A method and device for positioning metal pipelines

Abstract

The present invention provides a method and device for locating a metal pipeline. Three magnetic field sensors and a posture sensor are mounted on a movable detection rod to form a linear detection array, with the three magnetic field sensors spaced d1 and d2 apart. Alternating current of a specific frequency is applied to the metal pipeline to generate a magnetic field. The linear detection array is placed horizontally above the metal pipeline for detection, obtaining magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors and an angle α between the linear detection array and the metal pipeline. The location information of the metal pipeline is calculated based on the angle α, the spacing d1 and d2 between the three magnetic field sensors, and the magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors. The present invention utilizes multiple magnetic field sensors for simultaneous detection, significantly reducing operational difficulty and improving positioning efficiency while ensuring accurate metal pipeline positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of metal pipeline detection, and in particular to a metal pipeline positioning method and device. Background Art

[0002] Metal pipelines are important transmission infrastructure in urban construction. Since metal pipelines are often installed underground or underwater, during the construction process, construction workers are not familiar with the location of the metal pipelines, which can easily damage the metal pipelines, seriously endangering the safety of the people and causing huge property losses.

[0003] During routine inspections and fault repairs, it is necessary to accurately locate the metal pipelines in advance and know the location of the metal pipelines before construction to avoid damaging the metal pipelines during construction.

[0004] However, existing positioning methods are difficult to meet the requirements of accuracy and efficiency at the same time. Summary of the Invention

[0005] The present invention provides a metal pipeline positioning method and device, which utilizes multiple magnetic field sensors for synchronous detection, greatly reduces the operating difficulty and improves the positioning efficiency while ensuring the positioning accuracy of the metal pipeline.

[0006] In a first aspect, the present invention provides a metal pipeline positioning method, comprising the following steps:

[0007] S1. Install three magnetic field sensors and one attitude sensor on a movable detection rod to form a linear detection array, wherein the three magnetic field sensors include a front magnetic field sensor, a middle magnetic field sensor, and a rear magnetic field sensor, and the intervals between the three magnetic field sensors are d1 and d2 respectively;

[0008] S2. applying an alternating current of a specific frequency to the metal pipeline to generate a magnetic field;

[0009] S3, obtaining the magnetic field intensities b1, b2, and b 3， and performing bandpass filtering on the magnetic field intensities b1, b2, and b3 at the locations of the three magnetic field sensors to obtain filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors;

[0010] S4. Obtaining the direction information of the linear detection array detected by the attitude sensor and determining the angle α between the linear detection array and the metal pipeline. Specifically, there are two methods. One method comprises the following steps:

[0011] A1: determining an angle α between the linear detection array and the metal pipeline according to the direction information of the linear detection array and the previously known direction information of the metal pipeline;

[0012] The second method steps are as follows:

[0013] A11: horizontally rotating the linear detection array until the filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors are equal, and obtaining first direction information of the linear detection array detected by the attitude sensor;

[0014] A12: Rotate the linear detection array horizontally by a certain angle to obtain second direction information of the linear detection array detected by the attitude sensor;

[0015] A13: Determine an angle α between the linear detection array and the metal pipeline according to the first direction information and the second direction information;

[0016] S5. Determine the angle α between the linear detection array and the metal pipeline based on the direction information of the detection rod, and calculate the position information of the metal pipeline based on the angle α, the intervals d1 and d2 of the three magnetic field sensors, and the magnetic field strengths B1, B2, and B3 at the locations of the three magnetic field sensors. The specific calculation formula is as follows:

[0017]

[0018] Where r1, r2, and r3 represent the shortest distances from the front magnetic field sensor, the middle magnetic field sensor, and the rear magnetic field sensor to the metal pipeline. x represents the horizontal distance from the projection of the front magnetic field sensor on the horizontal plane to the center line of the metal pipeline. A negative x indicates that the front magnetic field sensor is located on the left side of the metal pipeline, and a positive x indicates that the front magnetic field sensor is located on the right side of the metal pipeline. h represents the vertical height of the front magnetic field sensor from the center line of the metal pipeline.

[0019] In a second aspect, the present invention provides a metal pipeline positioning device, comprising: a linear detection array, a data acquisition and preprocessing module, and a calculation module;

[0020] The linear detection array includes three magnetic field sensors and a posture sensor;

[0021] The three magnetic field sensors are divided into a front magnetic field sensor, a middle magnetic field sensor and a rear magnetic field sensor. The three magnetic field sensors are arranged on the detection rod at intervals of d1 and d2 respectively, and are used to detect the magnetic field strength of the magnetic field generated when the metal pipeline is applied with alternating current;

[0022] The attitude sensor is provided on the detection rod and is used to detect the direction information of the detection rod;

[0023] The data acquisition and preprocessing module is used to obtain the magnetic field intensities b1, b2, and b3 at the locations of the three magnetic field sensors detected by the linear detection array and the direction information of the detection rod, and perform bandpass filtering on the magnetic field intensities b1, b2, and b3 at the locations of the three magnetic field sensors to obtain filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors;

[0024] The calculation module is used to determine the angle α between the linear detection array and the metal pipeline based on the direction information of the detection rod, and calculate the position information of the metal pipeline based on the angle α, the intervals of the three magnetic field sensors d1 and d2 respectively, and the magnetic field strengths B1, B2, and B3 of the specific frequencies at the locations of the three magnetic field sensors.

[0025] The present invention provides a metal pipeline positioning method and device, which utilizes three magnetic field sensors fixed on the same detection rod to detect the three magnetic field intensities of the magnetic field generated by the metal pipeline, and utilizes a posture sensor fixed on the detection rod to detect the direction of the detection rod. The position information of the metal pipeline is calculated based on the three detected magnetic field intensities, the direction of the detection rod, and the spacing between the three magnetic field sensors, combined with the spatial geometric relationship between the metal pipeline and the detection rod. This solves the current problem of cumbersome operation and low accuracy of metal pipeline positioning. On the basis of ensuring the positioning accuracy of the metal pipeline, the operation difficulty is greatly reduced and the positioning efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A schematic diagram of a scenario architecture on which the present disclosure is based;

[0028] Figure 2 A schematic flow chart of a metal pipeline positioning method provided in an embodiment of the present disclosure;

[0029] Figure 3 This is a schematic diagram of the projection of the detection rod and metal pipeline on the horizontal plane;

[0030] Figure 4 It is a schematic diagram of the projection of the detection rod and the metal pipeline on a plane perpendicular to the metal pipeline;

[0031] Figure 5A schematic structural diagram of a metal pipeline positioning device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] There are two traditional methods for locating metal pipelines, including the signal waveform judgment method and the vector phase judgment method. Both methods require applying alternating current of a specific frequency to the metal pipeline. The signal waveform judgment method uses a combination of horizontal coils and vertical coils for measurement. The metal pipeline is located by the characteristics of the presence of peaks in the horizontal coil and troughs in the vertical coil directly above the metal pipeline. The vector phase judgment method also requires two coils at a certain angle for measurement. By judging whether the signals obtained by the two coils are in phase, it is determined which side of the metal pipeline the current measurement point is located on, and the measurement point is adjusted to obtain the coordinates directly above the metal pipeline. Both of the above methods obtain the coordinates directly above the pipeline by continuously adjusting the position of the detection point. Although the measurement accuracy is high, there are problems with cumbersome operation and low efficiency.

[0034] In addition, there is an improved pipeline positioning method. This method uses two groups of horizontally placed three-axis orthogonal magnetic sensors for measurement. It does not require measurement across the metal pipeline. The position of the metal pipeline can be calculated in real time based on the spatial magnetic field vector relationship. However, the calculation process uses single-component data of the vector magnetic field. When the detection point deviates far from the pipeline or the pipeline is buried deep, the measurement value of the vector sensor itself is small. At this time, its measurement error will introduce a large positioning error.

[0035] In response to the current demand for a metal pipeline positioning method that is simple to operate and has high precision, the present invention proposes a metal pipeline positioning method that adopts multi-sensor synchronous detection. During the positioning process, there is no need to use single-component data of the vector magnetic field for calculation. On the basis of ensuring the positioning accuracy of the metal pipeline, the operation difficulty is greatly reduced and the positioning efficiency is improved.

[0036] Figure 1 A schematic diagram of a scenario architecture on which the present disclosure is based, such as Figure 1 As shown, a scenario architecture based on which the present disclosure is based may include a detection device 1 and a data processing device 2 .

[0037] Among them, the detection device 1 may include three magnetic field sensors 11, a posture sensor 12 and a detection rod 13. The three magnetic field sensors and the posture sensor are all arranged on the detection rod. The data processing device 2 can be hardware or software that interacts with the detection device 1 through a network or data line, which can be used to execute the metal pipeline positioning method described in the following embodiments.

[0038] When the data processing device 2 is hardware, it can be an electronic device with computing capabilities. When the data processing device 2 is software, it can be installed in an electronic device with computing capabilities. The electronic device includes but is not limited to a server, a microprocessor, a desktop computer, and the like.

[0039] In addition, the data processing device 2 can use its display component to display the metal pipeline position information to the user.

[0040] Specifically, the detection device 1 detects the three magnetic field intensities of the magnetic field generated by the metal pipeline, the attitude sensor detects the direction of the detection rod, and the data processing device 2 obtains the data detected by the detection device 1 and preprocesses the acquired monitoring data, and uses the preprocessed data to calculate the position data of the metal pipeline.

[0041] The following is a further description of the metal pipeline positioning method and device provided in this application:

[0042] Figure 2 The following is a flow chart of a metal pipeline positioning method provided by an embodiment of the present disclosure. Figure 2 As shown, a metal pipeline positioning method provided by an embodiment of the present disclosure includes the following steps:

[0043] S1. Install three magnetic field sensors and one attitude sensor on a movable detection rod to form a linear detection array, wherein the three magnetic field sensors include a front magnetic field sensor, a middle magnetic field sensor, and a rear magnetic field sensor, and the intervals between the three magnetic field sensors are d1 and d2 respectively;

[0044] S2. applying an alternating current of a specific frequency to the metal pipeline to generate a magnetic field;

[0045] S3, obtaining the magnetic field intensities b1, b2, and b 3， and performing bandpass filtering on the magnetic field intensities b1, b2, and b3 at the locations of the three magnetic field sensors to obtain filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors;

[0046] S4. Obtaining the direction information of the linear detection array detected by the attitude sensor and determining the angle α between the linear detection array and the metal pipeline. Specifically, there are two methods. One method comprises the following steps:

[0047] A1: determining an angle α between the linear detection array and the metal pipeline according to the direction information of the linear detection array and the previously known direction information of the metal pipeline;

[0048] The second method steps are as follows:

[0049] A11: horizontally rotating the linear detection array until the filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors are equal, and obtaining first direction information of the linear detection array detected by the attitude sensor;

[0050] A12: Rotate the linear detection array horizontally by a certain angle to obtain second direction information of the linear detection array detected by the attitude sensor;

[0051] A13: Determine an angle α between the linear detection array and the metal pipeline according to the first direction information and the second direction information;

[0052] S5. Determine the angle α between the linear detection array and the metal pipeline based on the direction information of the detection rod, and calculate the position information of the metal pipeline based on the angle α, the intervals between the three magnetic field sensors d1 and d2, and the magnetic field strengths B1, B2, and B3 at the locations of the three magnetic field sensors. The specific calculation formula is as follows:

[0053]

[0054] Where r1, r2, and r3 represent the shortest distances from the front magnetic field sensor, the middle magnetic field sensor, and the rear magnetic field sensor to the metal pipeline. x represents the horizontal distance from the projection of the front magnetic field sensor on the horizontal plane to the center line of the metal pipeline. A negative x indicates that the front magnetic field sensor is located on the left side of the metal pipeline, and a positive x indicates that the front magnetic field sensor is located on the right side of the metal pipeline. h represents the vertical height of the front magnetic field sensor from the center line of the metal pipeline.

[0055] In this embodiment, since the three magnetic field sensors are located on the same straight line, the geometric relationship between the straight line where the three magnetic field sensors are located and the metal pipeline can be used to calculate the horizontal distance and vertical height of the center line of the metal pipeline relative to the front magnetic field sensor. The specific principle includes: the intervals between the three magnetic field sensors are known to be d1 and d2 respectively, and the three magnetic field sensors and the attitude sensor are used to detect and obtain the magnetic field strengths b1, b2, and b3 at the positions of the three magnetic field sensors and the direction information of the detection rod. In order to reduce noise interference and make the measured magnetic field strength more accurate, the magnetic field strengths b1, b2, and b3 at the positions of the three magnetic field sensors are filtered and phase-locked to obtain the magnetic field strengths B1, B2, and B3. According to the principle of magnetic field strength, it can be known that the magnetic field strength is inversely proportional to the distance of the metal pipeline. The magnetic field strengths B1, B2, and B3 at the specific frequencies of the positions of the three magnetic field sensors can be used to obtain the magnetic field strengths B1, B2, and B3. 3. Determine the distance relationship between the three magnetic field sensors and the center line of the metal pipeline, and determine the angle α between the straight line where the three magnetic field sensors are located and the metal pipeline based on the direction information of the detection rod. When the metal pipeline direction information provided by the construction party is available, the angle α between the straight line detection array and the metal pipeline can be directly determined based on the direction information of the straight line detection array and the pre-known metal pipeline direction information. When the metal pipeline direction information provided by the construction party is not available, the straight line detection array can be horizontally rotated to a position parallel to the metal pipeline, and the first direction information of the straight line detection array detected by the attitude sensor is obtained as the metal pipeline direction information. Then, the straight line detection array is rotated by a certain angle to obtain the second direction information of the rotated straight line detection array detected by the attitude sensor. The angle α between the straight line detection array and the metal pipeline is determined based on the first direction information and the second direction information, as shown in FIG. Figure 3 As shown in the figure, project the probe rod and metal pipeline onto the virtual horizontal plane, as shown in the figure. Figure 4 As shown, the detection rod and the center line of the metal pipeline are projected onto a virtual plane perpendicular to the metal pipeline. According to the geometric relationship of the projections of the detection rod and the metal pipeline on the virtual horizontal plane and the geometric relationship of the projections of the detection rod and the metal pipeline on the virtual plane perpendicular to the metal pipeline, the calculation formula for the horizontal distance x of the center line of the metal pipeline relative to the front-end magnetic field sensor and the calculation formula for the vertical height h of the center line of the metal pipeline relative to the front-end magnetic field sensor are derived. Substituting d1, d2, B1, B2, B3, and α into the calculation formula, the horizontal distance x of the center line of the metal pipeline relative to the front-end magnetic field sensor and the vertical height h of the center line of the metal pipeline relative to the front-end magnetic field sensor are calculated.

[0056] This embodiment provides a metal pipeline positioning method, wherein three magnetic field sensors and one attitude sensor are installed on a movable detection rod to form a linear detection array, wherein the three magnetic field sensors include a front magnetic field sensor, a middle magnetic field sensor, and a rear magnetic field sensor, and the intervals between the three magnetic field sensors are d1 and d2 respectively; an alternating current of a specific frequency is applied to the metal pipeline to generate a magnetic field; the linear detection array is placed horizontally above the metal pipeline at a height of L, and the magnetic field strengths b1, b2, and b3 at the positions of the three magnetic field sensors detected by the linear detection array and the direction information of the detection rod are obtained; the magnetic field at the positions of the three magnetic field sensors is detected by the linear detection array. The field intensities b1, b2, and b3 are band-pass filtered to obtain the filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors; the angle α between the linear detection array and the metal pipeline is determined based on the direction information of the detection rod and the pre-known direction information of the metal pipeline, and the position information of the metal pipeline is calculated based on the angle α, the intervals between the three magnetic field sensors being d1 and d2 respectively, and the magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors. By adopting the technical solution provided by the present invention, the problem of complicated metal pipeline positioning operation and low precision is solved. On the basis of ensuring the positioning accuracy of the metal pipeline, the operation difficulty is greatly reduced and the positioning efficiency is improved.

[0057] Figure 5 This is a schematic diagram of the structure of a metal pipeline positioning device provided by an embodiment of the present disclosure. Figure 5 , the metal pipeline positioning device includes: a linear detection array 51, a data acquisition and preprocessing module 52 and a calculation module 53;

[0058] The linear detection array 51 includes three magnetic field sensors 511 and a posture sensor 512;

[0059] The three magnetic field sensors 511 are divided into a front magnetic field sensor, a middle magnetic field sensor, and a rear magnetic field sensor. The three magnetic field sensors 511 are spaced apart on the detection rod, and the intervals between the three magnetic field sensors 511 are d1 and d2 respectively, and are used to detect the magnetic field strength of the magnetic field generated when the metal pipeline is applied with alternating current;

[0060] The attitude sensor 512 is provided on the detection rod and is used to detect the direction information of the detection rod;

[0061] The data acquisition and preprocessing module 52 is used to obtain the magnetic field intensities b1, b2, and b3 at the locations of the three magnetic field sensors detected by the linear detection array and the direction information of the detection rod, and perform bandpass filtering on the magnetic field intensities b1, b2, and b3 at the locations of the three magnetic field sensors to obtain filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors;

[0062] The calculation module 53 is used to determine the angle α between the linear detection array and the metal pipeline based on the direction information of the detection rod and the pre-known direction information of the metal pipeline, and calculate the position information of the metal pipeline based on the angle α, the intervals of the three magnetic field sensors d1 and d2 respectively, and the magnetic field strengths B1, B2, and B3 of the specific frequencies at the locations of the three magnetic field sensors.

[0063] It can be seen that the metal pipeline positioning device provided in this embodiment adopts multi-sensor synchronous measurement compared to the existing positioning device. During the positioning process, there is no need to use single-component data of the vector magnetic field for calculation. On the basis of ensuring the positioning accuracy of the metal pipeline, it greatly reduces the operation difficulty and improves the positioning efficiency.

[0064] Those skilled in the art will appreciate that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0065] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical functional division. In actual implementation, other division methods may be used, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not implemented. In addition, the coupling or direct coupling or communication connection shown or discussed between each other can be through some ports, indirect coupling or communication connection between devices or units, and can be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment. In addition, the functional units in the various embodiments of the present invention can be integrated into a processing unit, each unit can exist physically separately, or two or more units can be integrated into a single unit. The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims of the present invention.

Claims

1. A metal pipeline positioning method, characterized in that: The following steps are involved: S1. Install three magnetic field sensors and one attitude sensor on a movable detection rod to form a linear detection array, and place the linear detection array horizontally above the metal pipeline, wherein the three magnetic field sensors include a front magnetic field sensor, a middle magnetic field sensor, and a rear magnetic field sensor, and the intervals between the three magnetic field sensors are d1 and d2 respectively; S2. applying an alternating current of a specific frequency to the metal pipeline to generate a magnetic field in the metal pipeline; S3, obtaining the magnetic field intensities b1, b2, and b 3， and performing bandpass filtering on the magnetic field intensities b1, b2, and b3 at the locations of the three magnetic field sensors to obtain filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors; S4, obtaining direction information of the linear detection array detected by the attitude sensor, and determining the angle α between the linear detection array and the metal pipeline, specifically comprising: A11: horizontally rotating the linear detection array until the filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors are equal, and obtaining first direction information of the linear detection array detected by the attitude sensor; A12: Rotate the linear detection array horizontally by a certain angle to obtain second direction information of the linear detection array detected by the attitude sensor; A13: Determine an angle α between the linear detection array and the metal pipeline according to the first direction information and the second direction information; S5. Calculate the position information of the metal pipeline according to the angle α, the intervals d1 and d2 of the three magnetic field sensors, and the magnetic field intensities B1, B2, and B3 of the specific frequencies at the locations of the three magnetic field sensors. The specific calculation formula is as follows: Where r1, r2, and r3 represent the shortest distances from the front magnetic field sensor, the middle magnetic field sensor, and the rear magnetic field sensor to the metal pipeline. x represents the horizontal distance from the projection of the front magnetic field sensor on the horizontal plane to the center line of the metal pipeline. A negative x indicates that the front magnetic field sensor is located on the left side of the metal pipeline, and a positive x indicates that the front magnetic field sensor is located on the right side of the metal pipeline. h represents the vertical height of the front magnetic field sensor from the center line of the metal pipeline.

2. A metal pipeline positioning device, suitable for the method according to claim 1, characterized in that: include: Linear detection array, data acquisition and preprocessing module, and calculation module; The linear detection array includes three magnetic field sensors and a posture sensor; The three magnetic field sensors are divided into a front magnetic field sensor, a middle magnetic field sensor and a rear magnetic field sensor. The three magnetic field sensors are arranged on the detection rod at intervals of d1 and d2 respectively, and are used to detect the magnetic field strength of the magnetic field generated when the metal pipeline is applied with alternating current; The attitude sensor is provided on the detection rod and is used to detect the direction information of the linear detection array; The data acquisition and preprocessing module is used to obtain the magnetic field intensities b1, b2, and b3 at the locations of the three magnetic field sensors detected by the linear detection array and the direction information of the linear detection array, and perform bandpass filtering on the magnetic field intensities b1, b2, and b3 at the locations of the three magnetic field sensors to obtain filtered magnetic field intensities B1, B2, and B3 at the locations of the three magnetic field sensors; The calculation module is used to determine the angle α between the linear detection array and the metal pipeline based on the direction information of the linear detection array, and calculate the position information of the metal pipeline based on the angle α, the intervals between the three magnetic field sensors d1 and d2 respectively, and the magnetic field strengths B1, B2, and B3 at the locations of the three magnetic field sensors.

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