An underground pipeline positioning device, method and apparatus

Abstract

This invention discloses an underground pipeline positioning device, method, and equipment. The device includes a pipeline locator, a fixed support, a mobile carrier, a rotary motor, a laser ranging mechanism, an inclination sensor, an electromagnetic data acquisition mechanism, and a computing unit. The laser ranging mechanism is mounted on the rotary motor and is used to acquire position data. The electromagnetic data acquisition mechanism is located at the first end of the pipeline locator, which is rotatably connected to the rotary motor. This mechanism is used to acquire magnetic induction intensity when the target point meets a preset vertical condition. The inclination sensor is located at the second end of each pipeline locator and is used to acquire angle data. The computing unit is used to acquire and determine the burial depth of the underground pipeline based on the position data and the angle data. This invention solves the technical problem that existing underground pipeline detection methods suffer from a significant decrease in measurement accuracy when faced with large variations in the burial depth of underground pipelines, thus failing to meet the high-precision measurement requirements in engineering.

Description

Technical Field

[0001] This invention relates to the field of underground pipeline inspection technology, and in particular to an underground pipeline positioning device, method and equipment. Background Technology

[0002] In recent years, with the rapid development of the domestic power grid, underground pipelines have been widely used to reduce the space occupied by overhead lines. Considering that power grid renovation and underground pipeline relocation may cause existing drawings and data to no longer accurately reflect the laying path of underground pipelines, it is very difficult to locate underground pipelines if the location information is not clear. This not only wastes a lot of manpower, material resources and time, but also causes incalculable losses.

[0003] Currently, a pipeline locator is generally used to measure underground pipelines, which can obtain the specific location information of the pipeline, including the actual location mark and burial depth. A pipeline locator is an instrument used on the ground to measure the location and depth of underground metal pipes, wires, and cables; it consists of a transmitter and a receiver.

[0004] Most existing underground pipeline detection methods use electromagnetic methods to locate conventionally buried metal pipelines. This involves applying an AC voltage of a certain frequency between the buried pipeline and the grounding electrode using a signal transmitter. The receiver measures the difference in the intensity of the induced signal from two vertically arranged horizontal coils. The distance between the center of the buried pipeline and the bottom hollow coil is then calculated using a simple formula. However, this method becomes significantly less accurate when the burial depth of the underground pipeline varies greatly, making it unable to meet the high-precision measurement requirements of engineering projects. Summary of the Invention

[0005] This invention provides an underground pipeline positioning device, method, and equipment, which solves the technical problem that existing underground pipeline detection methods suffer from a significant decrease in measurement accuracy when faced with large variations in the burial depth of underground pipelines, thus failing to meet the high-precision measurement requirements in engineering.

[0006] The first aspect of the present invention provides an underground pipeline positioning device, the device comprising two pipeline instruments, two fixed supports, a mobile carrier, a rotary motor, a laser ranging mechanism, an inclination sensor, an electromagnetic data acquisition mechanism, and a computing unit;

[0007] The laser ranging mechanism is located at the axis of the rotary motor, and the laser ranging mechanism is used to acquire the position data of the target point associated with the laser ranging mechanism;

[0008] The electromagnetic data acquisition mechanism is installed on each of the pipeline instruments. The first end of each pipeline instrument is rotatably connected to the rotary motor. The electromagnetic data acquisition mechanism is used to rotate and acquire and output the magnetic induction intensity data corresponding to each pipeline instrument when the target point meets the preset vertical condition, driven by the rotary motor.

[0009] Each of the pipeline instruments is equipped with an inclination sensor at its second end. The inclination sensor is used to output the angle data between the two pipeline instruments and the vertical direction when the magnetic induction intensity data reaches the maximum value.

[0010] The calculation unit is used to acquire and determine the burial depth of the underground pipeline based on the location data and the included angle data;

[0011] The rotary motor is mounted on the top of each of the fixed supports;

[0012] Each of the aforementioned fixed brackets is vertically installed on both sides of the mobile vehicle;

[0013] The rotary motor is electrically connected to the electromagnetic data acquisition mechanism;

[0014] Both the laser ranging mechanism and the tilt sensor are communicatively connected to the computing unit.

[0015] Optionally, the electromagnetic data acquisition mechanism includes a first air-core coil and a second air-core coil;

[0016] The first hollow coil and the second hollow coil are disposed at the second end of each of the pipeline instruments and are respectively located on both sides of the tilt sensor;

[0017] The first hollow coil is used to rotate and collect the first magnetic induction intensity corresponding to the pipeline instrument under the drive of the rotating motor when the target point meets the preset vertical condition;

[0018] The second hollow coil is used to rotate and collect the second magnetic induction intensity corresponding to the pipeline instrument under the drive of the rotating motor when the target point meets the preset vertical condition;

[0019] Both the first hollow coil and the second hollow coil are electrically connected to the rotating motor.

[0020] Optionally, the two pipeline gauges are a first pipeline gauge and a second pipeline gauge, the included angle data is a first included angle corresponding to the first pipeline gauge and a second included angle corresponding to the second pipeline, and the calculation unit is specifically used for:

[0021] Substitute the location data, the first included angle, and the second included angle into the preset first formula and the preset second formula respectively to determine the first height data corresponding to the underground pipeline and the second height data corresponding to the mobile vehicle;

[0022] The difference between the first elevation data and the second elevation data is calculated to determine the burial depth of the underground pipeline.

[0023] Optionally, the preset first formula is specifically:

[0024]

[0025] In the formula, H is the first height data; L is the distance value of the projected point in the position data; H A H represents the height of the first fixed point in the location data. B α is the height of the second fixed point in the location data; α is the first included angle in the included angle data; β is the second included angle in the included angle data.

[0026] The preset second formula is specifically as follows:

[0027]

[0028] In the formula, h is the second altitude data; L is the distance value of the projection point in the location data; H A H represents the height of the first fixed point in the location data. B α is the height of the second fixed point in the location data; α is the first included angle in the included angle data; β is the second included angle in the included angle data.

[0029] Optionally, the mobile vehicle includes a mobile body, a leveling mechanism, casters, and a level.

[0030] The level is positioned at the center of the moving vehicle body;

[0031] One end of the leveling mechanism is connected to the moving vehicle body;

[0032] The other end of the leveling mechanism is rotatably connected to the universal wheel.

[0033] A second aspect of the present invention provides a method for locating underground pipelines, applied to the underground pipeline locating device according to any one of claims 1 to 5, the method comprising:

[0034] Acquire the position data of the target point associated with the laser ranging mechanism;

[0035] When the target point meets the preset vertical condition, the electromagnetic data acquisition mechanism is rotated by a rotary motor to collect and output the magnetic induction intensity data corresponding to the pipeline instrument.

[0036] When the magnetic induction intensity data reaches its maximum value, the angle data between the pipeline instrument and the vertical direction is output.

[0037] Based on the location data and the included angle data, the burial depth of the underground pipeline is determined.

[0038] Optionally, the electromagnetic data acquisition mechanism includes a first hollow coil and a second hollow coil; the step of rotating the electromagnetic data acquisition mechanism to acquire and output the magnetic induction intensity data corresponding to the pipeline instrument by means of a rotary motor when the target point meets the preset vertical condition includes:

[0039] When the target point meets the preset vertical condition, the first hollow coil is rotated by a rotary motor to collect and output the first magnetic induction intensity corresponding to the pipeline instrument.

[0040] When the target point meets the preset vertical condition, the second hollow coil is rotated by a rotary motor to collect and output the second magnetic induction intensity corresponding to the pipeline instrument.

[0041] Optionally, the pipeline instrument is a first pipeline instrument and a second pipeline instrument; the included angle data is a first included angle corresponding to the first pipeline instrument and a second included angle corresponding to the second pipeline; the step of determining the burial depth of the underground pipeline based on the location data and the included angle data includes:

[0042] Substitute the location data, the first included angle, and the second included angle into the preset first formula and the preset second formula respectively to determine the first height data corresponding to the underground pipeline and the second height data corresponding to the mobile vehicle.

[0043] The difference between the first elevation data and the second elevation data is calculated to determine the burial depth of the underground pipeline.

[0044] Optionally, the preset first formula is specifically:

[0045]

[0046] In the formula, H is the first height data; L is the distance value of the projected point in the position data; H A H represents the height of the first fixed point in the location data. B α is the height of the second fixed point in the location data; α is the first included angle in the included angle data; β is the second included angle in the included angle data.

[0047] The preset second formula is specifically as follows:

[0048]

[0049] In the formula, h is the second altitude data; L is the distance value of the projection point in the location data; H AH represents the height of the first fixed point in the location data. B α is the height of the second fixed point in the location data; α is the first included angle in the included angle data; β is the second included angle in the included angle data.

[0050] A third aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the underground pipeline location method as described in any of the preceding claims.

[0051] As can be seen from the above technical solutions, the present invention has the following advantages:

[0052] The first aspect of the technical solution of the present invention provides an underground pipeline positioning device. This device includes two pipeline measuring instruments, two fixed supports, a mobile carrier, a rotary motor, a laser ranging mechanism, an inclination sensor, an electromagnetic data acquisition mechanism, and a computing unit. The laser ranging mechanism is located at the axis of the rotary motor, and the electromagnetic data acquisition mechanisms are respectively mounted on the two pipeline measuring instruments. The first ends of the two pipeline measuring instruments are rotatably connected to the rotary motor, and the second ends of each pipeline measuring instrument are equipped with inclination sensors. The rotary motor is located on the top of the two fixed supports, which are vertically mounted on both sides of the mobile carrier. The rotary motor is electrically connected to the electromagnetic data acquisition mechanism, and the laser ranging mechanism and inclination sensors are communicatively connected to the computing unit. When technicians need to locate underground pipelines, they can use the laser ranging mechanism to locate the pipelines. The optical ranging mechanism acquires the position data of the target point. When the target point meets the preset vertical condition, the electromagnetic data acquisition mechanism rotates and acquires and outputs the magnetic induction intensity data corresponding to each pipeline instrument under the drive of the rotary motor. When the magnetic induction intensity data reaches the maximum value, the angle data between the two pipeline instruments and the vertical direction is output through the tilt sensor. Finally, the underground pipeline burial depth is determined by the calculation unit based on the position data and the angle data. The above scheme, by using the electromagnetic data acquisition device set on the top of the positioning device in conjunction with the dual pipeline instruments, points to the underground pipeline from different positions simultaneously to locate the underground pipeline. This ensures that the positioning accuracy does not decrease as the pipeline burial depth increases, making it suitable for scenarios with large changes in pipeline burial depth and thus meeting the high-precision measurement requirements in engineering.

[0053] The second aspect of the above-mentioned technical solution of the present invention provides a method for locating underground pipelines. First, the position data of the target point associated with the laser ranging mechanism is acquired. When the target point meets the preset vertical condition, the electromagnetic data acquisition mechanism is rotated by a rotary motor to acquire and output the magnetic induction intensity data corresponding to the pipeline instrument. When the magnetic induction intensity data reaches the maximum value, the angle data between the pipeline instrument and the vertical direction is output. Finally, based on the position data and the angle data, the burial depth of the underground pipeline is determined. The calculation process of the burial depth of the underground pipeline in the above solution does not depend on the numerical accuracy of the magnetic induction intensity, which can improve the positioning accuracy of underground pipelines and thus meet the high-precision measurement requirements in engineering. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a schematic diagram of the underground pipeline positioning device provided in Embodiment 1 of the present invention;

[0056] Figure 2 A schematic diagram of the three-dimensional spatial coordinate system constructed by the underground pipeline positioning device provided in Embodiment 1 of the present invention;

[0057] Figure 3 This is a flowchart illustrating the steps of the underground pipeline positioning method provided in Embodiment 2 of the present invention.

[0058] Among them, the appendix Figure 1 The meanings of the markings are as follows:

[0059] 1. Pipeline meter; 2. Rotary motor; 3. Laser rangefinder; 4. First hollow coil; 5. Tilt sensor; 6. Second hollow coil; 7. Fixed bracket; 8. Level; 9. Moving vehicle body; 10. Leveling mechanism; 11. Casters. Detailed Implementation

[0060] This invention provides an underground pipeline positioning device, method, and equipment to address the technical problem that existing underground pipeline detection methods suffer from a significant decrease in measurement accuracy when faced with large variations in the burial depth of underground pipelines, thus failing to meet the high-precision measurement requirements in engineering applications.

[0061] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0062] Please see Figure 1 , Figure 1 This is a schematic diagram of the underground pipeline positioning device provided in Embodiment 1 of the present invention.

[0063] This invention provides an underground pipeline positioning device, comprising two pipeline measuring instruments 1, two fixed supports 7, a moving vehicle 9, a rotary motor 2, a laser ranging mechanism 3, an inclination sensor 5, an electromagnetic data acquisition mechanism, and a computing unit. The laser ranging mechanism 3 is located at the axis of the rotary motor 2 and is used to acquire the position data of the target point associated with it. The electromagnetic data acquisition mechanism is mounted on each pipeline measuring instrument 1, with the first end of each instrument 1 rotatably connected to the rotary motor 2. The electromagnetic data acquisition mechanism is used to locate the target point when it meets a preset vertical condition, and to locate the target point on the rotary motor 2. Driven by motor 2, the rotating unit collects and outputs the magnetic induction intensity corresponding to each pipeline instrument 1; an inclination sensor 5 is installed at the second end of each pipeline instrument 1. The inclination sensor 5 is used to output the angle data between the two pipeline instruments 1 and the vertical direction when the magnetic induction intensity data reaches the maximum value; the calculation unit is used to acquire and determine the burial depth of the underground pipeline based on the position data and the angle data; the rotating motor 2 is set on the top of each fixed support 7; each fixed support 7 is vertically installed on both sides of the moving vehicle; the rotating motor 2 is electrically connected to the electromagnetic data acquisition mechanism; the laser ranging mechanism 3 and the inclination sensor 5 are both communicatively connected to the calculation unit.

[0064] The target points associated with the laser ranging mechanism 3 include fixed points and projection points.

[0065] The location data includes the distance to the projection point, the height of the first fixed point, and the height of the second fixed point.

[0066] The magnetic flux density data includes a first magnetic flux density and a second magnetic flux density.

[0067] The included angle data includes the first included angle and the second included angle.

[0068] It should be noted that the two fixed brackets 7 are vertically fixed on the mobile carrier and maintain a suitable distance. A rotary motor 2 is set on each of the two fixed brackets 7. The upper end of the pipeline instrument 1 is fixed on the rotary motor 2. The rotation of the pipeline instrument 1 is controlled by the rotary motor 2. The laser ranging mechanism 3 is fixed at the axis of the rotary motor 2.

[0069] Furthermore, the position of the laser ranging mechanism 3 is set as a fixed point. Based on this fixed point, a vertical projection is made onto the moving vehicle to obtain the projection point corresponding to the fixed point. The laser ranging mechanism 3 obtains the height of the fixed point from the moving vehicle and the distance between the projection point and the projection point, i.e., the height of the first fixed point, the height of the second fixed point, and the distance between the projection point. Since the pipeline instrument 1 has the function of indicating the direction of the underground pipeline, according to the prompts on the pipeline instrument's function interface, the position and angle of the pipeline instrument 1 are manually adjusted to achieve perpendicularity with the underground pipeline. That is, when the fixed point in the target point meets the preset vertical condition, the rotary motor 2 starts to run, driving the electromagnetic data acquisition mechanism to rotate and collect the magnetic induction intensity data corresponding to the pipeline instrument 1. Since the rotary motor 2 is electrically connected to the electromagnetic data acquisition mechanism, when it is determined that the magnetic induction intensity data has reached the maximum value, the rotary motor 2 automatically stops running. Then, the tilt sensor 5 outputs the angle data between the two pipeline instruments 1 and the vertical direction. Finally, the calculation unit obtains and determines the burial depth of the underground pipeline based on the position data and the angle data. The preset vertical condition is that the line connecting the fixed points is perpendicular to the underground pipeline.

[0070] As a further improvement, the electromagnetic data acquisition mechanism includes a first hollow coil 4 and a second hollow coil 6; the first hollow coil 4 and the second hollow coil 6 are disposed at the second end of the pipeline instrument 1, and the first hollow coil 4 and the second hollow coil 6 are respectively located on both sides of the tilt sensor 5. The first hollow coil 4 is used to rotate and acquire the first magnetic induction intensity corresponding to the pipeline instrument 1 under the drive of the rotary motor 2 when the target point meets the preset vertical condition; the second hollow coil 6 is used to rotate and acquire the second magnetic induction intensity corresponding to the pipeline instrument 1 under the drive of the rotary motor 2 when the target point meets the preset vertical condition; both the first hollow coil 4 and the second hollow coil 6 are electrically connected to the rotary motor 2.

[0071] It should be noted that when the fixed point in the target point meets the preset vertical condition, the rotary motor 2 starts to run and controls the pipeline instrument 1 to rotate around the fixed point. The first hollow coil 4 and the second hollow coil 6 in the electromagnetic data acquisition mechanism also rotate and start to continuously collect electromagnetic induction intensity, namely the first magnetic induction intensity and the second magnetic induction intensity. Since the first hollow coil 4 and the second hollow coil 6 are both electrically connected to the rotary motor 2, when it is determined that the first magnetic induction intensity and the second magnetic induction intensity have reached their maximum values ​​at the same time, the rotary motor 2 stops running and the pipeline instrument 1 stops rotating.

[0072] As a further improvement, the two pipeline instruments 1 are a first pipeline instrument and a second pipeline instrument. The included angle data are the first included angle corresponding to the first pipeline instrument and the second included angle corresponding to the second pipeline. The calculation unit is specifically used to: substitute the position data, the first included angle and the second included angle into the preset first formula and the preset second formula respectively to determine the first height data corresponding to the underground pipeline and the second height data corresponding to the mobile vehicle; perform difference calculation on the first height data and the second height data to determine the burial depth value of the underground pipeline.

[0073] The first preset formula is as follows:

[0074]

[0075] In the formula, H is the first height data; L is the distance value of the projected point in the position data; H A H represents the height of the first fixed point in the location data. B α is the height of the second fixed point in the location data; α is the first included angle in the included angle data; β is the second included angle in the included angle data.

[0076] The second formula is pre-defined as follows:

[0077]

[0078] In the formula, h is the second altitude data; L is the distance value of the projection point in the location data; H A H represents the height of the first fixed point in the location data. B α is the height of the second fixed point in the location data; α is the first included angle in the included angle data; β is the second included angle in the included angle data.

[0079] It should be noted that the collected location data and angle data are sent to the calculation unit, which calculates the height of the underground pipeline above the moving vehicle (first height data) and the height of the moving vehicle above the ground (second height data). Then, the difference between the first and second height data is calculated to obtain the burial depth of the underground pipeline. The specific formula for the difference in the burial depth is: H... 埋深 =Hh; where H 埋深 H represents the burial depth of the underground pipeline; H represents the first elevation data; h represents the second elevation data.

[0080] As a further improvement, the mobile vehicle includes a mobile body 9, a leveling mechanism 10, casters 11, and a level 8; the level 8 is located at the center of the mobile body 9; one end of the leveling mechanism 10 is connected to the mobile body 9; and the other end of the leveling mechanism 10 is rotatably connected to the casters 11.

[0081] It should be noted that the bottom of the mobile vehicle body 9 is equipped with four omnidirectional wheels 11, which allow the mobile vehicle to move in all directions. There is a leveling mechanism 10 between the omnidirectional wheels 11 and the mobile vehicle body 9. Together with the level 8 installed in the center of the mobile vehicle body 9, it can be adjusted to keep the mobile vehicle in a level state.

[0082] Please see Figure 2 Two identical pipeline gauges 1 are placed above the underground pipeline and fixed to a movable carrier 9 using a fixed bracket 7. The movable carrier 9 is kept horizontal by a leveling mechanism 10. The laser ranging mechanism 3 is positioned at the fixed points (A1, B1) of the pipeline gauge 1. The two fixed points A1 and B1 are vertically projected onto the movable carrier to obtain projection points A2 and B2. A three-dimensional spatial coordinate system is constructed with A2 as the origin, the direction of A2 and B2 as the X direction, the direction of the underground pipeline as the Y direction, and the direction of the underground pipeline as the Z direction. The position data is obtained by the laser ranging mechanism 3, that is, the height H of the fixed points A1 and B1 above the movable carrier is measured respectively. A H B The distance L between projection points A2 and B2 is measured. Then, the position and angle of the pipeline instrument 1 are manually adjusted to achieve perpendicularity with the underground pipeline. When the fixed points A1 and B1 of the pipeline instrument 1 are perpendicular to the underground pipeline, the rotary motor 2 starts running. The rotary motor 2 controls the pipeline instrument 1 to rotate around the fixed points A1 and B1 in the plane XA2Z. The first hollow coil 4 and the second hollow coil 6 set on the pipeline instrument 1 respectively collect the first magnetic induction intensity and the second magnetic induction intensity. When the first magnetic induction intensity and the second magnetic induction intensity reach their maximum values ​​simultaneously, the rotary motor 2 stops running, and the pipeline instrument 1... Stop rotating and measure the angle data between the pipeline instrument 1 and the vertical direction using the tilt sensor 5, namely the first angle α and the second angle β. The intersection of the A and B axes of the pipeline instrument 1 at point C is the intersection point of the underground pipeline and the XA2Z plane. Finally, substitute the angle data and position data into the preset first formula and preset second formula respectively to obtain the height of the underground pipeline from the moving vehicle and the height of the moving vehicle above the ground. Perform a difference calculation on the height of the underground pipeline from the moving vehicle and the height of the moving vehicle above the ground to obtain the underground burial depth value. Repeat the above steps to obtain the coordinates of multiple points of the underground pipeline, thereby locating the burial depth and direction of the underground pipeline.

[0083] Furthermore, the coordinates of point C, the intersection of the underground pipeline and the XA2Z plane, are:

[0084]

[0085] Where l is the distance value of the projected point in the location data; H A H represents the height of the first fixed point in the location data. Bα is the height of the second fixed point in the location data; α is the first included angle in the included angle data; β is the second included angle in the included angle data.

[0086] In this embodiment of the invention, the underground pipeline positioning device proposed in this application includes two pipeline measuring instruments, two fixed supports, a mobile carrier, a rotary motor, a laser ranging mechanism, an inclination sensor, an electromagnetic data acquisition mechanism, and a computing unit. The laser ranging mechanism is located at the axis of the rotary motor, and the electromagnetic data acquisition mechanisms are respectively mounted on the two pipeline measuring instruments. The first ends of the two pipeline measuring instruments are rotatably connected to the rotary motor, and the second ends of each pipeline measuring instrument are equipped with inclination sensors. The rotary motor is respectively mounted on the top of the two fixed supports, which are vertically mounted on both sides of the mobile carrier. The rotary motor is electrically connected to the electromagnetic data acquisition mechanism, and the laser ranging mechanism and inclination sensors are communicatively connected to the computing unit. When technicians need to locate underground pipelines, they can use the laser ranging instrument... The system acquires the location data of the target point. When the target point meets the preset vertical condition, the electromagnetic data acquisition mechanism rotates and acquires and outputs the magnetic induction intensity data corresponding to each pipeline instrument under the drive of the rotary motor. When the magnetic induction intensity data reaches the maximum value, the angle data between the two pipeline instruments and the vertical direction is output through the tilt sensor. Finally, the underground pipeline burial depth is determined by the calculation unit based on the location data and the angle data. The above scheme, by using the electromagnetic data acquisition device set on the top of the positioning device in conjunction with the dual pipeline instruments, points to the underground pipeline from different positions simultaneously to locate the underground pipeline. This ensures that the positioning accuracy does not decrease as the pipeline burial depth increases, making it suitable for scenarios with large changes in pipeline burial depth and thus meeting the high-precision measurement requirements in engineering.

[0087] Please see Figure 3 , Figure 3 This is a flowchart illustrating the steps of the underground pipeline positioning method provided in Embodiment 2 of the present invention.

[0088] This invention provides a method for locating underground pipelines, comprising:

[0089] Step 301: Obtain the position data of the target point associated with the laser ranging mechanism.

[0090] In this embodiment, the position data of the target point associated with the laser ranging mechanism is obtained.

[0091] Step 302: When the target point meets the preset vertical conditions, the electromagnetic data acquisition mechanism is rotated by the rotary motor to collect and output the magnetic induction intensity data corresponding to the pipeline instrument.

[0092] The electromagnetic data acquisition mechanism includes a first air-core coil and a second air-core coil.

[0093] The magnetic flux density data includes a first magnetic flux density and a second magnetic flux density.

[0094] Further, step 302 may include the following sub-steps S21-S22:

[0095] S21. When the target point meets the preset vertical condition, the first hollow coil is rotated by the rotary motor to collect and output the first magnetic induction intensity corresponding to the pipeline instrument.

[0096] S22. When the target point meets the preset vertical condition, the second hollow coil is rotated by the rotary motor to collect and output the second magnetic induction intensity corresponding to the pipeline instrument.

[0097] In this embodiment, when the target point meets the preset vertical condition, the electromagnetic data acquisition mechanism is rotated by a rotary motor to collect and output the magnetic induction intensity data corresponding to the pipeline instrument.

[0098] Step 303: When the magnetic induction intensity data reaches its maximum value, output the angle data between the pipeline instrument and the vertical direction.

[0099] It should be noted that when the first magnetic induction intensity and the second magnetic induction intensity reach their maximum values ​​simultaneously, the tilt sensor collects and outputs the angle data between the pipeline instrument and the vertical direction.

[0100] In this embodiment, when the magnetic induction intensity data reaches its maximum value, the angle data between the pipeline instrument and the vertical direction is output.

[0101] Step 304: Determine the burial depth of the underground pipeline based on the location data and the included angle data.

[0102] The pipeline instrument is a first pipeline instrument and a second pipeline instrument.

[0103] The included angle data is the first included angle corresponding to the first pipeline instrument and the second included angle corresponding to the second pipeline.

[0104] Further, step 304 may include the following sub-steps S41-S42:

[0105] S41. Substitute the location data, the first included angle, and the second included angle into the preset first formula and the preset second formula respectively to determine the first height data corresponding to the underground pipeline and the second height data corresponding to the mobile vehicle.

[0106] S42. Perform a difference calculation on the first elevation data and the second elevation data to determine the burial depth of the underground pipeline.

[0107] The first preset formula is as follows:

[0108]

[0109] In the formula, H is the first height data; L is the distance value of the projected point in the position data; HA H represents the height of the first fixed point in the location data. B α is the height of the second fixed point in the location data; α is the first included angle in the included angle data; β is the second included angle in the included angle data.

[0110] The second formula is pre-defined as follows:

[0111]

[0112] In the formula, h is the second altitude data; L is the distance value of the projection point in the location data; H A H represents the height of the first fixed point in the location data. B α is the height of the second fixed point in the location data; α is the first included angle in the included angle data; β is the second included angle in the included angle data.

[0113] In this embodiment, the burial depth of the underground pipeline is determined based on location data and included angle data.

[0114] In this embodiment of the invention, the position data of the target point associated with the laser ranging mechanism is first acquired. When the target point meets the preset vertical condition, the electromagnetic data acquisition mechanism is rotated by a rotary motor to acquire and output the magnetic induction intensity data corresponding to the pipeline instrument. When the magnetic induction intensity data reaches the maximum value, the angle data between the pipeline instrument and the vertical direction is output. Finally, based on the position data and the angle data, the burial depth of the underground pipeline is determined. The calculation process of the burial depth of the underground pipeline in the above scheme does not depend on the numerical accuracy of the magnetic induction intensity, which can improve the positioning accuracy of the underground pipeline and thus meet the high-precision measurement requirements in engineering.

[0115] This invention also provides an electronic device, which includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor performs the underground pipeline location method as described in Embodiment 2 above.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0117] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0118] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0119] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underground pipe locating device, characterized by, The device includes two pipeline instruments, two fixed supports, a mobile carrier, a rotary motor, a laser rangefinder, an inclinometer, an electromagnetic data acquisition mechanism, and a computing unit. The laser ranging mechanism is located at the axis of the rotary motor, and the laser ranging mechanism is used to acquire the position data of the target point associated with the laser ranging mechanism; The electromagnetic data acquisition mechanism is installed on each of the pipeline instruments, and the first end of each pipeline instrument is rotatably connected to the rotary motor. The electromagnetic data acquisition mechanism is used to rotate and acquire and output the magnetic induction intensity data corresponding to each pipeline instrument when the target point meets the preset vertical condition. The preset vertical condition is that the line connecting the fixed points is perpendicular to the underground pipeline. Each of the pipeline instruments is equipped with an inclination sensor at its second end. The inclination sensor is used to output the angle data between the two pipeline instruments and the vertical direction when the magnetic induction intensity data reaches the maximum value. The calculation unit is used to acquire and determine the burial depth of the underground pipeline based on the location data and the included angle data; The rotary motor is mounted on the top of each of the fixed supports; Each of the aforementioned fixed brackets is vertically installed on both sides of the mobile vehicle; The rotary motor is electrically connected to the electromagnetic data acquisition mechanism; Both the laser ranging mechanism and the tilt sensor are communicatively connected to the computing unit.

2. The underground pipe locating apparatus of claim 1, wherein, The electromagnetic data acquisition mechanism includes a first hollow coil and a second hollow coil. The first hollow coil and the second hollow coil are disposed at the second end of each of the pipeline instruments and are respectively located on both sides of the tilt sensor; The first hollow coil is used to rotate and collect the first magnetic induction intensity corresponding to the pipeline instrument under the drive of the rotating motor when the target point meets the preset vertical condition; The second hollow coil is used to rotate and collect the second magnetic induction intensity corresponding to the pipeline instrument under the drive of the rotating motor when the target point meets the preset vertical condition; Both the first hollow coil and the second hollow coil are electrically connected to the rotating motor.

3. The underground pipe locating apparatus of claim 2, wherein, The two pipeline gauges are a first pipeline gauge and a second pipeline gauge. The included angle data is the first included angle corresponding to the first pipeline gauge and the second included angle corresponding to the second pipeline. The calculation unit is specifically used for: Substitute the location data, the first included angle, and the second included angle into the preset first formula and the preset second formula respectively to determine the first height data corresponding to the underground pipeline and the second height data corresponding to the mobile vehicle; The difference between the first elevation data and the second elevation data is calculated to determine the burial depth of the underground pipeline.

4. The underground pipeline positioning device according to claim 3, characterized in that, The preset first formula is specifically as follows: ； In the formula, This is the first altitude data; This refers to the distance value of the projected point in the location data; The height of the first fixed point in the location data; The height of the second fixed point in the location data; This is the first included angle in the included angle data; This is the second included angle in the included angle data; The preset second formula is specifically as follows: ； In the formula, is the second height data.

5. The underground pipe locating apparatus of claim 1, wherein, The mobile vehicle includes a mobile vehicle body, a leveling mechanism, casters, and a level. The level is positioned at the center of the moving vehicle body; One end of the leveling mechanism is connected to the moving vehicle body; The other end of the leveling mechanism is rotatably connected to the universal wheel.

6. A method of locating an underground pipe, characterized in that, The method, applied to the underground pipeline positioning device according to any one of claims 1 to 5, comprises: Acquire the position data of the target point associated with the laser ranging mechanism; When the target point meets the preset vertical condition, the electromagnetic data acquisition mechanism is rotated by a rotary motor to collect and output the magnetic induction intensity data corresponding to the pipeline instrument; the preset vertical condition is that the line connecting the fixed points is perpendicular to the underground pipeline. When the magnetic induction intensity data reaches its maximum value, the angle data between the pipeline instrument and the vertical direction is output. Based on the location data and the included angle data, the burial depth of the underground pipeline is determined.

7. The underground pipe locating method of claim 6, wherein, The electromagnetic data acquisition mechanism includes a first hollow coil and a second hollow coil; the step of rotating the electromagnetic data acquisition mechanism to acquire and output the magnetic induction intensity data corresponding to the pipeline instrument by means of a rotary motor when the target point meets the preset vertical condition includes: When the target point meets the preset vertical condition, the first hollow coil is rotated by a rotary motor to collect and output the first magnetic induction intensity corresponding to the pipeline instrument. When the target point meets the preset vertical condition, the second hollow coil is rotated by a rotary motor to collect and output the second magnetic induction intensity corresponding to the pipeline instrument.

8. The underground pipe locating method of claim 7, wherein, The pipeline instrument is a first pipeline instrument and a second pipeline instrument; the included angle data is the first included angle corresponding to the first pipeline instrument and the second included angle corresponding to the second pipeline. The step of determining the burial depth of the underground pipeline based on the location data and the included angle data includes: Substitute the location data, the first included angle, and the second included angle into the preset first formula and the preset second formula respectively to determine the first height data corresponding to the underground pipeline and the second height data corresponding to the mobile vehicle. The difference between the first elevation data and the second elevation data is calculated to determine the burial depth of the underground pipeline.

9. The underground pipe locating method of claim 8, wherein, The preset first formula is specifically as follows: ； In the formula, This is the first altitude data; This refers to the distance value of the projected point in the location data; The height of the first fixed point in the location data; The height of the second fixed point in the location data; This is the first included angle in the included angle data; This is the second included angle in the included angle data; The preset second formula is specifically as follows: ； In the formula, is the second height data.

10. An electronic device, characterized in that, The system includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to perform the steps of the underground pipeline location method as described in any one of claims 6-9.

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