence coefficient and the confidence interval of the pipeline buried depth detection system. The accurate position of the target pipeline can be determined according to the horizontal distance between the drilling position and the target pipeline and the drilling position displayed by the display terminal of the pipeline burial depth detection system, and compared with the method that the longitude and the latitude are displayed through satellite positioning but the positioning signal is not accurate enough, the method is more superior, and whether the position is credible or not can be judged through confidence.
And determining the position and the depth of the buried pipeline according to the pipeline buried depth detection system.
Referring to fig. 3, it is determined whether the accurate position and the center burial depth of the target pipeline are reliable according to the confidence of the error amplitude displayed by the pipeline burial depth detection system. If the error amplitude confidence coefficient exceeds a preset threshold value, determining that the position of the target pipeline is the position corresponding to the error amplitude confidence coefficient, and the depth is the corresponding center burial depth; and if the error amplitude confidence coefficient does not exceed the preset threshold, continuously detecting the position of the drill hole along the straight line by adjusting the position of the drill hole until the error amplitude confidence coefficient exceeds the preset threshold, and determining the position and the depth of the corresponding target pipeline as the position and the depth of the target pipeline. The position and the depth of the target pipeline detected by the pipeline buried depth detection system are not necessarily credible, and an error exists, so that whether the result is credible or not needs to be judged according to the displayed error amplitude confidence coefficient. The preset threshold is suggested to be 0.6 and can be adjusted according to actual conditions. For example, the target pipeline is a high-pressure natural gas pipeline on the edge of the Zhuhai avenue in the Zhuhai city, the pipe diameter is 660mm, and the target pipeline is made of steel. The horizontal section method adopts a single-end long-distance grounding method for excitation, adopts a 640Hz single antenna for receiving, and measures H0=17.7m, x =6.1m; the "vertical profiling" was excited using single-ended long-range grounding, received by a probe in an 8kHz vertical bore, and measured H =23.9m, l =5.1m. The accuracy of the horizontal position (x =6.1m, l = 5.1m) measured by the "horizontal section method" can reach the specification (= ± 0.1H) and the buried depth (H0 =17.7m, H = 23.9m) measured by the "horizontal section method" is far from the depth precisely measured by the "vertical section method". The measurement precision is higher by using a vertical section method, namely a vertical component observation method.
And step 106, determining the trend of each pipeline for the complex pipeline.
Determining an origin in the position area of the complex pipeline, determining a plurality of drilling positions on two sides of the complex pipeline, detecting the metal pipeline by using a pipeline burial depth detection system for the metal pipeline, determining the position and the depth, and recording the central coordinates of the metal pipeline at the drilling positions as (x 1, y1, z 1), (x 2, y2, z 2),. Once, (xn, yn, zn), wherein n is the number of drilling holes; and fitting (x 1, y1, z 1), (x 2, y2, z 2), (xn, yn, zn) based on a least square method to obtain a smooth space curve, namely the trend of the metal pipeline. Performing multi-point detection on two sides of the non-metal pipeline by using a ground penetrating radar method to obtain coordinates (a 1, b1, c 1), (a 2, b2, c 2), (an, bn, cn) of the non-metal pipeline, wherein n is the number of detection points; and (a 1, b1, c 1), (a 2, b2, c 2), (a, bn, cn)) are fitted based on a least square method to obtain a smooth space curve, namely the trend of the nonmetal pipeline. The position area obtained by determining the position area of the complex pipeline according to the difference of the detection methods is only a preliminary judgment, so that the metal pipeline is more accurately positioned and deepened by adopting a higher-precision vertical component observation method, and the trend of the metal pipeline is judged by fitting a curve; for non-metallic pipelines, the ground penetrating radar method has higher precision, so that data points acquired by the ground penetrating radar method can be fitted to judge trends. Fitting a space curve based on a least square method: if points (x 1, y1, z 1), (x 2, y2, z 2) on an xyz space are fitted, (xn, yn, zn), the points are projected to an xy plane and a yz plane, projection points corresponding to the two planes are fitted by using a least square method respectively to generate two curved surfaces, and then an intersection line of the two curved surfaces is a fitted space curve. The least square method polynomial regression model on the plane is as follows:
Claims (7)
1. a method for positioning a buried pipeline based on digital display is characterized by comprising the following steps:
detecting and preliminarily acquiring the position of the pipeline by adopting an electromagnetic method and a ground penetrating radar method; determining a complex pipeline position area according to the difference of the two detection methods; detecting the metal pipeline based on a vertical component observation method; building a pipeline error confidence coefficient model based on the BP neural network; the method comprises the following steps of determining the position and the depth of the buried deep pipeline based on digital display, wherein the determining of the position and the depth of the buried deep pipeline based on the digital display specifically comprises the following steps: establishing a pipeline buried depth detection system based on a vertical component observation method, and determining the position and the depth of a buried pipeline according to the pipeline buried depth detection system; and determining the trend of each pipeline for the complex pipeline.
2. The method of claim 1, wherein said detecting and initially acquiring the pipe location using electromagnetic and ground penetrating radar methods comprises:
detecting a metal pipeline by adopting an electromagnetic method, carrying out preliminary positioning and depth setting, calculating an error, and preliminarily obtaining the position of the metal pipeline; and detecting the non-metal pipeline by adopting a ground penetrating radar method, performing initial positioning and depth setting, calculating errors, and initially acquiring the position of the non-metal pipeline.
3. The method of claim 1, wherein said determining complex pipe location regions based on the difference of the two detection methods comprises:
detecting a complex pipeline according to a horizontal magnetic field intensity abnormal curve detected by an electromagnetic method and an underground medium reflected electromagnetic wave detected by a ground penetrating radar method; for adjacent parallel pipelines, detecting the pipelines by adopting a direct detection method or a low-frequency electromagnetic induction method, and determining the position areas of the adjacent pipelines; for the pipelines which are made of metal and are overlapped up and down, locating and searching the overlapped pipelines up and down by an electromagnetic method to find separated places, respectively setting the depth at the separated places by the electromagnetic method and estimating the buried depth of the overlapped places to obtain the position areas of the pipelines which are made of metal and are overlapped up and down; for pipelines which are made of non-metal materials and are overlapped up and down, locating and searching the overlapped up and down pipelines to find separated places by a ground penetrating radar method, respectively determining the depth of the separated places by the ground penetrating radar method and estimating the buried depth of the overlapped places to obtain the position areas of the overlapped up and down pipelines which are made of non-metal materials; for the vertically overlapped pipelines made of the nonmetal materials and the metal materials, firstly determining the positioning and depth fixing of the metal pipelines by an electromagnetic method, and then determining the positioning and depth fixing of the nonmetal pipelines by a ground penetrating radar method to obtain the position areas of the vertically overlapped pipelines made of the nonmetal materials and the metal materials.
4. The method of claim 1, wherein the probing a metal pipe based on vertical component observation comprises:
the initial position of a target pipeline obtained by an electromagnetic recording method is S0, the initial depth is H0, a drill hole is arranged at the position 0.2H0 away from the center of the metal pipeline, and the drill hole depth is 1.2H0-1.3H0; acquiring electromagnetic signals transmitted along the metal pipeline by modulating through a transmitter through the drill hole by using a probe, and continuously detecting the vertical component of the vertical magnetic field, wherein the probe is used for detecting the peak position of the magnetic field intensity, namely the center burial depth H of the metal pipeline; calculating the formula: hz = Ki × L/((y-H) 2+ L2), where y is the probe depth and Ki is constant when the current is stable; and (3) obtaining the vertical component Hz of the magnetic field of the metal pipeline according to the probe and calculating the horizontal distance L between the drilling position and the metal pipeline by using a calculation formula, namely deducing the position S of the metal pipeline.
5. The method of claim 1, wherein building a pipe error confidence model based on the BP neural network comprises:
detecting a target pipeline with known position, depth, pipeline quantity, pipeline displacement and a geological structure by using a vertical component observation method to obtain an error amplitude; adjusting the horizontal distance between the position of the drill hole and the target pipeline to obtain a group of sample sets, wherein the group of sample sets comprises information of 5 dimensions of pipeline quantity, pipeline displacement, geological structure, the horizontal distance between the position of the drill hole and the target pipeline and error amplitude; classifying the error amplitude in the sample set based on a K-means algorithm, wherein the number of classes is K; the error amplitude of the sample data is used as a label, and other dimensions are encoded according to real data to generate a vector set; and for the vector set, according to the following steps of 7:3, dividing the ratio into a training set and a test set, adding a softmax layer based on the BP neural network to build a pipeline error confidence coefficient model, training, and outputting probability distribution of error amplitude categories; and adjusting parameters according to the training result, and optimizing the model.
6. The method of claim 1, wherein the determining the location and depth of the buried pipeline based on the digital display comprises:
the method comprises the steps of establishing a pipeline buried depth detection system based on a vertical component observation method, wherein the pipeline buried depth detection system comprises an acquisition module, a calculation module and a display module; detecting a target pipeline by using a pipeline buried depth detection system, and digitally displaying the horizontal distance between the drilling position and the target pipeline, the central buried depth of the target pipeline and the confidence coefficient of the error amplitude; judging whether the accurate position and the central buried depth of the target pipeline are credible or not according to the error amplitude confidence coefficient displayed by the pipeline buried depth detection system, and determining the position and the depth of the target pipeline comprises the following steps: establishing a pipeline buried depth detection system based on a vertical component observation method; determining the position and the depth of a buried pipeline according to a pipeline buried depth detection system;
the method for establishing the pipeline buried depth detection system based on the vertical component observation method specifically comprises the following steps:
the pipeline burial depth detection system comprises three modules: the device comprises an acquisition module, a calculation module and a display module; the acquisition module comprises a transmitter, a probe, a high-precision flexible cable with a meter counter and an input terminal, wherein the probe acquires the vertical component of an electromagnetic field generated by transmitting a low-frequency electromagnetic signal along a target pipeline through the transmitter, the cable acquires the depth of the probe, and the input terminal acquires the quantity of the pipeline, the displacement of the pipeline and the geological structure where the pipeline is located; the calculation module comprises: detecting a target pipeline according to a vertical component observation method to obtain the horizontal distance between a drilling position and a target pipeline and the center burial depth of the target pipeline, and calculating the confidence coefficient of the error amplitude according to a pipeline error confidence coefficient model; the display module comprises a display terminal and is used for displaying the horizontal distance between the drilling position and the target pipeline, the center burial depth of the target pipeline and the error amplitude confidence coefficient which are calculated by the calculation module by using numbers;
the method for determining the position and the depth of the buried pipeline according to the pipeline buried depth detection system specifically comprises the following steps:
judging whether the accurate position and the central burial depth of the target pipeline are credible or not according to the error amplitude confidence coefficient displayed by the pipeline burial depth detection system; if the error amplitude confidence coefficient exceeds a preset threshold value, determining that the position of the target pipeline is the position corresponding to the error amplitude confidence coefficient, and the depth is the corresponding center burial depth; and if the error amplitude confidence coefficient does not exceed the preset threshold, continuously detecting the position of the drill hole along the straight line by adjusting the position of the drill hole until the error amplitude confidence coefficient exceeds the preset threshold, and determining the position and the depth of the corresponding target pipeline as the position and the depth of the target pipeline.
7. The method of claim 1, wherein the determining each pipe run for the complex pipe comprises:
determining an origin in the position area of the complex pipeline, determining a plurality of drilling positions on two sides of the complex pipeline, detecting the metal pipeline by using a pipeline burial depth detection system for the metal pipeline, determining the position and the depth, and recording the central coordinates of the metal pipeline at the drilling positions as (x 1, y1, z 1), (x 2, y2, z 2),. Once, (xn, yn, zn), wherein n is the number of drilling holes; fitting (x 1, y1, z 1), (x 2, y2, z 2),., (xn, yn, zn) based on a least square method to obtain a smooth space curve, namely the trend of the metal pipeline; performing multi-point detection on the two sides of the non-metal pipeline by using a ground penetrating radar method to obtain coordinates (a 1, b1, c 1), (a 2, b2, c 2) of the non-metal pipeline, (an, bn, cn), wherein n is the number of detection points; and (a 1, b1, c 1), (a 2, b2, c 2), (a, bn, cn)) are fitted based on a least square method to obtain a smooth space curve, namely the trend of the nonmetal pipeline.
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