Pipeline displacement monitoring method and system based on Beidou, vibration and sound

Abstract

The application relates to a pipeline displacement monitoring method and system based on Beidou, vibration and sound, which comprises the following steps: acquiring positioning coordinates; determining a reference base station and a target base station; acquiring a composite hyperbolic frequency modulation signal received by a microphone of each target base station; acquiring signal flight times according to the composite hyperbolic frequency modulation signals; acquiring seismic wave signals received by each target base station; acquiring seismic wave flight times according to the seismic wave signals; determining the positions of vibration transceiver devices at the current moment according to the positioning coordinates, the seismic wave flight times and the signal flight times; determining the pipeline displacement amount according to the positions of the vibration transceiver devices at the current moment and the previous moment; and monitoring the pipeline displacement according to the pipeline displacement amount. The application solves the problems that manual pipeline displacement inspection is time-consuming and laborious, cannot make prior prediction on dangerous points, can only be used for post-examination and has poor real-time performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of long oil and gas pipeline state monitoring, and particularly relates to a pipeline displacement monitoring method and system based on Beidou, vibration and sound. BACKGROUND

[0002] Long oil and gas pipelines are the main transportation channels for oil and natural gas, and the safety of the long oil and gas pipelines is of great significance to the safety of China's economic construction and energy supply security. If some key oil pipelines are damaged or broken, not only serious environmental disasters will be caused, but also the energy security of China will be seriously threatened.

[0003] China has complex terrain, which is easy to cause deformation, displacement, damage and even breakage of the oil and gas pipelines. In order to meet the business needs and safety protection during the construction and operation of the long pipelines, it is necessary to monitor the oil and gas pipelines. When the oil pipeline is deformed too much and damaged, the damaged location can be found in time and repaired, so as to reduce the loss caused by the interruption of oil and gas transportation. The too much deformation is often accompanied by large displacement of the pipeline, and therefore, a perfect monitoring system needs to be established for the displacement of the oil and gas pipeline.

[0004] The displacement monitoring method of the oil and gas pipeline is mainly through manual inspection. The manual inspection is direct and accurate, but time-consuming and laborious, cannot make prior prediction for the dangerous points, and can only make post investigation, and the real-time performance is poor. SUMMARY

[0005] In order to overcome the problems that the manual inspection of the displacement of the pipeline is time-consuming and laborious, cannot make prior prediction for the dangerous points, and can only make post investigation, and the real-time performance is poor, the present application provides a pipeline displacement monitoring method and system based on Beidou, vibration and sound.

[0006] In a first aspect, in order to solve the above technical problems, the present application provides a pipeline displacement monitoring method based on Beidou, vibration and sound, comprising the following steps:

[0007] S1, obtaining the positioning coordinates of each displacement monitoring base station, the positioning coordinates being the coordinates of the displacement monitoring base station on the Beidou positioning system;

[0008] S2, when any one displacement monitoring base station is taken as a reference base station, each displacement monitoring base station except the reference base station is taken as a target base station, S3-S6 are executed until each displacement monitoring base station is taken as the reference base station, and S7-S9 are executed;

[0009] S3, when the reference base station emits a composite hyperbolic frequency modulation signal, the composite hyperbolic frequency modulation signal received by the microphone of each target base station is obtained;

[0010] S4, obtaining signal flight time between the reference base station and each target base station according to each composite hyperbolic frequency modulation signal, the signal flight time being time of a composite hyperbolic frequency modulation signal from the reference base station to the target base station;

[0011] S5, obtaining seismic wave signals received by each target base station when the reference base station transmits seismic wave signals;

[0012] S6, obtaining seismic wave flight time between the reference base station and each target base station according to the seismic wave signals, the seismic wave flight time being time of the seismic wave signal from the reference base station to the target base station;

[0013] S7, determining the vibration transceiver device position at the current time according to each positioning coordinate, each seismic wave flight time and each signal flight time;

[0014] S8, determining the pipeline displacement amount according to the vibration transceiver device position at the current time and the vibration transceiver device position at the previous time of the current time;

[0015] S9, monitoring the pipeline displacement according to the pipeline displacement amount.

[0016] The pipeline displacement monitoring method based on Beidou, vibration and sound provided by the application has the beneficial effects that: the positioning coordinates of each displacement monitoring base station are obtained through the Beidou positioning system, the signal flight time between the reference base station and the target base station is obtained through the composite hyperbolic frequency modulation signal, the seismic wave flight time between the reference base station and the target base station is obtained through the seismic wave signal, finally, the vibration transceiver device position is obtained by combining the positioning coordinates of the Beidou positioning system, each seismic wave flight time and each signal flight time, and the pipeline displacement amount is determined by the vibration transceiver device position at the current time and the vibration transceiver device position at the previous time of the current time, so that the pipeline displacement can be monitored, the application does not need to arrange artificial field monitoring, only needs to set the displacement monitoring base station and the vibration transceiver device in the field, solves the problems that the artificial pipeline displacement inspection is time-consuming and laborious, cannot make prior prediction for dangerous points, and can only be checked after the event, and real-time performance is poor.

[0017] On the basis of the above technical solution, the pipeline displacement monitoring method based on Beidou, vibration and sound can be further improved as follows.

[0018] Further, the vibration transceiver device position at the current time is determined according to each positioning coordinate, each seismic wave flight time and each signal flight time, and includes:

[0019] The absolute coordinates of each displacement monitoring base station are determined according to each positioning coordinate and each signal flight time, and the absolute coordinates are coordinates obtained by mapping the positioning coordinates of the displacement monitoring base station into a preset coordinate system;

[0020] determine a seismic wave speed estimation value according to each absolute coordinate and each seismic wave flight time, the seismic wave speed estimation value being a propagation speed of the seismic wave signal in the soil;

[0021] determine the vibration transceiver device position at the current time according to each absolute coordinate and the seismic wave speed estimation value.

[0022] The beneficial effect of using the above further scheme is that when the vibration transceiver device position is determined by positioning the vibration transceiver device using the displacement monitoring base stations, the positioning coordinates of each displacement monitoring base station are mapped to the absolute coordinates of the preset coordinate system, thereby improving the positioning accuracy.

[0023] Further, the above determining the absolute coordinates of each displacement monitoring base station according to each positioning coordinate and each signal flight time comprises:

[0024] determining the absolute coordinates of each displacement monitoring base station according to each positioning coordinate and each signal flight time through a first formula, wherein the first formula is:

[0025]

[0026] wherein, respectively represent the absolute coordinates of each displacement monitoring base station, P i , P j respectively represent the positioning coordinates of the i-th displacement monitoring base station and the j-th displacement monitoring base station, represents the positioning coordinates corresponding to the k displacement monitoring base stations, k represents the total number of displacement monitoring base stations, c s represents the speed of sound, represents the signal flight time between the i-th displacement monitoring base station and the j-th displacement monitoring base station, represents the speed of sound in the soil.

[0027] The beneficial effect of using the above further scheme is that by mapping the positioning coordinates of the displacement monitoring base station to the absolute coordinates of the preset coordinate system through the first formula, the positioning accuracy is improved.

[0028] Further, the above determining the seismic wave speed estimation value according to each absolute coordinate and each seismic wave flight time comprises:

[0029] determining the seismic wave speed estimation value according to each absolute coordinate and each seismic wave flight time through a second formula, wherein the second formula is:

[0030]

[0031] wherein, represents the seismic wave speed estimation value, denote absolute coordinates of the i-th displacement monitoring base station and the j-th displacement monitoring base station respectively, denote the seismic wave flight time, and c denotes the seismic wave propagation velocity in the soil.

[0032] The beneficial effect of the further scheme is that the seismic wave velocity estimation value is obtained through the second formula, and the position of the vibration transceiver device is positioned through the seismic wave velocity estimation value and the absolute coordinates.

[0033] Further, the method further comprises:

[0034] obtaining the initial position of the vibration transceiver device, the acoustic signal delay difference from the vibration transceiver device to the displacement monitoring base station, the seismic wave delay difference from the vibration transceiver device to the displacement monitoring base station, the arrival angle of the seismic wave signal when arriving at the target base station, and the gyroscope attitude on the displacement monitoring base station;

[0035] According to the absolute coordinates and the seismic wave velocity estimation value, the position of the vibration transceiver device at the current time is determined, comprising:

[0036] According to the initial position, the absolute coordinates, the seismic wave velocity estimation value, the acoustic signal delay difference, the seismic wave delay difference, the arrival angle and the gyroscope attitude, the position of the vibration transceiver device at the current time is determined through the third formula, wherein the third formula is:

[0037]

[0038] wherein, denote the position of the vibration transceiver device at the current time, c s denote the speed of sound, denote the seismic wave velocity estimation value, denote absolute coordinates of the i-th displacement monitoring base station and the j-th displacement monitoring base station, denote the gyroscope attitude corresponding to the j-th displacement monitoring base station, d denotes the distance vector of the vibration sensor on the displacement monitoring base station to the Beidou positioning system and h = [0, 0, 1], denote the seismic wave delay difference, denote the acoustic signal delay difference, denote the arrival angle, λ denotes a preset correction coefficient introduced by the buried attitude error of the microphone array on the displacement monitoring base station, p k denote the initial position.

[0039] The beneficial effect of the further scheme is that the position of the vibration transceiver device at the current time can be obtained through the third formula, and the vibration transceiver device is arranged on the pipeline, so that the position of the pipeline at the current time can be obtained.

[0040] Further, the above monitoring the pipeline displacement according to the pipeline displacement amount comprises:

[0041] If the pipeline displacement amount exceeds the preset threshold, it is judged that the pipeline displacement is in a dangerous state.

[0042] The beneficial effect of the above further scheme is that by comparing the pipeline displacement amount with the preset threshold, whether the pipeline displacement amount reaches a dangerous degree can be obtained, thereby monitoring the displacement of the pipeline.

[0043] In a second aspect, the present application provides a pipeline displacement monitoring system based on Beidou, vibration and sound, comprising:

[0044] A positioning coordinate module is configured to obtain a positioning coordinate of each displacement monitoring base station, the positioning coordinate being a coordinate of the displacement monitoring base station on a Beidou positioning system;

[0045] A cycle module is configured to, when any one displacement monitoring base station is taken as a reference base station, take each displacement monitoring base station other than the reference base station as a target base station, execute the functions corresponding to the composite hyperbolic frequency modulation signal module, the signal flight time module and the seismic wave signal module, until each displacement monitoring base station is taken as a reference base station and executes the functions corresponding to the vibration transceiver device position module, the pipeline displacement amount module and the monitoring module;

[0046] The composite hyperbolic frequency modulation signal module is configured to, when the reference base station transmits a composite hyperbolic frequency modulation signal, obtain the composite hyperbolic frequency modulation signal received by each target base station through a microphone;

[0047] The signal flight time module is configured to obtain the signal flight time between the reference base station and each target base station according to each composite hyperbolic frequency modulation signal, the signal flight time being the time for a composite hyperbolic frequency modulation signal to travel from the reference base station to the target base station;

[0048] The seismic wave signal module is configured to, when the reference base station transmits a seismic wave signal, obtain the seismic wave signal received by each target base station;

[0049] The seismic wave flight module is configured to obtain the seismic wave flight time between the reference base station and each target base station according to the seismic wave signal, the seismic wave flight time being the time for a seismic wave signal to travel from the reference base station to the target base station;

[0050] The vibration transceiver device position module is configured to determine the vibration transceiver device position at the current time according to each positioning coordinate and each signal flight time;

[0051] The pipeline displacement amount module is configured to determine the pipeline displacement amount according to the vibration transceiver device position at the current time and the vibration transceiver device position at the previous time of the current time;

[0052] The monitoring module is used for monitoring the displacement of the pipeline according to the displacement amount of the pipeline.

[0053] In a third aspect, the present application provides an electronic device, comprising a memory, a processor and a program stored in the memory and running on the processor, and the processor implements the steps of the pipeline displacement monitoring method based on Beidou, vibration and sound when running the program.

[0054] In a fourth aspect, the present application provides a computer readable storage medium, and the computer readable storage medium stores instructions, and the instructions make the terminal device execute the steps of the pipeline displacement monitoring method based on Beidou, vibration and sound when running on the terminal device. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the present application will be further described below with reference to the drawings and embodiments.

[0056] Figure 1 It is a connection diagram of the displacement monitoring base station, the vibration transceiver device, the remote server and the upper computer.

[0057] Figure 2 It is a layout diagram of the displacement monitoring base station and the vibration transceiver device.

[0058] Figure 3 It is a flowchart of the pipeline displacement monitoring method based on Beidou, vibration and sound in the embodiment of the present application.

[0059] Figure 4 It is a structure diagram of the pipeline displacement monitoring system based on Beidou, vibration and sound in the embodiment of the present application. DETAILED DESCRIPTION

[0060] The following embodiments are further explanations and supplements of the present application, and do not constitute any limitation on the present application.

[0061] The following describes a pipeline displacement monitoring method and system based on Beidou, vibration and sound in the embodiment of the present application.

[0062] The pipeline displacement monitoring method based on Beidou, vibration and sound in the embodiment of the present application is applied to the remote server, and the present application scheme is described taking the remote server as the execution subject. The remote server is used to execute the steps of the pipeline displacement monitoring method based on Beidou, vibration and sound.

[0063] In addition, as Figure 1As shown, it comprises a displacement monitoring base station 101, a vibration transceiver device 102, a remote server and a host computer 103, wherein the remote server is connected with the displacement monitoring base station 101 and the vibration transceiver device 102 through a signal tower respectively, such as Figure 2 As shown, the vibration transceiver device 102 is connected with the pipeline 104 through a base clamp, and the displacement monitoring base station 101 is composed of a main control board, a power module, a Beidou satellite navigation positioning chip set, a loudspeaker, a microphone, a gyroscope, a vibration sensor, a sound array sensor and a vibration exciter, and its main function is to receive and generate low-frequency vibration signals (seismic wave signals) and receive low-frequency sound signals (composite hyperbolic frequency modulation signals), and estimate the time delay of the vibration signals (seismic wave flight time) and the time delay of the sound signals (signal flight time), and estimate the angle of arrival of the sound signals, and the vibration transceiver device 102 is composed of a main control board, a vibration sensor, a vibration exciter and a power module, and is used for receiving and generating specific low-frequency vibration signals (seismic wave signals).

[0064] As shown in the Figure 3 The present application provides a pipeline displacement monitoring method based on Beidou, vibration and sound, which comprises the following steps:

[0065] S1, obtaining the positioning coordinates of each displacement monitoring base station, the positioning coordinates being the coordinates of the displacement monitoring base station on the Beidou positioning system;

[0066] S2, when any one displacement monitoring base station is taken as a reference base station, each displacement monitoring base station except the reference base station is taken as a target base station, S3-S6 are executed until each displacement monitoring base station is taken as a reference base station, and S7-S9 are executed;

[0067] S3, when the reference base station transmits a composite hyperbolic frequency modulation signal, the composite hyperbolic frequency modulation signal received by each target base station through a microphone is obtained;

[0068] S4, according to each composite hyperbolic frequency modulation signal, the signal flight time between the reference base station and each target base station is obtained, the signal flight time being the time of one composite hyperbolic frequency modulation signal from the reference base station to the target base station;

[0069] S5, when the reference base station transmits a seismic wave signal, the seismic wave signal received by each target base station is obtained;

[0070] S6, according to the seismic wave signal, the seismic wave flight time between the reference base station and each target base station is obtained, the seismic wave flight time being the time of the seismic wave signal from the reference base station to the target base station;

[0071] S7, according to each positioning coordinate, each seismic wave flight time and each signal flight time, the position of the vibration transceiver device at the current time is determined;

[0072] S8. Determine the pipeline displacement based on the current position of the vibration transceiver and the previous position of the vibration transceiver.

[0073] S9 monitors the pipeline displacement based on the amount of pipeline displacement.

[0074] Optional, such as Figure 2 As shown, this embodiment can use a total of 4 displacement monitoring base stations and 1 vibration transceiver. The displacement monitoring base station can be semi-embedded, with the Beidou antenna and 4G antenna in its Beidou satellite navigation and positioning chip exposed to ensure smooth communication.

[0075] Specifically, in this embodiment, the above four displacement monitoring base stations can be referred to as base station 1, base station 2, base station 3 and base station 4 respectively. Base station 1, base station 2, base station 3 and base station 4 are randomly deployed according to the actual use environment, but it is necessary to ensure that the vibration transceiver is located in the space formed by the four displacement monitoring base stations. The absolute position of each displacement monitoring base station does not need to be manually calibrated.

[0076] Optionally, if base station 1 is used as the reference base station, then base stations 2, 3 and 4 are all used as target base stations, and so on. Each displacement monitoring base station is used as a primary base station. Therefore, when base station 1 transmits a composite hyperbolic frequency modulation signal as the reference base station, base stations 2, 3 and 4 receive the composite hyperbolic frequency modulation signal through microphones. In addition, when base station 1 transmits a seismic wave signal as the reference base station, base stations 2, 3 and 4 switch to listening mode and receive the seismic wave signal.

[0077] Optionally, when transmitting composite hyperbolic frequency modulation (HFM) signals, the four displacement monitoring base stations sequentially transmit HFM signals as reference base stations at 1-second intervals. When transmitting seismic wave signals, the reference base stations transmit seismic wave signals, and the remaining target base stations switch to listening mode to receive seismic wave signals. The process of each target base station receiving seismic wave signals is one cycle, and the process is repeated for four cycles, so that each displacement monitoring base station acts as a base station.

[0078] Optionally, when the target base station receives the composite hyperbolic frequency modulation signal, the time delay of the sound signal is estimated by using matched filtering to obtain the signal flight time between the reference base station and each target base station. In addition, after the seismic wave signal has gone through 4 cycles in turn, the time delay of the vibration signal is estimated by using matched filtering to obtain the seismic wave flight time between the reference base station and each target base station.

[0079] Optionally, determining the current location of the vibration transceiver based on various positioning coordinates, seismic wave flight times, and signal flight times includes:

[0080] determine absolute coordinates of each displacement monitoring base station according to each positioning coordinate and each signal flight time, the absolute coordinates being coordinates obtained by mapping the positioning coordinates of the displacement monitoring base station into a preset coordinate system, wherein the preset coordinate system refers to an absolute coordinate system of the earth;

[0081] determine a seismic wave speed estimation value according to each absolute coordinate and each seismic wave flight time, the seismic wave speed estimation value being a propagation speed of the seismic wave signal in the soil;

[0082] determine a position of the vibration transceiver device at the current time according to each absolute coordinate and the seismic wave speed estimation value.

[0083] Optionally, the determining of the absolute coordinates of each displacement monitoring base station according to each positioning coordinate and each signal flight time comprises:

[0084] determining the absolute coordinates of each displacement monitoring base station according to each positioning coordinate and each signal flight time through a first formula, wherein the first formula is:

[0085]

[0086] wherein, respectively represent absolute coordinates of each displacement monitoring base station, P i , P j respectively represent positioning coordinates of the i th displacement monitoring base station and the j th displacement monitoring base station, represents positioning coordinates corresponding to the k displacement monitoring base stations, k represents a total number of the displacement monitoring base stations, c s represents a sound speed, represents a signal flight time between the i th displacement monitoring base station and the j th displacement monitoring base station, represents a speed of the estimated sound propagating in the soil.

[0087] Optionally, the determining of the seismic wave speed estimation value according to each absolute coordinate and each seismic wave flight time comprises:

[0088] determining the seismic wave speed estimation value according to each absolute coordinate and each seismic wave flight time through a second formula, wherein the second formula is:

[0089]

[0090] wherein, represents the seismic wave speed estimation value, respectively represent absolute coordinates of the i th displacement monitoring base station and the j th displacement monitoring base station, represents the seismic wave flight time, and c represents a propagation speed of the seismic wave in the soil.

[0091] Optionally, after obtaining the seismic wave velocity estimate, the displacement monitoring base station sends control instructions in the form of amplitude modulation through the DA chip into the signal amplification circuit, and then sends the seismic wave signal through the vibration exciter. After that, the displacement monitoring base station is converted into a listening mode, and the vibration transceiver device is awakened after receiving the seismic wave signal. After analyzing the seismic wave signal and confirming the work instructions, the vibration transceiver device is converted into a working mode. The vibration transceiver device sends a seismic wave signal of a specific frequency through the vibration exciter, which is propagated to the outside through the medium. Finally, the displacement monitoring base station collects the seismic wave signal sent by the vibration transceiver device through the acoustic array. In addition, the time delay of the seismic wave signal from the vibration transceiver device to the displacement monitoring base station is estimated through the matched filter algorithm to obtain the seismic wave delay difference. The time delay of the sound from the vibration transceiver device to the displacement monitoring base station when the vibration transceiver device sends the seismic wave signal is estimated through the matched filter algorithm to obtain the sound signal delay difference. After obtaining the above data, the position of the vibration transceiver device can be determined. Therefore, the method further comprises:

[0092] obtaining the initial position of the vibration transceiver device, the sound signal delay difference from the vibration transceiver device to the displacement monitoring base station, the seismic wave delay difference from the vibration transceiver device to the displacement monitoring base station, the angle of arrival of the seismic wave signal when it reaches the target base station, and the gyroscope attitude on the displacement monitoring base station;

[0093] determining the position of the vibration transceiver device at the current time according to each absolute coordinate and the seismic wave velocity estimate, comprising:

[0094] determining the position of the vibration transceiver device at the current time according to the initial position, each absolute coordinate, the seismic wave velocity estimate, the sound signal delay difference, the seismic wave delay difference, the angle of arrival, and the gyroscope attitude through a third formula, wherein the third formula is:

[0095]

[0096] wherein, represents the position of the vibration transceiver device at the current time, c s represents the speed of sound, represents the seismic wave velocity estimate, represents the absolute coordinates of the i-th displacement monitoring base station and the j-th displacement monitoring base station, represents the gyroscope attitude corresponding to the j-th displacement monitoring base station, d represents the distance vector of the vibration sensor on the displacement monitoring base station to the Beidou positioning system, and h = [0, 0, 1], represents the seismic wave delay difference, represents the sound signal delay difference, represents the angle of arrival, λ represents a preset correction coefficient introduced by the error of the buried attitude of the microphone array on the displacement monitoring base station, pk Indicates the initial position.

[0097] Optionally, the above-mentioned monitoring of pipeline displacement based on pipeline displacement includes:

[0098] If the pipeline displacement exceeds a preset threshold, it is determined that the pipeline displacement is in a dangerous state.

[0099] Optionally, the preset threshold can be modified according to the actual usage environment.

[0100] like Figure 4 As shown, this embodiment of the invention also provides a pipeline displacement monitoring system based on BeiDou, vibration, and sound, including:

[0101] The positioning coordinate module 201 is used to obtain the positioning coordinates of each displacement monitoring base station. The positioning coordinates are the coordinates of the displacement monitoring base station on the Beidou positioning system.

[0102] The loop module 202 is used to take any displacement monitoring base station as the reference base station, and take each of the other displacement monitoring base stations besides the reference base station as the target base station, and execute the functions corresponding to the composite hyperbolic frequency modulation signal module, the signal flight time module and the seismic wave signal module, until each displacement monitoring base station is taken as the reference base station and executes the functions corresponding to the vibration transceiver position module, the pipeline displacement module and the monitoring module.

[0103] The composite hyperbolic frequency modulation signal module 203 is used to acquire the composite hyperbolic frequency modulation signals received by each target base station through the microphone when the reference base station transmits the composite hyperbolic frequency modulation signal;

[0104] The signal flight time module 204 is used to obtain the signal flight time between the reference base station and each target base station based on each composite hyperbolic frequency modulated signal. The signal flight time is the time it takes for a composite hyperbolic frequency modulated signal to travel from the reference base station to the target base station.

[0105] The seismic wave signal module 205 is used to acquire the seismic wave signals received by each target base station when the reference base station transmits seismic wave signals;

[0106] The seismic wave flight module 206 is used to obtain the seismic wave flight time between the reference base station and each target base station based on the seismic wave signal. The seismic wave flight time is the time it takes for the seismic wave signal to travel from the reference base station to the target base station.

[0107] The vibration transceiver position module 207 is used to determine the current position of the vibration transceiver based on various positioning coordinates and the flight time of each signal.

[0108] The pipeline displacement amount module 208 is configured to determine a pipeline displacement amount according to the vibration transceiver position at the current time and the vibration transceiver position at the previous time of the current time.

[0109] The monitoring module 209 is configured to monitor the pipeline displacement according to the pipeline displacement amount.

[0110] Optionally, the vibration transceiver position module 207 further comprises:

[0111] The absolute coordinate module is configured to determine an absolute coordinate of each displacement monitoring base station according to the positioning coordinates and the signal flight times, the absolute coordinate being a coordinate obtained by mapping the positioning coordinates of the displacement monitoring base station into a preset coordinate system.

[0112] The seismic wave speed estimation module is configured to determine a seismic wave speed estimation value according to the absolute coordinates and the seismic wave flight times, the seismic wave speed estimation value being a propagation speed of the seismic wave signal in the soil.

[0113] The position determination module is configured to determine the vibration transceiver position at the current time according to the absolute coordinates and the seismic wave speed estimation value.

[0114] Optionally, the absolute coordinate module is specifically configured to:

[0115] determine the absolute coordinate of each displacement monitoring base station according to the positioning coordinates and the signal flight times through a first formula, wherein the first formula is:

[0116]

[0117] wherein, respectively represent the absolute coordinates of each displacement monitoring base station, P i , P j respectively represent the positioning coordinates of the i th displacement monitoring base station and the j th displacement monitoring base station, represents the positioning coordinates corresponding to the k displacement monitoring base stations, k represents the total number of displacement monitoring base stations, c s represents the speed of sound, represents the signal flight time between the i th displacement monitoring base station and the j th displacement monitoring base station, represents the speed of sound in the soil.

[0118] Optionally, the seismic wave speed estimation module is specifically configured to:

[0119] determine the seismic wave speed estimation value according to the absolute coordinates and the seismic wave flight times through a second formula, wherein the second formula is:

[0120]

[0121] wherein, denotes a seismic wave velocity estimate, denotes absolute coordinates of the i-th displacement monitoring base station and the j-th displacement monitoring base station, respectively, denotes a seismic wave flight time, and c denotes a velocity of a seismic wave propagating in soil.

[0122] Optionally, the system further comprises:

[0123] a data acquisition module configured to acquire an initial position of the vibration transceiver device, a sound signal delay difference from the vibration transceiver device to the displacement monitoring base station, a seismic wave delay difference from the vibration transceiver device to the displacement monitoring base station, an angle of arrival of the seismic wave signal at the target base station, and a gyroscope attitude on the displacement monitoring base station;

[0124] a position determination module configured to:

[0125] determine the position of the vibration transceiver device at the current time according to the initial position, the absolute coordinates, the seismic wave velocity estimate, the sound signal delay difference, the seismic wave delay difference, the angle of arrival, and the gyroscope attitude, by a third formula, wherein the third formula is:

[0126]

[0127] wherein, denotes the position of the vibration transceiver device at the current time, and c s denotes a sound velocity, denotes a seismic wave velocity estimate, denotes absolute coordinates of the i-th displacement monitoring base station and the j-th displacement monitoring base station, denotes a gyroscope attitude corresponding to the j-th displacement monitoring base station, and d denotes a distance vector of a vibration sensor on the displacement monitoring base station from the Beidou positioning system and h = [0, 0, 1], denotes a seismic wave delay difference, denotes a sound signal delay difference, denotes an angle of arrival, and λ denotes a preset correction coefficient introduced by a buried attitude error of a microphone array on the displacement monitoring base station, and p k denotes an initial position.

[0128] Optionally, the monitoring module 209 is specifically configured to:

[0129] if the displacement of the pipeline exceeds the preset threshold, it is determined that the displacement of the pipeline is in a dangerous state.

[0130] An electronic device according to an embodiment of the present application includes a memory, a processor, and a program stored in the memory and running on the processor, and the processor implements part or all of the steps of the above-mentioned pipeline displacement monitoring method based on Beidou, vibration, and sound when running the program.

[0131] Correspondingly, the program is computer software, and the parameters and steps described above in the electronic device can refer to the parameters and steps in the above-mentioned embodiment of the pipeline displacement monitoring method based on Beidou, vibration, and sound, which will not be repeated here.

[0132] Those skilled in the art know that the present application can be implemented as a system, a method, or a computer program product. Therefore, the present disclosure can be embodied in the form of a complete hardware, a complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, which are generally referred to as "circuitry", "module", or "system" herein. In addition, in some embodiments, the present application can also be embodied in the form of a computer program product in one or more computer readable media, which contains computer readable program codes. The computer readable storage medium may, for example, be but not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any combination thereof.

[0133] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0134] Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements, and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A pipeline displacement monitoring method based on Beidou, vibration and sound, characterized in that, The method comprises the following steps: S1, obtaining positioning coordinates of each displacement monitoring base station, the positioning coordinates being coordinates of the displacement monitoring base station on a Beidou positioning system; S2, taking any one of the displacement monitoring base stations as a reference base station, and taking each of the displacement monitoring base stations other than the reference base station as a target base station, performing S3-S6 until each of the displacement monitoring base stations is taken as the reference base station once, and performing S7-S9; S3, when the reference base station transmits a composite hyperbolic frequency modulation signal, obtaining the composite hyperbolic frequency modulation signal received by each of the target base stations through a microphone; S4, according to each of the composite hyperbolic frequency modulation signals, obtaining a signal flight time between the reference base station and each of the target base stations, the signal flight time being a time for one of the composite hyperbolic frequency modulation signals from the reference base station to the target base station; S5, when the reference base station transmits an earthquake wave signal, obtaining the earthquake wave signal received by each of the target base stations; S6, according to the earthquake wave signal, obtaining an earthquake wave flight time between the reference base station and each of the target base stations, the earthquake wave flight time being a time for the earthquake wave signal from the reference base station to the target base station; S7, determining a vibration transceiver device position at a current time according to each of the positioning coordinates, each of the earthquake wave flight times, and each of the signal flight times; S8, determining a pipeline displacement amount according to the vibration transceiver device position at the current time and a vibration transceiver device position at a previous time of the current time; S9, monitoring pipeline displacement according to the pipeline displacement amount; The method of determining the vibration transceiver device position at the current time according to each of the positioning coordinates, each of the earthquake wave flight times, and each of the signal flight times comprises: determining absolute coordinates of each of the displacement monitoring base stations according to each of the positioning coordinates and each of the signal flight times, the absolute coordinates being coordinates obtained by mapping the positioning coordinates of the displacement monitoring base station into a preset coordinate system; determining an earthquake wave speed estimation value according to each of the absolute coordinates and each of the earthquake wave flight times, the earthquake wave speed estimation value being a propagation speed of the earthquake wave signal in soil; determining the vibration transceiver device position at the current time according to each of the absolute coordinates and the earthquake wave speed estimation value.

2. The method of claim 1, wherein, The method of determining the absolute coordinates of each of the displacement monitoring base stations according to each of the positioning coordinates and each of the signal flight times comprises: determining the absolute coordinates of each of the displacement monitoring base stations according to each of the positioning coordinates and each of the signal flight times through a first formula, wherein the first formula is: ； wherein, respectively represent absolute coordinates of each displacement monitoring base station, respectively represent positioning coordinates of the i-th displacement monitoring base station and the j-th displacement monitoring base station, represents positioning coordinates corresponding to k displacement monitoring base stations, k represents the total number of displacement monitoring base stations, represents the speed of sound, represents the signal flight time between the i-th displacement monitoring base station and the j-th displacement monitoring base station, represents the estimated speed of sound propagation in the soil.

3. The method of claim 1, wherein, The method of determining the earthquake wave speed estimation value according to each of the absolute coordinates and each of the earthquake wave flight times comprises: determining the earthquake wave speed estimation value according to each of the absolute coordinates and each of the earthquake wave flight times through a second formula, wherein the second formula is: ， ， wherein, denotes a seismic wave velocity estimate, denotes absolute coordinates of the i-th and j-th displacement monitoring stations, respectively, denotes a seismic wave flight time, c denotes a velocity of propagation of the seismic wave in the soil.

4. The method of claim 1, wherein, The method further comprises: acquiring an initial position of the vibration transceiver device, a sound signal delay difference from the vibration transceiver device to the displacement monitoring base station, a seismic wave signal delay difference from the vibration transceiver device to the displacement monitoring base station, an angle of arrival of a seismic wave signal at the target base station, and a gyroscope attitude on the displacement monitoring base station; the vibration transceiver device position at the current time is determined according to each absolute coordinate and the seismic wave speed estimation value, including: the vibration transceiver device position at the current time is determined according to the initial position, each absolute coordinate, the seismic wave speed estimation value, the sound signal delay difference, the seismic wave delay difference, the angle of arrival and the gyroscope attitude, through a third formula, wherein the third formula is: ； wherein, represents the current time, represents the sound velocity, represents the seismic wave velocity estimation value, represents the absolute coordinates of the i-th displacement monitoring base station and the j-th displacement monitoring base station, represents the gyroscope attitude corresponding to the j-th displacement monitoring base station, represents the distance vector from the vibration sensor on the displacement monitoring base station to the Beidou positioning system, and = [0, 0, 1], represents the seismic wave delay difference, represents the sound signal delay difference, represents the angle of arrival, represents the preset correction coefficient introduced by the buried attitude error of the microphone array on the displacement monitoring base station, represents the initial position.

5. The method of claim 1, wherein, the pipeline displacement is monitored according to the pipeline displacement amount, including: if the pipeline displacement amount exceeds a preset threshold, it is judged that the pipeline displacement is in a dangerous state.

6. A pipeline displacement monitoring system based on Beidou, vibration and sound, characterized in that, including: a positioning coordinate module is configured to acquire a positioning coordinate of each displacement monitoring base station, the positioning coordinate being a coordinate of the displacement monitoring base station on a Beidou positioning system; a loop module is configured to, when any one of the displacement monitoring base stations is taken as a reference base station, take each of the displacement monitoring base stations other than the reference base station as a target base station, execute corresponding functions of a complex hyperbolic frequency modulation signal module, a signal flight time module and a seismic wave signal module, until each of the displacement monitoring base stations is taken as the reference base station, and corresponding functions of a vibration transceiver device position module, a pipeline displacement amount module and a monitoring module are executed; the complex hyperbolic frequency modulation signal module is configured to, when the reference base station transmits a complex hyperbolic frequency modulation signal, acquire the complex hyperbolic frequency modulation signal received by each target base station through a microphone; the signal flight time module is configured to acquire a signal flight time between the reference base station and each target base station according to each complex hyperbolic frequency modulation signal, the signal flight time being a time for one complex hyperbolic frequency modulation signal from the reference base station to the target base station; the seismic wave signal module is configured to, when the reference base station transmits a seismic wave signal, acquire the seismic wave signal received by each target base station; the seismic wave flight module is configured to acquire a seismic wave flight time between the reference base station and each target base station according to the seismic wave signal, the seismic wave flight time being a time for the seismic wave signal from the reference base station to the target base station; the vibration transceiver device position module is configured to determine a vibration transceiver device position at a current time according to each positioning coordinate and each signal flight time; the pipeline displacement amount module is configured to determine a pipeline displacement amount according to the vibration transceiver device position at the current time and the vibration transceiver device position at a previous time of the current time; the monitoring module is configured to monitor pipeline displacement according to the pipeline displacement amount; the vibration transceiver device position module is specifically configured to: According to each of the positioning coordinates and each of the signal flight times, an absolute coordinate of each of the displacement monitoring base stations is determined, the absolute coordinate being a coordinate obtained by mapping the positioning coordinate of the displacement monitoring base station into a preset coordinate system; According to each of the absolute coordinates and each of the seismic wave flight times, a seismic wave speed estimation value is determined, the seismic wave speed estimation value being a propagation speed of the seismic wave signal in soil; According to each of the absolute coordinates and the seismic wave speed estimation value, a current time instant vibration transceiver device position is determined.

7. An electronic device comprising a memory, a processor, and a program stored on the memory and running on the processor, characterized in that, The processor implements the steps of the pipeline displacement monitoring method based on Beidou, vibration and sound according to any one of claims 1 to 5 when executing the program.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions, and when the instructions run on the terminal device, the terminal device executes the steps of the pipeline displacement monitoring method based on Beidou, vibration and sound according to any one of claims 1 to 5.

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