Underground power pipeline path detection device, method, terminal and storage medium

Abstract

The present invention relates to the technical field of electric power surveying and mapping, and in particular to an underground electric power pipeline path detection device, method, terminal and storage medium. The device of the present invention is lowered into the electric power pipeline through a detector, and the three-dimensional acceleration obtained by the detector and the travel distance of the detector obtained by the winch are used to fit the electric power pipeline. It is less affected by external electromagnetic waves, sound waves and other factors, and has high detection accuracy. The embodiment of the present invention discloses a method for detecting the path of an underground electric power pipeline, which first obtains multiple point groups and ground distances, and then establishes a motion state correction model based on the relationship between the motion state and the travel distance, then verifies and corrects the motion state correction model based on the motion state and the ground distance, and finally obtains the path of the electric power pipeline based on the corrected motion state. The method of the present invention eliminates the error of three-dimensional acceleration, and the accuracy of electric power pipeline detection is higher, and the detection results are more accurate and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power surveying and mapping, and in particular to an underground electric power pipeline path detection device, method, terminal and storage medium. Background Art

[0002] Power line pipelines are an indispensable part of urban construction and development, and are the basic guarantee for the normal operation of modern cities. With the continuous acceleration of urbanization, the underground power line pipelines currently used in my country are undergoing earth-shaking changes in terms of pipeline materials, laying methods, and the number of pipelines.

[0003] Due to geographical and historical factors, the situation of "old", "dense" and "disordered" underground power lines in cities is becoming more and more serious. The contradiction between backward pipeline management methods and existing pipeline detection technology and the rapid development of cities is becoming increasingly acute. On the other hand, with the rapid development of urbanization today, the environment for urban power line pipeline detection is becoming more and more demanding. There are more and more ground buildings and more and more underground facilities. Various types of interference in space, on the ground and underground are numerous and serious, and various types of interference bodies (sources) are diverse.

[0004] Common urban underground pipe gallery detection methods include electromagnetic induction method, geological radar method, transient Rayleigh surface wave method, seismic imaging method, high-density electrical method, etc. However, these methods all have their own shortcomings: electromagnetic induction method and geological radar method have better detection effects on metal pipelines, but poor detection effects on non-metallic pipelines, especially the widely used PE pipes. Transient Rayleigh surface wave method and seismic imaging method are easily affected by surrounding human activities, and high-density electrical method is easily affected by the underground environment. It is difficult to obtain more accurate information on the location of the pipe gallery and cannot meet actual production needs.

[0005] Based on this, it is necessary to develop and design a device and method for detecting urban power line pipelines. Summary of the invention

[0006] The embodiments of the present invention provide an underground power pipeline path detection device, method, terminal and storage medium, which are used to solve the problem of insufficient accuracy in power line pipeline detection in the prior art.

[0007] In a first aspect, an embodiment of the present invention provides an underground power pipeline path detection device, comprising:

[0008] Detectors and path calculation terminals;

[0009] The detector is used to obtain the motion state of the detector at multiple preset moments;

[0010] The path calculation terminal is used to obtain the travel distance of the detector at the multiple preset moments, and to determine the path of the power pipeline based on the ground distance and multiple point groups, wherein the point group includes the travel distance and the motion state at the same preset moment, and the ground distance is the ground distance corresponding to the total travel path of the detector.

[0011] In a possible implementation, the motion state includes three-dimensional acceleration, and the detector includes: a control module and a sensor module, and the sensor module is connected to the control module by signal;

[0012] The sensor module is used to collect the acceleration in the moving direction and the two-axis deflection angle of the detector;

[0013] The control module is used to obtain the travel acceleration and the two-axis deflection angle according to the indication information, and calculate and output the three-dimensional acceleration;

[0014] The two axes are respectively a pitch axis and a yaw axis.

[0015] In one possible implementation, the detector also includes: a main body and a balance block, the sensor module and the balance block are fixedly arranged, the main body moves along the pipeline, the balance block is rotatably connected to the main body, and the center of gravity of the balance block is close to the lower end of the balance block, so that when the body rolls, the center of gravity of the balance block is always at the lowest position.

[0016] In a possible implementation, the path calculation terminal includes: a calculation unit and a hoist, the calculation unit being signal-connected to the hoist;

[0017] The winch is used to drive the detector to move forward;

[0018] The calculation unit is used to obtain the travel distance of the detector through the winch at the multiple preset time periods, issue instruction information to instruct the collection of the motion state of the detector at the multiple preset time periods, and determine the path of the power pipeline according to the ground distance, the multiple motion states and the multiple travel distances.

[0019] In a second aspect, an embodiment of the present invention provides an underground power pipeline path detection method, which is applied to the underground power pipeline path detection device as described in the first aspect, and the method includes:

[0020] Acquire multiple point groups and ground distances, wherein the ground distance is the ground distance corresponding to the total travel path of the detector, and the point groups are based on the travel distance and the motion state acquired at the same preset time;

[0021] Establishing a motion state correction model according to the relationship between the motion state and the driving distance;

[0022] Verifying and correcting the motion state correction model according to the motion state and the ground distance;

[0023] The path of the power pipeline is obtained according to the corrected motion state.

[0024] In a possible implementation, verifying and correcting the motion state correction model according to the motion state and the ground distance includes:

[0025] Establishing a verification model according to the relationship between the plurality of motion states and the ground distance;

[0026] determining a path fitting residual according to an output of the verification model and the ground distance;

[0027] The parameters of the motion state correction model are corrected according to the path fitting residual until the path fitting residual is smaller than a preset value.

[0028] In a possible implementation, the motion state correction model includes a neural network model and a verification formula, wherein the neural network model includes: an input layer and an output layer, the input layer includes three nodes for inputting three-dimensional acceleration, and the output layer includes three nodes for outputting three-dimensional acceleration;

[0029] The verification formula is:

[0030]

[0031] In the formula, a 1. a 2. a 3 are the three-dimensional accelerations, ∆t is the time difference between two adjacent intervals, ∆L is the travel distance of the detector at two adjacent intervals;

[0032] The step of establishing a motion state correction model according to the relationship between the motion state and the driving distance includes:

[0033] Inputting the three-dimensional acceleration into the neural network model to obtain an output of the neural network, wherein the output includes the three-dimensional acceleration corrected by the neural network model;

[0034] According to the verification formula and the output, obtaining a corrected driving distance;

[0035] Obtaining a distance residual according to the corrected driving distance and the driving distance of the detector;

[0036] If the distance residual is greater than a threshold, the parameters of the neural network model are adjusted according to the distance residual and a back propagation algorithm.

[0037] In a possible implementation, the verification model is:

[0038]

[0039] In the formula, D 1. D 2. D 3 are the three-dimensional distances, a 1. a 2. a 3 are the three-dimensional accelerations, ∆t is the time difference between two adjacent intervals, n is the total number of point groups.

[0040] In a third aspect, an embodiment of the present invention provides a terminal, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, it implements the steps of the method described in the second aspect or any possible implementation method of the second aspect.

[0041] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the second aspect or any possible implementation of the second aspect are implemented.

[0042] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0043] An embodiment of the present invention discloses an underground power pipeline path detection device, which lowers a detector into the power pipeline, and fits the power pipeline through the three-dimensional acceleration obtained by the detector and the travel distance of the detector obtained by a winch. It is less affected by external electromagnetic waves, sound waves and other factors, has high detection accuracy, and the device operates more stably.

[0044] The embodiment of the present invention discloses a method for detecting the path of an underground power pipeline, which first obtains multiple point groups and ground distances, the point groups are based on the driving distance and the motion state obtained at the same preset time, then, according to the relationship between the motion state and the driving distance, a motion state correction model is established, then, according to the motion state and the ground distance, the motion state correction model is verified and corrected, and finally, the path of the power pipeline is obtained according to the corrected motion state. The method of the present invention corrects the motion state through the relationship between the motion state and the driving distance, eliminating the error of the three-dimensional acceleration obtained by the detection device, so that the accuracy of power pipeline detection is higher, and the detection result is more accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 creative labor.

[0046] Figure 1 It is a schematic diagram of underground power pipeline path detection provided by an embodiment of the present invention;

[0047] Figure 2 It is a top-view coordinate diagram of the underground power pipeline path provided by an embodiment of the present invention;

[0048] Figure 3 It is a main view coordinate diagram of the underground power pipeline path provided by an embodiment of the present invention;

[0049] Figure 4 It is a structural perspective view of an underground power pipeline path detection device provided by an embodiment of the present invention;

[0050] Figure 5 It is a flow chart of the underground power pipeline path detection method provided by an embodiment of the present invention;

[0051] Figure 6 It is a functional block diagram of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary details.

[0053] In order to make the purpose, technical solutions and advantages of the present invention more clear, a specific implementation method will be described below in conjunction with the accompanying drawings.

[0054] The following is a detailed description of an embodiment of the present invention. This example is implemented based on the technical solution of the present invention, and provides a detailed implementation method and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0055] Figure 1 A schematic diagram of underground power pipeline path detection provided by an embodiment of the present invention.

[0056] like Figure 1 As shown, it shows the schematic diagram of underground power pipeline path detection provided by an embodiment of the present invention, which is described in detail as follows:

[0057] An underground power pipeline path detection device, comprising:

[0058] Detector 102 and path calculation terminal 403;

[0059] The detector 102 is used to obtain the motion state of the detector 102 at multiple preset moments;

[0060] The path calculation terminal 403 is used to obtain the travel distance of the detector 102 at the multiple preset time moments, and determine the path of the power pipeline 101 based on the ground distance and multiple point groups, wherein the point group includes the travel distance and the motion state at the same preset time moment, and the ground distance is the ground distance corresponding to the total travel path of the detector 102.

[0061] In some embodiments, the motion state includes three-dimensional acceleration, and the detector 102 includes: a control module and a sensor module, wherein the sensor module is signal-connected to the control module;

[0062] The sensor module is used to collect the acceleration in the travel direction and the two-axis deflection angle of the detector 102;

[0063] The control module is used to obtain the travel acceleration and the two-axis deflection angle according to the indication information, and calculate and output the three-dimensional acceleration;

[0064] The two axes are respectively a pitch axis and a yaw axis.

[0065] In some embodiments, the detector 102 also includes: a main body 401 and a balance block 402, the sensor module and the balance block 402 are fixedly arranged, the main body 401 moves along the pipeline, the balance block 402 is rotatably connected to the main body 401, and the center of gravity of the balance block 402 is close to the lower end of the balance block 402, so that when the main body 401 rolls, the center of gravity of the balance block 402 is always at the lowest position.

[0066] In some embodiments, the path calculation terminal 403 includes: a calculation unit and a hoist 103, wherein the calculation unit is signal-connected to the hoist 103;

[0067] The hoist 103 is used to drive the detector 102 to move;

[0068] The calculation unit is used to obtain the travel distance of the detector 102 through the winch 103 at the multiple preset time periods, issue instruction information to instruct the collection of the motion state of the detector 102 at the multiple preset time periods, and determine the path of the power pipeline 101 according to the ground distance, the multiple motion states and the multiple travel distances.

[0069] For example, for the detection of the power pipeline path, the detection of the trajectory of the ground projection is relatively simple. For example, by detecting the electromagnetic waves radiated by the power line, the trajectory of the power line mapped on the ground can be roughly drawn. Figure 1 The vehicle 104 is provided with a plurality of devices for detecting power frequency signals. By receiving the power frequency signals, the specific location of the power pipeline 101 buried on the ground can be known. Figure 2 The electric line coordinate diagram is shown.

[0070] However, although there are many existing technologies for determining the buried depth of power lines, the accuracy is generally not high. Figure 3 The main view coordinate diagram shown in the figure can then determine the path of the power pipeline.

[0071] The embodiment of the present invention adopts a detection device based on the inertial navigation principle, which includes a detector 102 that can move along the power pipeline 101. The detector 102 is internally provided with an acceleration sensor and a two-axis gyroscope, and also includes a path calculation terminal 403 that cooperates with the detector 102. The two cooperate to achieve accurate detection of the power pipeline path.

[0072] The detector 102 moves along the power pipeline 101, and obtains the acceleration in the direction of travel and the deflection angle of the two axes. In the embodiment of the present invention, the body 401 of the detector 102 is in contact with the inside of the power pipeline 101 through the wheels on the legs, and the gyroscope used to obtain the acceleration and angle of the detector 102 is arranged on the balance block 402. The balance block 402 is provided with a counterweight block, which is located at the bottom of the balance block 402. Since the balance block 402 and the body 401 are rotatably connected, when the body 401 rolls, the force of the counterweight block makes the gyroscope always in a relatively stable position. In other words, the rolling of the body 401 is offset by the low center of gravity of the balance block 402, so that the detection signal of the gyroscope is almost not affected by the rolling effect.

[0073] As we know, the direction of travel also includes rotation in two directions, namely pitch and yaw. In some application scenarios, the overall shape of the detector 102 is a cylinder, and the movement of the detector 102 is always along its main axis - the axis of the cylinder. Therefore, there is no need to obtain radial acceleration when obtaining acceleration. In this way, the number of sensors is reduced and the difficulty of data processing is reduced.

[0074] In one application scenario, the detector 102 moves forward under the action of an external force, for example Figure 1 The path calculation terminal 403 is provided with a winch 103 that can wind up the traction rope. The length of the wound traction rope is the length of the travel of the detector 102. The length of the wound traction rope, that is, the travel distance of the detector 102, can be simply calculated through the diameter and winding angle of the drum of the winch 103.

[0075] Through the above-mentioned acceleration and the rotation angle of the two axes, we can decompose the acceleration by force decomposition to obtain three-dimensional acceleration. The first-order integral of the acceleration obtains the velocity, and the second-order integral obtains the distance. If the acceleration is obtained separately in multiple time periods, according to Newton's laws of motion, we can know the distance that the detector 102 moves in three dimensions.

[0076] However, due to manufacturing accuracy and other factors, the actual distance obtained by the gyroscope and accelerometer has an accumulated error that becomes increasingly unacceptable over time, and regular position calibration is essential.

[0077] In the implementation manner of the present invention, the winding length and three-dimensional acceleration of the traction rope are obtained synchronously, and the three-dimensional acceleration is calibrated by the winding length.

[0078] The implementation method of the underground power pipeline path detection device of the present invention is to lower the detector 102 into the power pipeline 101, and fit the power pipeline 101 through the three-dimensional acceleration obtained by the detector 102 and the travel distance of the detector 102 obtained by the winch 103. It is less affected by external electromagnetic waves, sound waves and other factors, has high detection accuracy, and the device works more stably.

[0079] According to the following Figure 2 , Figure 3 as well as Figure 5 , and the calibration methods are explained in detail respectively.

[0080] An embodiment of the present invention provides an underground power pipeline path detection method, which is applied to the underground power pipeline path detection device as described in the previous aspect, and the method includes:

[0081] In step 501, a plurality of point groups and ground distances are obtained, wherein the ground distance is the ground distance corresponding to the total travel path of the detector 102, and the point groups are based on the travel distance and the motion state obtained at the same preset time;

[0082] In step 502, a motion state correction model is established according to the relationship between the motion state and the driving distance;

[0083] In step 503, the motion state correction model is verified and corrected according to the motion state and the ground distance;

[0084] In step 504 , the path of the electric power pipeline 101 is acquired according to the corrected motion state.

[0085] In some implementations, verifying and correcting the motion state correction model according to the motion state and the ground distance includes:

[0086] Establishing a verification model according to the relationship between the plurality of motion states and the ground distance;

[0087] determining a path fitting residual according to an output of the verification model and the ground distance;

[0088] The parameters of the motion state correction model are corrected according to the path fitting residual until the path fitting residual is smaller than a preset value.

[0089] In some embodiments, the motion state correction model includes a neural network model and a verification formula, wherein the neural network model includes: an input layer and an output layer, the input layer includes three nodes for inputting three-dimensional acceleration, and the output layer includes three nodes for outputting three-dimensional acceleration;

[0090] The verification formula is:

[0091]

[0092] In the formula, a 1. a 2. a 3 are the three-dimensional accelerations, ∆t is the time difference between two adjacent intervals, ∆L is the travel distance of the detector 102 at two adjacent intervals;

[0093] The step of establishing a motion state correction model according to the relationship between the motion state and the driving distance includes:

[0094] Inputting the three-dimensional acceleration into the neural network model to obtain an output of the neural network, wherein the output includes the three-dimensional acceleration corrected by the neural network model;

[0095] According to the verification formula and the output, obtaining a corrected driving distance;

[0096] Obtaining a distance residual according to the corrected travel distance and the travel distance of the detector 102;

[0097] If the distance residual is greater than a threshold, the parameters of the neural network model are adjusted according to the distance residual and a back propagation algorithm.

[0098] In some embodiments, the validation model is:

[0099]

[0100] In the formula, D 1. D 2. D 3 are the three-dimensional distances, a 1. a 2. a 3 are the three-dimensional accelerations, ∆t is the time difference between two adjacent intervals, n is the total number of point groups.

[0101] For example, Figure 2 As shown, as mentioned above, the offset w between the power pipeline 101 and the main line of the power pipeline 101 can be obtained by detecting the power frequency of the power line through the trolley 104, while for the buried depth h of the power pipeline 101, there are fewer surveying and mapping means, and the existing technology often has large deviations.

[0102] The straight-line distance between the starting and ending points of the power pipeline 101 is D, and in general applications, the starting and ending points are both located at the road surface end of the power pipeline 101, and the actual curve length of the power pipeline 101 is L.

[0103] It can be seen from this that by knowing the buried depth h corresponding to each pipeline, we can know the path of the power pipeline 101.

[0104] For inertial navigation, the biggest problem is the cumulative error, which can be corrected by obtaining the path of the three-dimensional acceleration at the same time. Since the three-dimensional acceleration is affected by several factors in addition to the manufacturing accuracy of the acceleration sensor and gyroscope, the relationship between the three-dimensional acceleration obtained by the sensor and the real three-dimensional acceleration (the three-dimensional acceleration after eliminating the error) can be established through the training of the neural network.

[0105] Neural network models are usually divided into three layers: input layer, middle layer and output layer. The middle layer is the key layer, which converts input data into output data through the activation function. The weight parameter of the activation function is the key item for adjusting the neural network model. It is obtained by comparing the output of the neural network model with the actual results through the known data, and then changing it iteratively through the back propagation algorithm.

[0106] In the embodiment of the present invention, the input layer corresponds to the input three-dimensional acceleration (the three-dimensional acceleration obtained from the detector 102), and the output layer is the three-dimensional acceleration after eliminating the error. The data output by the output layer is input into the verification formula, and the verification formula is:

[0107]

[0108] In the formula, a 1. a 2. a 3 are the three-dimensional accelerations, ∆t is the time difference between two adjacent intervals, ∆L is the travel distance of the detector 102 at two adjacent intervals.

[0109] Verify whether the three-dimensional acceleration that eliminates the error output by the output layer is accurate. If the driving distance of the detector 102 at two adjacent intervals obtained by the three-dimensional acceleration that eliminates the error through the above verification formula deviates greatly from the driving distance of the detector 102 obtained by winding the traction rope, then modify the weight parameters of the neural network through the back propagation algorithm until the deviation between the two is less than the preset value.

[0110] The three-dimensional acceleration obtained by the above iterative method to eliminate errors may still have fitting drawbacks (for example, there may be overfitting), and it is necessary to verify whether the fitting is smooth enough through the verification model. Therefore, the verification model is introduced, and the verification model is:

[0111]

[0112] In the formula, D 1. D 2. D 3 are the three-dimensional distances, a 1. a 2. a 3 are the three-dimensional accelerations, ∆t is the time difference between two adjacent intervals, n is the total number of point groups.

[0113] In some application scenarios, D 1 can be regarded as the straight line distance between the ends of the power pipeline 101 D , and the acceleration on the right side of the formula is the acceleration at the start and end. Since we are eager to locate between these two lines, the horizontal and vertical distances are both 0, that is, D 1. D 2, and the acceleration on the right side of the equation is the horizontal and vertical acceleration.

[0114] After the three-dimensional acceleration is corrected through the neural network and provided to the verification model for verification, the three-dimensional acceleration fully eliminates the error. The burial depth of the power pipeline 101 can be obtained through the acceleration, thereby obtaining a more accurate path of the power pipeline 101.

[0115] The implementation method of the underground power pipeline path detection method of the present invention first obtains multiple point groups and ground distances, the point groups are based on the driving distance and the motion state obtained at the same preset time, and then, according to the relationship between the motion state and the driving distance, a motion state correction model is established, and then, according to the motion state and the ground distance, the motion state correction model is verified and corrected, and finally, the path of the power pipeline 101 is obtained according to the corrected motion state. The method of the present invention corrects the motion state through the relationship between the motion state and the driving distance, eliminating the error of the three-dimensional acceleration obtained by the detection device, so that the detection accuracy of the power pipeline 101 is higher, and the detection result is more accurate and reliable.

[0116] It should be understood that the size of the serial numbers of the steps in the above implementation does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the implementation method of the present invention.

[0117] The following is an implementation of the device of the present invention. For details not described in detail, reference may be made to the corresponding method implementation described above.

[0118] Figure 6 is a functional block diagram of a terminal provided by an embodiment of the present invention. Figure 6As shown, the terminal 6 of this embodiment includes: a processor 600 and a memory 601, wherein the memory 601 stores a computer program 602 that can be run on the processor 600. When the processor 600 executes the computer program 602, the steps in the above-mentioned power metering device operation and maintenance method and the embodiment are implemented, for example Figure 5 Steps 501 to 504 are shown.

[0119] Exemplarily, the computer program 602 may be divided into one or more modules / units, and the one or more modules / units are stored in the memory 601 and executed by the processor 600 to implement the present invention.

[0120] The terminal 6 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal 6 may include, but is not limited to, a processor 600 and a memory 601. Those skilled in the art will appreciate that Figure 6 It is only an example of terminal 6 and does not constitute a limitation on terminal 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal may also include input and output devices, network access devices, buses, etc.

[0121] The processor 600 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0122] The memory 601 may be an internal storage unit of the terminal 6, such as a hard disk or memory of the terminal 6. The memory 601 may also be an external storage device of the terminal 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital card (SD), a flash card, etc. equipped on the terminal 6. Further, the memory 601 may also include both an internal storage unit of the terminal 6 and an external storage device. The memory 601 is used to store the computer program and other programs and data required by the terminal. The memory 601 may also be used to temporarily store data that has been output or is to be output.

[0123] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the implementation method can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method implementation method, which will not be repeated here.

[0124] In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] Those skilled in the art will appreciate that the units and algorithm steps of each example 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.

[0126] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0127] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0128] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0129] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned implementation method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned implementation methods of the underground power pipeline detection method can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium.

[0130] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for detecting underground power pipeline paths, characterized in that: Applicable to an underground power pipeline path detection device, the underground power pipeline path detection device comprises: Detectors and path calculation terminals; The detector is used to obtain the motion state of the detector at multiple preset moments; The path calculation terminal is used to obtain the travel distance of the detector at the multiple preset moments, and determine the path of the power pipeline according to the ground distance and multiple point groups, wherein the point group includes the travel distance and the motion state at the same preset moment, and the ground distance is the ground distance corresponding to the total travel path of the detector; The underground power pipeline path detection method comprises: Acquire multiple point groups and ground distances, wherein the ground distance is the ground distance corresponding to the total travel path of the detector, and the point groups are based on the travel distance and the motion state acquired at the same preset time; Establishing a motion state correction model according to the relationship between the motion state and the driving distance; Verifying and correcting the motion state correction model according to the motion state and the ground distance; Obtaining the path of the power pipeline according to the corrected motion state; in, The verifying and correcting the motion state correction model according to the motion state and the ground distance includes: Establishing a verification model according to the relationship between the plurality of motion states and the ground distance; determining a path fitting residual according to an output of the verification model and the ground distance; Correcting the parameters of the motion state correction model according to the path fitting residual until the path fitting residual is less than a preset value; in, The motion state correction model includes a neural network model and a verification formula, wherein the neural network model includes: an input layer and an output layer, the input layer includes three nodes for inputting three-dimensional acceleration, and the output layer includes three nodes for outputting three-dimensional acceleration; The verification formula is: In the formula, a 1. a 2. a 3 are the three-dimensional accelerations, ∆t is the time difference between two adjacent intervals, ∆L is the travel distance of the detector at two adjacent intervals; The step of establishing a motion state correction model according to the relationship between the motion state and the driving distance includes: Inputting the three-dimensional acceleration into the neural network model to obtain an output of the neural network, wherein the output includes the three-dimensional acceleration corrected by the neural network model; According to the verification formula and the output, obtaining a corrected driving distance; Obtaining a distance residual according to the corrected driving distance and the driving distance of the detector; If the distance residual is greater than a threshold, adjusting the parameters of the neural network model according to the distance residual and a back propagation algorithm; in, The verification model is: In the formula, D 1. D 2. D 3 are the three-dimensional distances, a 1. a 2. a 3 are the three-dimensional accelerations, ∆t is the time difference between two adjacent intervals, n is the total number of point groups.

2. The underground power pipeline path detection method according to claim 1, characterized in that: The motion state includes three-dimensional acceleration, and the detector includes: a control module and a sensor module, and the sensor module is connected to the control module by signal; The sensor module is used to collect the acceleration in the moving direction and the two-axis deflection angle of the detector; The control module is used to obtain the travel acceleration and the two-axis deflection angle according to the indication information, and calculate and output the three-dimensional acceleration; The two axes are respectively a pitch axis and a yaw axis.

3. The underground power pipeline path detection method according to claim 2, characterized in that: The detector also includes: a main body and a balance block, the sensor module and the balance block are fixedly arranged, the main body moves along the pipeline, the balance block is rotatably connected to the main body, and the center of gravity of the balance block is close to the lower end of the balance block, so that when the body rolls, the center of gravity of the balance block is always at the lowest position.

4. The underground power pipeline path detection method according to any one of claims 1 to 3, characterized in that: The path calculation terminal includes: a calculation unit and a hoist, wherein the calculation unit is connected to the hoist by signal; The winch is used to drive the detector to move forward; The calculation unit is used to obtain the travel distance of the detector through the winch at the multiple preset time periods, issue instruction information to instruct the collection of the motion state of the detector at the multiple preset time periods, and determine the path of the power pipeline according to the ground distance, the multiple motion states and the multiple travel distances.

5. A terminal comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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