CN117908032A - High-precision submarine pipeline detection method and device - Google Patents
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Abstract
The application provides a high-precision submarine pipeline detection method and device, and relates to the technical field of submarine pipeline detection. According to the technical scheme provided by the embodiment of the application, through obtaining the standard sonar feedback characteristics of the submarine soil, the buried pipeline segment needing key analysis is identified in a targeted manner; then, utilizing visual information in the sonar image to divide burial objects of different types and respectively calculating burial depths of the burial objects; and finally integrating calculation results of different environments to obtain the average buried depth. By distinguishing fixed burial objects from movable burial objects, the burial depths under different burial objects can be accurately obtained, errors caused by difference of the burial objects can be reduced, and finally obtained average burial depths are more accurate, so that the detection precision of the depths of submarine pipelines is improved.
Description
Technical Field
The application relates to the technical field of submarine pipeline detection, in particular to a high-precision submarine pipeline detection method and device.
Background
With the widespread exploitation and utilization of marine resources, the number of laid subsea pipelines is increasing. In order to ensure safe and reliable operation of the subsea pipeline, the laid pipeline needs to be detected and monitored periodically, and not only the coverage length of the pipeline needs to be detected to judge whether the pipeline is completely covered, but also the average coverage depth of the pipeline needs to be detected.
The current submarine pipeline detection technology mainly adopts sonar equipment and the like to acquire pipeline and cable images, and judges the burying state of the submarine pipeline. In practice, the depth of the burial is often determined according to the standards of the submarine soil, but due to the complex and changeable submarine environment, the submarine pipeline may be covered by other types of burial, resulting in low detection accuracy for the depth of the submarine pipeline.
Disclosure of Invention
The application provides a high-precision submarine pipeline detection method and device, which can improve the detection precision of submarine pipeline depth.
In a first aspect, the present application provides a method of high precision subsea pipeline detection, the method comprising:
Acquiring sonar feedback characteristics of submarine soil, and determining buried pipeline sections which do not accord with the sonar feedback characteristics in covered submarine pipelines;
Acquiring detection data of the buried pipeline section, and generating a sonar section view of the buried pipeline section according to the detection data; identifying the sonar section view, dividing the buried pipeline section into a first buried pipeline section covered by a fixed buried object and a second buried pipeline section covered by a movable buried object;
Determining a first buried depth of the first buried pipeline segment from the static characteristics of the fixed burial;
calculating a second buried depth of the second buried pipeline segment according to the dynamic characteristics of the mobile buried object;
and integrating the first burying depth and the second burying depth to obtain the average burying depth of the covered submarine pipeline.
By adopting the technical scheme, the buried pipeline segment needing key analysis is identified in a targeted manner by acquiring the standard sonar feedback characteristics of the submarine soil; then, utilizing visual information in the sonar image to divide burial objects of different types and respectively calculating burial depths of the burial objects; and finally integrating calculation results of different environments to obtain the average buried depth. By distinguishing fixed burial objects from movable burial objects, the burial depths under different burial objects are accurately obtained, errors caused by difference of the burial objects are reduced, and finally obtained average burial depths are more accurate, so that the detection precision of the depths of submarine pipelines can be improved.
Optionally, the acquiring the sonar feedback feature of the subsea soil and determining the buried pipeline section in the covered subsea pipeline that does not conform to the sonar feedback feature includes:
acquiring sonar feedback characteristics of the submarine soil;
acquiring sonar detection characteristics of the covered submarine pipeline along a detection route;
And comparing the similarity of the sonar feedback feature and the sonar detection feature to obtain a target sonar detection feature with the similarity lower than a feature threshold, and determining a covered submarine pipeline corresponding to the target sonar detection feature as a buried pipeline section.
By adopting the technical scheme, the abnormal coverage area different from the condition of the pure submarine soil can be effectively identified by acquiring the standard sonar feedback characteristic of the submarine soil and comparing and analyzing with the sonar characteristic of the coverage pipeline obtained by actual detection. By using the similarity analysis, whether the covering has new substances different from soil or not can be clearly judged, so that the buried pipeline segment needing important analysis can be determined in a targeted manner. Compared with the method for determining the buried pipeline segment directly according to the preset threshold value, the method can be used for judging the buried pipeline segment more accurately by establishing a dynamic similarity comparison mechanism.
Optionally, the identifying the sonar section view, dividing the buried pipeline segment into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a moving buried object, includes:
Identifying the sonar section view by using an edge detection algorithm, and determining a target level image corresponding to the buried object on the buried pipeline segment;
Analyzing the target level image to obtain texture feature types of burial objects corresponding to the target level image, wherein the texture feature types comprise fixed burial object texture feature types and movable burial object texture feature types;
dividing the buried pipeline segments into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a moving buried object according to the texture feature type.
By adopting the technical scheme, visual information of each buried level can be intuitively extracted from the sonar section view by utilizing an image processing technology. And analyzing the target level image, so that the types of burial objects corresponding to different levels can be accurately judged.
Optionally, the determining the first buried depth of the first buried pipeline segment according to the static characteristics of the fixed buried object includes:
Determining the depth of the fixed buried pixel according to the pixel of the fixed buried object on the sonar section view;
acquiring the sound wave attenuation rate corresponding to the component information of the fixed buried object;
And correcting the depth of the fixed buried pixels according to the sound wave attenuation rate of the fixed buried object to obtain a first buried depth.
By adopting the technical scheme, the first burying depth can be simply and efficiently obtained by directly analyzing the pixel information of the fixed buried object in the sonar image, so that complex acoustic model calculation can be avoided. Meanwhile, the attenuation correction is carried out on the pixel depth by combining the component characteristics of the fixed buried object, so that the influence of the acoustic wave propagation loss can be eliminated, and the accuracy of the calculation of the first buried depth is improved.
Optionally, the determining the second buried depth of the second buried pipeline segment according to the dynamic characteristics of the moving buried object further includes:
acquiring historical buried data of the second buried pipeline segment;
Analyzing dynamic characteristics of the moving buried object according to the historical buried data, wherein the dynamic characteristics comprise the moving direction and the moving speed of the moving buried object;
Determining the depth of the movable buried pixel according to the pixel of the movable buried object on the sonar section view;
And correcting the depth of the movable buried pixels according to the dynamic characteristics of the movable buried objects to obtain second buried depths.
By adopting the technical scheme, the dynamic change rule of the movable buried object can be intuitively obtained by analyzing the historical buried data, and the dynamic environment of the second buried pipeline segment can be accurately judged. On the basis, the depth determined by sonar image processing is combined, a dynamic correction mechanism is established, the influence of the change of the movable buried object on the depth calculation can be eliminated, and the calculation accuracy of the second buried depth in the changed environment is obviously improved.
Optionally, said integrating said first buried depth and said second buried depth to obtain an average buried depth of said covered subsea pipeline comprises:
substituting the first burying depth and the second burying depth into a depth calculation formula to obtain the average burying depth of the covered submarine pipeline.
The depth calculation formula is as follows:
Wherein D avg is the average buried depth of the covered subsea pipeline, D 1i is the first buried depth of the ith buried pipeline segment, L 1i is the length of the ith buried pipeline segment, D 2j is the second buried depth of the jth buried pipeline segment, L 2j is the length of the jth buried pipeline segment, N 1 is the total number of segments of the first buried pipeline segment, and N 2 is the total number of segments of the second buried pipeline segment.
By adopting the technical scheme, the average burying depth of the covered submarine pipeline can be rapidly calculated according to the first burying depth and the second burying depth.
Optionally, before the acquiring the detection data of the buried pipeline segment and generating the sonar section view of the buried pipeline segment according to the detection data, the method further includes:
acquiring a noise interference position of the detection ship;
And determining a sonar installation position for acquiring detection data of the buried pipeline segment according to the noise interference position.
Through adopting above-mentioned technical scheme, can evaluate the noise interference condition in advance, pertinence selects the sonar mounted position, furthest reduces the influence of ship noise to sonar detection quality to improve detection data's validity and accuracy.
In a second aspect, the present application provides a high precision subsea pipeline detection device, the device comprising:
the buried pipeline segment determining module is used for acquiring sonar feedback characteristics of the submarine soil and determining buried pipeline segments which do not accord with the sonar feedback characteristics in the covered submarine pipeline;
the sonar section view generation module is used for acquiring detection data of the buried pipeline section and generating a sonar section view of the buried pipeline section according to the detection data;
The buried pipeline segment dividing module is used for identifying the sonar section view and dividing the buried pipeline segment into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a movable buried object;
the first buried depth determining module is used for obtaining the first buried depth of the first buried pipeline segment according to the static characteristics of the fixed buried objects;
The second buried depth determining module is used for obtaining the second buried depth of the second buried pipeline segment according to the dynamic characteristics of the movable buried objects;
and the average burying depth determining module is used for integrating the first burying depth and the second burying depth to obtain the average burying depth of the covered submarine pipeline.
Drawings
FIG. 1 is a flow diagram of a method for high-precision subsea pipeline detection according to an embodiment of the present application;
fig. 2 is a schematic structural view of a high-precision submarine pipeline detection device according to an embodiment of the application.
Detailed Description
In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments.
In describing embodiments of the present application, words such as "exemplary," "such as" or "for example" are used to mean serving as examples, illustrations or explanations. Any embodiment or design described herein as "illustrative," "such as" or "for example" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "illustratively," "such as" or "for example," etc., is intended to present related concepts in a concrete fashion.
In the description of embodiments of the application, the term "plurality" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating an indicated technical feature. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Referring to fig. 1, a flow chart of a high-precision submarine pipeline detection method according to an embodiment of the present application may be implemented by a computer program, may be implemented by a single chip microcomputer, or may be run on a high-precision submarine pipeline detection device based on von neumann system. The computer program may be integrated in the application or may run as a stand-alone tool class application. Specific steps of the high-precision submarine pipeline detection method are described in detail below.
S101: and acquiring sonar feedback characteristics of the submarine soil, and determining buried pipeline sections which do not accord with the sonar feedback characteristics in the covered submarine pipeline.
The sonar feedback characteristic refers to characteristic parameters such as frequency, amplitude, phase and the like in an echo signal returned after the sonar equipment detects a target. In the embodiment of the application, the sonar feedback characteristics can particularly refer to signal characteristics such as acoustic impedance, acoustic reflection intensity, acoustic attenuation rate, acoustic velocity and the like formed by the submarine soil after sonar detection.
Acoustic impedance is the resistance encountered by sound waves as they propagate in a medium, with different types of seafloor soil having different acoustic impedance values. For example, sandy soil has low acoustic impedance and sound waves are easy to penetrate; whereas clay or rock isopycnic materials have a higher acoustic impedance.
Factors such as the type, density, and particle size of the soil affect the reflected intensity of sound waves. Sandy soil may result in weaker reflected signals, while clay or rock, etc., may produce stronger reflected signals.
The attenuation rate of sound waves when propagating in the soil can reflect the tightness and the grain size composition of the soil. The decay rate of fine-grained soil such as clay is generally higher, while the decay rate of sandy soil is lower.
The propagation velocity of sound waves in different types of soil is different, which can be used to infer the soil type. The speed of sound waves is generally faster in hard soil or rock than in soft soil.
In order to distinguish the submarine soil from other types of coverings, sonar feedback characteristics of the submarine soil need to be acquired first as a judgment basis. Specifically, sonar equipment is used for detecting the seabed, and echo signals of a pure seabed soil region which is not covered by a pipeline are collected. Then analyzing and collecting parameters such as frequency, amplitude, phase and the like in the echo signals, and extracting characteristics such as acoustic impedance, acoustic reflection intensity, attenuation rate, propagation speed and the like of soil. These sonar feedback characteristics can effectively represent specific characteristics of the subsea soil.
It should be noted that the sonar feedback feature is only used to distinguish the submarine soil from other buries covering the submarine pipeline, so that only the features of the surface layer are actually judged to increase the processing speed.
In one implementation, sonar feedback characteristics of the subsea soil are obtained;
acquiring sonar detection characteristics of the covered submarine pipeline along a detection route;
And comparing the similarity of the sonar feedback characteristic and the sonar detection characteristic to obtain a target sonar detection characteristic with the similarity lower than a characteristic threshold value, and determining the covered submarine pipeline corresponding to the target sonar detection characteristic as a buried pipeline section.
It should be noted that the sonar detection feature refers to a feature parameter extracted from the returned echo signal after the sonar device detects the target object, where the feature parameter may represent the acoustic characteristics of the object. I.e. the sonar detection features are real-time detection data of covered subsea pipelines, while the sonar feedback features of subsea soil are historical data or standard data.
In order to accurately determine the buried pipeline segment, the sonar feedback characteristics of the pure seafloor soil not covered by the pipeline are firstly required to be obtained and used as the basis for judging the covering. And detecting the seabed by adopting sonar equipment, collecting seabed soil echo signals, and analyzing and extracting sonar feedback characteristics such as acoustic impedance, acoustic reflection intensity, attenuation rate, propagation speed and the like of the soil. These features may effectively represent specific acoustic properties of the subsea soil.
And then, performing full line detection on the covered submarine pipeline along a preset detection route by using sonar equipment, collecting echo signals of the covered pipeline area, and analyzing and extracting sonar detection characteristics of the covered area. And then, performing similarity comparison on the extracted sonar detection features of the coverage area and the submarine soil sonar feedback features acquired in the earlier stage. If the comparison result shows that the similarity between the sonar detection feature and the soil sonar feedback feature of the coverage area is lower than a preset feature threshold value, it can be judged that a buried object different from pure submarine soil exists in the coverage pipeline area, and therefore the coverage pipeline area is determined to be a buried pipeline section needing important analysis.
In one possible implementation, the noise interference location of the probe vessel is obtained;
And determining a sonar installation position for acquiring detection data of the buried pipeline segment according to the noise interference position.
Noise interference location refers to the spatially distributed location of noise signals generated by the detection vessel during sailing and equipment operation. In the embodiment of the application, the noise interference position can be understood as an area where the noise of the detected ship is mainly concentrated, which is determined by testing, and the noise signal intensity of the areas is higher, so that the areas need to be avoided during sonar detection. The noise interference position is obtained, so that the installation placement points of the sonar are reasonably selected according to the noise distribution condition, the influence of noise is avoided to the maximum extent, accurate and reliable data are ensured to be obtained by sonar detection, and effective input is provided for follow-up buried pipeline detection analysis. For example, this location-mounted sonar equipment can be remote from the boat host, pump, and propeller, effectively avoiding detection of boat sway and noise interference.
In order to reduce the sonar measurement error caused by the noise of the probe vessel itself, it is necessary to first acquire the noise interference location of the probe vessel. Specifically, the main noise concentration area can be determined by testing the noise distribution condition of the ship under different navigational speeds and running states of equipment, and the spatial distribution position of the ship noise interference can be obtained.
Then, according to the ship noise interference distribution position that the test obtained, rationally confirm the mounted position of sonar detection equipment to avoid the main region in the noise, reduce the influence of noise to the sonar detection as far as possible. For example, the symmetrical position between the hull and the noise area may be selected to mount the sonar, or the sonar orientation may be adjusted to deviate from the noise area.
S102: and acquiring detection data of the buried pipeline segment, and generating a sonar section view of the buried pipeline segment according to the detection data.
The sonar section view refers to a two-dimensional section image obtained by sonar detection, which records the acoustic reflection intensity distribution of different orientations and distances in the detection scene. In the embodiment of the application, the sonar section view can be understood as a two-dimensional submarine image generated after the submarine pipeline is detected by using side-scan sonar or multi-beam sonar.
The sonar section view is mainly an image generated by a Side-scan sonar (Side-scan Sonar) and a multi-beam sonar (Multibeam Sonar) system. These systems can provide high resolution images of the seafloor topography, typically used to identify and map features on the seafloor. The profile generated by the side-scan sonar can show the texture and reflection intensity of the surface of the sea, and thus the soil type can be deduced indirectly. A high reflection intensity may indicate a hard substrate or rock substrate and a low reflection intensity may indicate a soft substrate such as mud or sand. The cross-sectional view generated by the multi-beam sonar can provide three-dimensional view of the depth information and the submarine topography, but has weak characteristic recognition capability on the soil itself.
The detection data of the buried pipeline section refers to echo signal data obtained by collecting the detected buried pipeline section by using sonar. In the embodiment of the application, the detection data of the buried pipeline segment can be understood as echo signals obtained by adopting a three-dimensional synthetic aperture sonar system (three sonars such as a three-dimensional buried object detection system, a multi-beam water depth measurement system, a side-scan sonar and the like are integrated at the same time) to scan the buried pipeline segment in an omnibearing manner. The detection data comprise acoustic characteristics of pipeline segments and surrounding environment, and are input source data for generating sonar section views.
In order to analyze the burial of a buried pipeline segment, it is necessary to first acquire probe data of the buried pipeline segment. And (3) carrying out detailed detection on the determined buried pipeline section by using sonar equipment, and taking the omnibearing echo signal of the collecting pipeline section area as detection data. Then, a sonar profile of the pipeline segment is generated by signal processing and imaging algorithms based on the raw probe data collected.
The sonar section view can visually display the submarine topography and reflection characteristics of the area around the pipeline, and can see the acoustic reflection intensity distribution at different positions. The sonar section view is generated to provide visual basis for the follow-up identification of fixed burial objects and movable burial objects and calculation of burial depth by imaging and displaying the environmental conditions around the pipeline.
S103: identifying a sonar profile, dividing a buried pipeline segment into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a moving buried object, requires identifying a sonar profile, and distinguishing the buried pipeline segments because the fixed buried object and the moving buried object have different effects on the calculation of the buried depth. Specifically, edge detection and feature extraction are performed on the generated sonar section image, and the levels corresponding to different covers around the pipeline are identified. The texture features of each level overlay are then analyzed using image processing algorithms, and classified as either fixed burial or mobile burial according to the texture features. The texture of a fixed landfill is typically more uniform, while the texture of a moving landfill is more non-uniform.
The buried pipeline segments may be divided into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a moving buried object according to the classification result of the covering. The division can enable the subsequent buried depth to be calculated for two types of buried objects respectively, and different calculation methods are adopted according to different acoustic characteristics of the buried objects, so that the calculation accuracy is improved.
In an alternative embodiment, an edge detection algorithm is used to identify the sonar section view and determine a target level image corresponding to the buried object on the buried pipeline segment;
Analyzing the target level image to obtain texture feature types of burial objects corresponding to the target level image, wherein the texture feature types comprise fixed burial object texture feature types and movable burial object texture feature types;
The buried pipeline segments are divided into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a moving buried object according to the type of textural features.
The target level image refers to a sub-image region containing a specific target extracted from an original image by an image processing method. In the embodiment of the application, the target level image can be understood as a level contour image corresponding to different buried objects on the buried pipeline segment identified after the edge detection algorithm is used for processing the sonar section view. These target level images contain visual information of the individual buried objects, which are input for subsequent textural feature analysis to distinguish between fixed and moving buried objects, thereby demarcating different types of buried pipeline segments.
The target level image can be understood as a tool for assisting in pipeline detection and classification that helps an analyst more accurately determine the coverage and potential risk of a pipeline by distinguishing between different landfill environments (e.g., fixed burial versus mobile burial) on different levels.
The texture feature type refers to a specific class of image texture determined by texture feature analysis. In the embodiment of the application, the texture feature type can be understood as reflecting the texture features of different buried object levels by utilizing the result output after processing the target level image, and can be divided into the texture feature type of a fixed buried object and the texture feature type of a movable buried object. The texture features of the fixed burial are more uniform and regular, while the texture features of the moving burial are more non-uniform. The type of texture feature of the cover is obtained in order to divide the buried pipeline segments according to the differences between the two types of burial.
In order to accurately identify the image levels corresponding to different buried objects on a buried pipeline segment, an edge detection algorithm is required to process the sonar profile. The edge detection algorithm can detect the boundary of abrupt change of pixel gray level in the image, so that the contours of different covers can be locked. The specific implementation mode is that the sonar section view is taken as input, and the boundaries of various covering objects around the outlet pipeline can be clearly identified through the operation of an edge detection algorithm. Then, according to the detected boundaries, the image areas corresponding to each covering object can be segmented, namely, the hierarchical outline images of different burial objects are obtained.
By using the edge detection algorithm in the mode, various covering object levels around the buried pipeline can be effectively extracted from the sonar section view, and a foundation is laid for subsequent feature analysis and processing of each level.
First, hierarchical images of different buried objects are obtained by edge detection. And then analyzing the target level image, and outputting a texture feature type result corresponding to each level, wherein the texture feature type result comprises texture features of fixed burial objects and texture features of movable burial objects. For example, the texture of a fixed buried object is more uniform and regular, while the texture of a moving buried object is less uniform, resulting in a type of textural features for each level. The texture of the fixed burial is shown as a continuous and uniform high reflection signal in the sonar image, the terrain is stable, and no obvious change exists. The reflected signal of the texture of the moving buried object may be discontinuous, showing loose or piled-up features, and the topography may show new signs of deposition or erosion.
After the texture feature type of each level image is obtained, the buried pipeline segments may be partitioned according to the feature type results. Specifically, determining a pipeline section corresponding to a level of which the texture feature type is a fixed buried object as a first buried pipeline section covered by the fixed buried object; a pipeline segment corresponding to a texture feature type that is a level of the moving buried object is determined as a second buried pipeline segment that is covered by the moving buried object.
S104: a first buried depth of the first buried pipeline segment is determined based on the static characteristics of the fixed buried object.
The static characteristics of a fixed buried object refer to the characteristics of the fixed buried object layer that remain stable. In the embodiment of the present application, the static characteristic of the fixed buried object can be understood as parameters such as the position and thickness of the layer of the fixed buried object, and an attenuation model in which the sound wave propagates, and the parameters remain static without being affected by the change of the external environment. By using these fixed acoustic characteristics, the time for the acoustic wave to propagate from the pipeline to the fixed buried layer can be calculated, and the buried depth of the first buried pipeline segment can be determined.
Since the acoustic characteristics of the fixed burial are stable, the actual burial depth of the pipeline can be calculated from its static characteristics. First, the location and thickness of the fixed buried layer can be identified from the sonar profile. Then, in combination with the measured parameters of the sonar, the propagation time of the sound wave reflected from the pipeline to the fixed buried layer can be calculated according to the attenuation model of the sound wave in the fixed buried layer. And then according to the propagation speed of the sound wave in the water and the sediments of each layer, the distance from the top of the fixed buried object to the pipeline, namely the buried depth of the pipeline, can be obtained by back-pushing.
In an alternative embodiment, the fixed buried pixel depth is determined from the pixels of the fixed buried object on the sonar profile;
Acquiring the sound wave attenuation rate corresponding to the component information of the fixed buried object;
And correcting the depth of the fixed buried pixels according to the attenuation rate of the sound waves of the fixed buried objects to obtain a first buried depth.
The fixed buried pixel depth refers to the actual physical distance depth value represented by the pixel point corresponding to the fixed buried object in the sonar section image. In the embodiment of the application, the fixed buried pixel depth can be understood as the vertical spatial distance of the fixed buried pixel point calculated by analyzing and processing the sonar image relative to the buried pipeline. It reflects the actual depth information from the pipeline to the top of the fixed buried layer. The depth distribution of the fixed buried pixels is obtained, the geometric information of the image can be directly and fully utilized, complex acoustic model calculation is avoided, and the average buried depth value of the first buried pipeline segment is simply and effectively obtained.
The acoustic attenuation rate corresponding to the component information refers to the energy loss ratio caused by different material components in the acoustic wave propagation process. In the embodiment of the present application, the acoustic wave attenuation rate corresponding to the component information can be understood as an acoustic wave attenuation coefficient value inherent to each component of the fixed buried object. These decay rates, which are related to the physical properties of the composition, are important parameters describing the propagation loss of sound waves at a fixed buried layer. After the fixed landfill composition and corresponding acoustic attenuation rate are obtained, the path loss of the acoustic wave from the pipeline to the buried layer can be calculated for determining the first landfill depth.
The first burial depth refers to the burial depth value of the pipeline section covered by the fixed burial. In the embodiment of the present application, the first buried depth may be understood as a vertical distance between the pipeline and the fixed buried layer obtained through image analysis and acoustic wave propagation calculation. It reflects the actual landfill condition of the pipeline in a static environment that is not affected by moving burial.
To obtain the buried depth of the first buried pipeline segment more directly and accurately, image pixel information of the fixed buried object can be analyzed on a sonar profile. Specifically, a pixel region corresponding to a fixed buried object layer is identified on a sonar image. Parameters of these fixed buried pixels, such as position coordinates, gray values, etc., are then counted. According to the position distribution of the fixed buried pixels and the imaging parameters of the sonar, the actual physical distance of each fixed buried pixel point relative to the pipeline can be calculated, and the depth distribution of the fixed buried pixels can be obtained. Finally, an average of the fixed buried pixel depths is taken as a result of the buried depth of the first buried pipeline segment.
In order to calculate the buried depth using the acoustic characteristics of the fixed buried object, it is necessary to first acquire acoustic attenuation rate information corresponding to the fixed buried object component. Specifically, by performing a component analysis on a historical sample of the fixed-landfill layer, the main components of the fixed-landfill, such as sand, clay, etc., can be determined. Then, referring to the sound wave propagation manual, an empirical value or a calculated value of the sound wave attenuation rate corresponding to the component can be obtained based on the physical parameter of the component.
The acoustic wave attenuation rate corresponding to the previously obtained fixed buried object component is applied to the previously calculated fixed buried pixel depth value. The attenuation of the sound wave propagating from the pipeline to the fixed buried layer can be deduced according to the image imaging of the sound wave and the component attenuation rate. Then, the fixed buried pixel depth is corrected and corrected with the attenuation amount to eliminate the influence of the acoustic wave propagation loss.
S105: determining a second buried depth of the second buried pipeline segment based on the dynamic characteristics of the moving buried object;
Dynamic characteristics refer to characteristics that shift the depth of the buried layer and the frequency change. In the embodiment of the application, the dynamic characteristics can be understood as dynamic information such as the range, the frequency, the law and the like of the depth change of the moving buried object by analyzing buried data in different time periods. This information reflects dynamic changes in the complex environment in which the second buried pipeline segment is located.
Since the burial condition of a moving burial is variable, static calculations cannot be simply performed, and it is necessary to determine the second burial depth based on its dynamic characteristics. Specifically, the mobile buried object covers the pipeline area, and sonar measurement data of multiple periods are collected. By analyzing the data over different time periods, the range of variation and dynamic pattern of the depth of the moving buried layer can be detected. In combination with statistical analysis, a dynamic range of the second buried depth resulting from moving the buried object can be determined.
In an alternative embodiment, historical buried data of the second buried pipeline segment is obtained;
analyzing dynamic characteristics of the moving buried object according to the historical buried data, wherein the dynamic characteristics comprise moving direction and moving speed of the moving buried object;
determining the depth of the movable buried pixels according to the pixels of the movable buried objects on the sonar section view;
and correcting the depth of the movable buried pixels according to the dynamic characteristics of the movable buried objects to obtain a second buried depth.
Historical buried data for a second buried pipeline segment refers to a data set of multiple buried measurements of the pipeline segment over a period of time. In the embodiment of the application, the historical buried data of the second buried pipeline segment can be understood as summary of measured information of buried depth, covering characteristics and the like obtained by the pipeline segment at different time periods. These historical data reflect changes in the buried condition of the pipeline section over a long period of time.
Dynamic characteristics of a moving buried object refer to characteristics of varying depth of layer of the moving buried object. In the embodiment of the application, the dynamic characteristics of the mobile buried object can be understood as the detection of the depth change range, the change frequency and the change trend of the mobile buried object and the like sequence information by analyzing the buried data in different time periods. These dynamic characteristics may reflect dynamic changes in the environment in which the second buried pipeline segment is located, for evaluating the effect of moving buried objects on the buried depth of the second buried pipeline segment, to improve the accuracy of calculating the second buried depth.
The moving buried pixel depth refers to the varying physical distance depth value represented by the pixel point of the corresponding moving buried object in the sonar image. In the embodiment of the application, the depth of the movable buried pixel can be understood as variable depth value distribution corresponding to the movable buried pixel in each period by analyzing images in different periods. It reflects the varying depth of the top surface of the moving buried layer relative to the pipeline.
The second burial depth refers to the burial depth value of the pipeline section covered by the moving burial. In the embodiment of the application, the second burying depth can be understood as the variable burying depth of the pipeline in the mobile environment obtained by image analysis on the basis of comprehensively considering the dynamic change characteristics of the mobile buried object. It reflects the real-time burial situation of the complex dynamic environment where the pipeline is located. The calculation of the second buried depth aims at improving the buried depth acquisition accuracy under varying environments.
In order to analyze the dynamic change law of the moving buried object, it is necessary to acquire historical buried data of the second buried pipeline segment over a period of time. Specifically, the database is queried, and the sonar measurement data of the pipeline section for a plurality of times in a past period of time is called. These historical data include specific burial conditions of the moving burial layer at different times. The purpose of this data is to analyze the dynamic characteristics of the moving buried object to accurately assess the buried depth of the second buried pipeline segment.
Then, the collected historical buried data is subjected to time sequence comparison and analysis, and dynamic characteristics such as the range, frequency and change trend of the depth change of the moving buried object can be detected. Specifically, the position coordinate change of the moving buried object in the data of different time periods can be observed, and the moving direction of the moving buried object can be judged; counting the change frequency of the depth value, and determining the change frequency; fitting a relation curve of the depth value and time, and judging the moving speed.
For example, historical buried data of different time periods can be collected for the moving direction, the data of different time periods are arranged in time sequence, the change trend of the position coordinates of the moving buried object is observed, if the coordinates show that the moving buried object is closer to the pipeline, the moving direction is towards the pipeline, if the coordinates show that the moving buried object is farther away from the pipeline, the moving direction is far away from the pipeline, and the overall moving direction is judged by combining the position changes of the time periods.
Image segmentation and target recognition are carried out on a sonar image containing the moving buried object, and a pixel set of the moving buried object area is extracted. And counting the image coordinate positions of the movable buried pixels, and calculating the actual physical distance of each movable buried pixel point relative to the pipeline, namely the depth value of the movable buried pixel, according to the corresponding relation between the coordinate positions and the image geometric imaging parameters.
Dynamic information such as the variation range, the variation frequency and the movement direction of the moving buried object is obtained by analyzing the historical buried data. Combining the dynamic characteristic parameters with the moving buried pixel depth value calculated in the current period, and correcting the current moving buried pixel depth according to the change trend of the moving buried object. For example, if it is detected that the moving landfill tends to move in the direction of the pipeline, the current depth value needs to be reduced accordingly. After correction, an accurate second buried depth value can be obtained, which eliminates the influence of dynamic changes.
S106: integrating the first and second buried depths to obtain an average buried depth of the covered subsea pipeline.
The average buried depth of the covered subsea pipeline refers to the result of the evaluation of the integrated buried depth of the subsea pipeline as a whole. In the embodiment of the application, the average buried depth of the covered submarine pipeline can be understood as the weighted average buried depth value of the whole pipeline obtained by dividing different covering environments of the pipeline, calculating the buried depth under each environment in a segmented manner and finally integrating. The method can comprehensively reflect the integral burying precision of the submarine pipeline in complex and changeable environments.
The first buried depth in a fixed buried environment and the second buried depth in a complex mobile environment have been obtained separately. Then, a weighted average result of the first buried depth and the second buried depth is calculated according to the length proportion of the two types of buried pipeline segments, and is taken as the average buried depth of the whole submarine pipeline. The treatment mode can reasonably reflect the overall burying condition of the submarine pipeline in the complex environment.
In an alternative embodiment, the first and second depths of burial are substituted into the depth calculation formula to obtain an average depth of burial of the covered subsea pipeline.
The depth calculation formula is:
Wherein D avg is the average buried depth of the covered subsea pipeline, D 1i is the first buried depth of the ith first buried pipeline segment, L 1i is the length of the ith first buried pipeline segment, D 2j is the second buried depth of the jth second buried pipeline segment, L 2j is the length of the jth second buried pipeline segment, N 1 is the total number of segments of the first buried pipeline segment, and N 2 is the total number of segments of the second buried pipeline segment.
In order to calculate an average burial depth that can fully reflect the burial conditions of each environment, a weighted average calculation needs to be performed taking into account the specific gravity of different covered environmental pipeline segments. Specifically, the first and second burial depths obtained above and the corresponding pipeline segment lengths are taken as known quantities into a weighted average formula. The formula may weight the first buried depth and the second buried depth, where the weight is the length of each pipeline segment. Thus, the weighted burial depth sum of the first burial pipeline segment and the second burial pipeline segment can be calculated, and the weighted burial depth sum is divided by the total length of the pipeline, so that the average burial depth of the whole submarine pipeline can be obtained.
The calculation mode fully considers the proportion of the lengths of the pipeline segments in different environments, and can avoid the problem that the paragraph difference is ignored by simple averaging, thereby effectively improving the accuracy and the reliability of the average buried depth result.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the application method embodiments.
Referring to fig. 2, a schematic structural diagram of a high-precision submarine pipeline detection device according to an exemplary embodiment of the present application is shown. The apparatus may be implemented as all or part of an apparatus by software, hardware, or a combination of both. The device comprises a buried pipeline segment determining module, a sonar section view generating module, a buried pipeline segment dividing module, a first buried depth determining module, a second buried depth determining module and an average buried depth calculating module.
The buried pipeline segment determining module is used for acquiring sonar feedback characteristics of the submarine soil and determining buried pipeline segments which do not accord with the sonar feedback characteristics in the covered submarine pipeline;
The sonar section generating module is used for acquiring detection data of the buried pipeline section and generating a sonar section of the buried pipeline section according to the detection data;
The buried pipeline segment dividing module is used for identifying a sonar section view and dividing the buried pipeline segment into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a movable buried object;
a first buried depth determination module for determining a first buried depth of the first buried pipeline segment based on static characteristics of the fixed buried object;
A second buried depth determining module for determining a second buried depth of the second buried pipeline segment based on the dynamic characteristics of the moving buried object;
And the average burying depth calculation module is used for integrating the first burying depth and the second burying depth to obtain the average burying depth of the covered submarine pipeline.
Optionally, the buried pipeline segment determination module further comprises a similarity comparison unit.
The similarity comparison unit is used for acquiring sonar feedback characteristics of the submarine soil; acquiring sonar detection characteristics of the covered submarine pipeline along a detection route; and comparing the similarity of the sonar feedback characteristic and the sonar detection characteristic to obtain a target sonar detection characteristic with the similarity lower than a characteristic threshold value, and determining the covered submarine pipeline corresponding to the target sonar detection characteristic as a buried pipeline section.
Optionally, the sonar section plane map generating module further comprises an installation position determining unit.
An installation position determining unit for acquiring a noise interference position of the probe ship; and determining a sonar installation position for acquiring detection data of the buried pipeline segment according to the noise interference position.
Optionally, the buried pipeline segment partitioning module further comprises an image analysis unit.
The image analysis unit is used for identifying the sonar section view by using an edge detection algorithm and determining a target level image corresponding to the buried object on the buried pipeline segment; analyzing the target level image to obtain texture feature types of burial objects corresponding to the target level image, wherein the texture feature types comprise fixed burial object texture feature types and movable burial object texture feature types; the buried pipeline segments are divided into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a moving buried object according to the type of textural features.
Optionally, the first buried depth determining module further comprises a fixed depth determining unit.
A fixed depth determining unit for determining the depth of the fixed buried pixel according to the pixel of the fixed buried object on the sonar section view; acquiring the sound wave attenuation rate corresponding to the component information of the fixed buried object; and correcting the depth of the fixed buried pixels according to the attenuation rate of the sound waves of the fixed buried objects to obtain a first buried depth.
Optionally, the second buried depth determining module further comprises a moving depth determining unit.
A moving depth determining unit for acquiring historical buried data of the second buried pipeline segment; analyzing dynamic characteristics of the moving buried object according to the historical buried data, wherein the dynamic characteristics comprise moving direction and moving speed of the moving buried object; determining the depth of the movable buried pixels according to the pixels of the movable buried objects on the sonar section view; and correcting the depth of the movable buried pixels according to the dynamic characteristics of the movable buried objects to obtain a second buried depth.
Optionally, the average buried depth calculation module further includes a formula calculation unit.
And the formula calculation unit is used for substituting the first burying depth and the second burying depth into a depth calculation formula to obtain the average burying depth of the covered submarine pipeline.
The depth calculation formula is:
Wherein D avg is the average buried depth of the covered subsea pipeline, D 1i is the first buried depth of the ith first buried pipeline segment, L 1i is the length of the ith first buried pipeline segment, D 2j is the second buried depth of the jth second buried pipeline segment, L 2j is the length of the jth second buried pipeline segment, N 1 is the total number of segments of the first buried pipeline segment, and N 2 is the total number of segments of the second buried pipeline segment.
Claims (9)
1. A method of high precision subsea pipeline detection, the method comprising:
Acquiring sonar feedback characteristics of submarine soil, and determining buried pipeline sections which do not accord with the sonar feedback characteristics in covered submarine pipelines;
Acquiring detection data of the buried pipeline section, and generating a sonar section view of the buried pipeline section according to the detection data;
identifying the sonar section view, dividing the buried pipeline section into a first buried pipeline section covered by a fixed buried object and a second buried pipeline section covered by a movable buried object;
Determining a first buried depth of the first buried pipeline segment from the static characteristics of the fixed burial;
determining a second buried depth of the second buried pipeline segment according to the dynamic characteristics of the mobile buried object;
and integrating the first burying depth and the second burying depth to obtain the average burying depth of the covered submarine pipeline.
2. The method of claim 1, wherein the obtaining sonar feedback characteristics of the subsea soil, determining buried pipeline segments in the covered subsea pipeline that do not conform to the sonar feedback characteristics, comprises:
acquiring sonar feedback characteristics of the submarine soil;
acquiring sonar detection characteristics of the covered submarine pipeline along a detection route;
And comparing the similarity of the sonar feedback feature and the sonar detection feature to obtain a target sonar detection feature with the similarity lower than a feature threshold, and determining a covered submarine pipeline corresponding to the target sonar detection feature as a buried pipeline section.
3. The method of claim 1, wherein the identifying the sonar profile, dividing the buried pipeline segment into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a moving buried object, comprises: identifying the sonar section view by using an edge detection algorithm, and determining a target level image corresponding to the buried object on the buried pipeline segment;
Analyzing the target level image to obtain texture feature types of burial objects corresponding to the target level image, wherein the texture feature types comprise fixed burial object texture feature types and movable burial object texture feature types;
dividing the buried pipeline segments into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a moving buried object according to the texture feature type.
4. The method of claim 1, wherein determining a first burial depth of the first burial line segment based on the static characteristics of the fixed burial comprises:
Determining the depth of the fixed buried pixel according to the pixel of the fixed buried object on the sonar section view;
acquiring the sound wave attenuation rate corresponding to the component information of the fixed buried object;
And correcting the depth of the fixed buried pixels according to the sound wave attenuation rate of the fixed buried object to obtain a first buried depth.
5. The method of claim 1, wherein determining a second burial depth of the second burial line segment based on the dynamic characteristics of the moving burial further comprises:
acquiring historical buried data of the second buried pipeline segment;
Analyzing dynamic characteristics of the moving buried object according to the historical buried data, wherein the dynamic characteristics comprise the moving direction and the moving speed of the moving buried object;
Determining the depth of the movable buried pixel according to the pixel of the movable buried object on the sonar section view;
And correcting the depth of the movable buried pixels according to the dynamic characteristics of the movable buried objects to obtain second buried depths.
6. The method of claim 1, wherein said integrating said first and second landfill depths results in an average landfill depth of said covered subsea pipeline, comprising:
substituting the first burying depth and the second burying depth into a depth calculation formula to obtain the average burying depth of the covered submarine pipeline.
7. The depth calculation formula is as follows:
Wherein D avg is the average buried depth of the covered subsea pipeline, D 1i is the first buried depth of the ith buried pipeline segment, L 1i is the length of the ith buried pipeline segment, D 2j is the second buried depth of the jth buried pipeline segment, L 2j is the length of the jth buried pipeline segment, N 1 is the total number of segments of the first buried pipeline segment, and N 2 is the total number of segments of the second buried pipeline segment.
8. The method of claim 1, wherein the acquiring acquires probe data for the buried pipeline segment, and further comprising, prior to generating a sonar profile for the buried pipeline segment from the probe data:
acquiring a noise interference position of the detection ship;
And determining a sonar installation position for acquiring detection data of the buried pipeline segment according to the noise interference position.
9. A high precision subsea pipeline detection device, the device comprising:
the buried pipeline segment determining module is used for acquiring sonar feedback characteristics of the submarine soil and determining buried pipeline segments which do not accord with the sonar feedback characteristics in the covered submarine pipeline;
the sonar section view generation module is used for acquiring detection data of the buried pipeline section and generating a sonar section view of the buried pipeline section according to the detection data;
The buried pipeline segment dividing module is used for identifying the sonar section view and dividing the buried pipeline segment into a first buried pipeline segment covered by a fixed buried object and a second buried pipeline segment covered by a movable buried object;
A first buried depth determination module for determining a first buried depth of the first buried pipeline segment based on static characteristics of the fixed buried object;
a second buried depth determining module for determining a second buried depth of the second buried pipeline segment based on the dynamic characteristics of the moving buried object;
and the average burying depth determining module is used for integrating the first burying depth and the second burying depth to obtain the average burying depth of the covered submarine pipeline.
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