Pipeline center line trajectory data error correction method and device
By determining the spacing between feature points and scaling points in the operating data of the pipeline detector in buried pipeline surveying and mapping, and comparing and correcting the coordinate error, the problem of error in the pipeline centerline trajectory data is solved, and the surveying and mapping accuracy and efficiency are improved.
Patent Information
- Application Number
- CN202310710977.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-15
- Publication Date
- 2024-12-17
AI Technical Summary
In the inertial mapping of buried pipelines, the data error of the centerline trajectory of the pipeline cannot be effectively activated due to the gyroscope drift and fluctuation of operating speed, resulting in a decrease in the coordinate solution accuracy and cannot be accurately corrected, which affects the surveying and mapping efficiency.
By acquiring the operating data of the pipeline detector, the points exceeding the preset speed and the peak velocity point are determined as the first characteristic point, and the points whose pitch point distance is greater than the preset distance are used as the second characteristic point, and compare The coordinate error is corrected and points whose error is greater than the preset value are used to screen and correct coordinate errors using the calibration data insertion method.
It effectively avoids multiple inspections, improves the accuracy and efficiency of buried pipeline surveying and mapping, and corrects the detection data to the accuracy range of industry standards.
Smart Images
Figure CN119147003A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of inertial mapping of buried pipelines, and in particular to a method and a device for correcting pipeline centerline trajectory data errors. Background Art
[0002] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No description herein is admitted to be prior art by inclusion in this section.
[0003] With the support of the continuously developing software platform and Internet information, the geographic information system of buried pipelines has been realized and gradually become an important management tool for pipeline operation managers. The display of the pipeline centerline trajectory and related pipeline feature location information on the electronic map enables managers to intuitively grasp the location information of the pipeline and related pipeline features, which also makes it one of the core components of the geographic information system.
[0004] The detector inside the pipeline surveying and mapping is equipped with an inertial measurement unit, a mileage wheel, a girth weld identification probe, a power supply battery compartment, a data processor and a memory, and cooperates with a ground calibration box, so that it can obtain the centerline trajectory coordinates and pipeline feature coordinates of the entire pipeline through a single pipeline ball receiving and sending operation. At a fixed sampling rate, the detector inside the pipeline surveying and mapping collects the equipment's posture, three-axis acceleration value, time, mileage pulse number and other parameters during the pipeline operation process, and processes the acquired surveying and mapping data and calibration information of the calibration box through post-solving software to finally obtain the three-dimensional coordinate trajectory of the centerline of the pipeline. The calibration information is the time when the pipeline surveying and mapping detector collected by the calibration box passes through the calibration box, as well as the longitude, latitude and elevation coordinates of the temporary identification point or fixed identification point of the pipeline. The longitude and latitude are required to be accurate to 8 decimal places in degree format, and the elevation is accurate to millimeters.
[0005] The gyroscope in the high-precision pipeline measurement unit installed in the detector of pipeline mapping can achieve an accuracy of 0.01° / h. In the environment of the earth's rotation, the gyroscope will measure the earth's rotation. Therefore, the gyroscope drifts over time. The larger the time interval of the calibration box calibration information, the greater the error of the gyroscope. In addition, at a fixed time frequency sampling interval, the higher the running speed of the device will increase the distance between the two sampled data, and the correspondingly larger error will be generated.
[0006] When the detector in pipeline mapping is running in the pipeline, it is usually given a fixed operating condition. However, due to pipeline medium allocation problems or the detector pauses when passing through elbows or pipeline deformation restriction points, speed fluctuations or sudden high-speed startup may occur from time to time. When the calibration box monitors the passage of the detector, the calibration box may not be effectively activated due to its own faults, detector signal transmitter faults, interference signals, etc., and thus cannot accurately record the time when the detector passes.
[0007] Taking into account the two main influencing factors, the detector operating speed and the effective activation of the calibration box, it is necessary to study a method to solve the coordinate correction. Summary of the invention
[0008] An embodiment of the present invention provides a pipeline centerline trajectory data error correction method to avoid multiple detections and effectively correct the pipeline centerline trajectory. The method includes:
[0009] Obtain the pipeline position information after solving the pipeline centerline trajectory coordinates of the pipeline to be tested, and collect the operation data of the pipeline detector;
[0010] According to the operation data of the pipeline detector, a pipeline point exceeding a preset speed and a peak speed point are determined as the first characteristic point;
[0011] Importing the pipeline location information into a map, determining from the map the calibration points whose spacing between calibration points is greater than a preset distance as second feature points, and extracting the coordinates of the first feature point and the second feature point;
[0012] Determine the geographical location information of the pipeline according to the coordinates of the first feature point and the second feature point, compare the coordinates of the first feature point and the second feature point with the geographical location information of the corresponding pipeline to obtain an actual error, and determine a coordinate point of the first feature point and the second feature point whose actual error is greater than a preset error;
[0013] Correct the coordinate points whose actual errors are greater than the preset errors.
[0014] The embodiment of the present invention further provides a pipeline centerline trajectory data error correction device, which is used to avoid multiple detections and effectively correct the pipeline centerline trajectory. The device includes:
[0015] The data collection module is used to obtain the pipeline position information after solving the pipeline centerline trajectory coordinates of the pipeline to be tested, and collect the operation data of the pipeline detector;
[0016] A feature point extraction module is used to determine the pipeline point exceeding the preset speed and the peak speed point according to the operation data of the pipeline detector as the first feature point;
[0017] A coordinate extraction module is used to import the pipeline location information into a map, determine from the map the calibration points whose spacing between calibration points is greater than a preset distance as second feature points, and extract the coordinates of the first feature point and the second feature point;
[0018] An error comparison module is used to determine the geographical location information of the pipeline according to the coordinates of the first feature point and the second feature point, compare the coordinates of the first feature point and the second feature point with the geographical location information of the corresponding pipeline to obtain an actual error, and determine a coordinate point of the first feature point and the second feature point whose actual error is greater than a preset error;
[0019] The error correction module is used to correct the coordinate points whose actual errors are greater than the preset errors.
[0020] An embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned pipeline centerline trajectory data error correction method when executing the computer program.
[0021] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above pipeline centerline trajectory data error correction method is implemented.
[0022] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above pipeline centerline trajectory data error correction method is implemented.
[0023] In an embodiment of the present invention, the pipeline position information after the pipeline centerline trajectory coordinates are solved for the pipeline to be tested is obtained, and the operation data of the pipeline detector is collected; according to the operation data of the pipeline detector, the pipeline points and peak speed points that exceed the preset speed are determined as the first feature points; the pipeline position information is imported into the map, and the calibration points whose spacing between calibration points is greater than the preset distance are determined from the map as the second feature points, and the coordinates of the first feature point and the second feature point are extracted; according to the coordinates of the first feature point and the second feature point, the geographical location information of the pipeline is determined, and the coordinates of the first feature point and the second feature point are compared with the geographical location information of the corresponding pipeline to obtain the actual error, and the coordinate points of the first feature point and the second feature point whose actual error is greater than the preset error are determined; the coordinate points whose actual error is greater than the preset error are corrected. In this way, by inserting the calibration data, the pipeline coordinate error points are screened out, and the pipeline centerline trajectory coordinates are recalculated after the error is corrected, so that the detection data can be corrected to the accuracy range of the industry standard, thereby improving the efficiency of buried pipeline mapping. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:
[0025] Figure 1 It is a flow chart of a pipeline centerline trajectory data error correction method provided in an embodiment of the present invention;
[0026] Figure 2 A schematic diagram of a plane for verifying elbow coordinates provided in an embodiment of the present invention;
[0027] Figure 3 It is a schematic diagram of a pipeline centerline trajectory data error correction device provided in an embodiment of the present invention;
[0028] Figure 4 Another schematic diagram of the pipeline centerline trajectory data error correction device provided in an embodiment of the present invention;
[0029] Figure 5 It is a structural block diagram of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION
[0030] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.
[0031] The term "and / or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.
[0032] In the description of this specification, the terms "include", "including", "have", "contain", etc. are all open terms, which mean including but not limited to. The descriptions with reference to the terms "one embodiment", "a specific embodiment", "some embodiments", "for example", etc. mean that the specific features, structures or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The order of steps involved in each embodiment is used to schematically illustrate the implementation of the present application, and the order of steps is not limited and can be appropriately adjusted as needed.
[0033] The embodiment of the present invention provides a pipeline centerline trajectory data error correction method, such as Figure 1 As shown, including:
[0034] Step 101: Obtain the pipeline position information after solving the pipeline centerline trajectory coordinates of the pipeline to be tested, and collect the operation data of the pipeline detector;
[0035] Step 102: According to the operation data of the pipeline detector, determine the pipeline point exceeding the preset speed and the peak speed point as the first characteristic point;
[0036] Step 103: Import the pipeline location information into a map, determine from the map the calibration points whose spacing between calibration points is greater than a preset distance as second feature points, and extract the coordinates of the first feature point and the second feature point;
[0037] Step 104: determining the geographical location information of the pipeline according to the coordinates of the first feature point and the second feature point, comparing the coordinates of the first feature point and the second feature point with the geographical location information of the corresponding pipeline to obtain an actual error, and determining a coordinate point of the first feature point and the second feature point whose actual error is greater than a preset error;
[0038] Step 105: Correct the coordinate points whose actual errors are greater than the preset errors.
[0039] The current inertial mapping detection of buried pipelines cannot be effectively corrected based on the original data results, resulting in the detection party having to run again or multiple times to obtain better data. Obviously, the method proposed in the embodiment of the present invention avoids multiple detections caused by poor detection results, or leads to poor quality of pipeline centerline coordinates and feature data, by inserting calibration data. According to this method, the detection data can be corrected to the accuracy range of industry standards, thereby improving the efficiency of buried pipeline mapping detection.
[0040] In one embodiment, the pipeline position information includes: centerline trajectory coordinates, feature point coordinates, and activation calibration point coordinates.
[0041] In one embodiment, the operation data of the pipeline detector includes: the movement speed of the entire pipeline section and the activation calibration point information.
[0042] In a specific embodiment, the operation position of the pipeline exceeding 4m / s is determined through the operation information of the pipeline inertial mapping detector, and the peak speed point in the area or several areas is confirmed as the first feature point. The solved coordinates and the confirmed accurate activated coordinates are displayed on the electronic map, and the calibrated pipe sections with a spacing greater than 500m between each other are confirmed as the second feature point. The coordinates of the first feature point and the second feature point are extracted from the solved pipeline centerline coordinates, and the feature points select the fixed feature coordinates of the pipeline girth weld, ball valve, elbow, etc.
[0043] Use RTK surveying equipment to input the fixed feature coordinate extraction value, find the corresponding geographical location, and then use the pipeline locator to confirm the actual location of the pipeline. If you select the girth weld feature or other buried fixed features, excavation is required, and the target feature is confirmed based on information such as the length of the pipe segment and the clock position of the girth weld intersection. If you select an elbow, use a short knife locator to encrypt the measurement direction and confirm the center position of the elbow. After completing the positioning of the measured coordinates and the solved coordinates, use a measuring ruler to measure the distance between the two points. This distance is the coordinate error. The error measurement is shown in the figure. Figure 2 If the error is greater than 1m, select this point for correction.
[0044] In one embodiment, after correcting the coordinate points whose actual errors are greater than the preset errors, the method further includes:
[0045] The coordinates of the first feature point and the second feature point in the original pipeline surveying and detection data are used as the new centerline trajectory coordinates;
[0046] The new centerline trajectory coordinates are recalculated to generate the corrected pipeline centerline trajectory coordinates.
[0047] The present invention also provides a pipeline centerline trajectory data error correction device, as described in the following embodiments. Since the principle of the device to solve the problem is similar to the pipeline centerline trajectory data error correction method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.
[0048] Figure 3 Schematic diagram of a pipeline centerline trajectory data error correction device provided in an embodiment of the present invention, such as Figure 3 As shown, the device comprises:
[0049] The data collection module 301 is used to obtain the pipeline position information after the pipeline centerline trajectory coordinates are calculated, and collect the operation data of the pipeline detector;
[0050] The feature point extraction module 302 is used to determine the pipeline point exceeding the preset speed and the peak speed point as the first feature point according to the operation data of the pipeline detector;
[0051] The coordinate extraction module 303 is used to import the pipeline location information into the map, determine the calibration points whose spacing between calibration points is greater than the preset distance from the map as the second feature points, and extract the coordinates of the first feature point and the second feature point;
[0052] The error comparison module 304 is used to determine the geographical location information of the pipeline according to the coordinates of the first feature point and the second feature point, compare the coordinates of the first feature point and the second feature point with the geographical location information of the corresponding pipeline to obtain an actual error, and determine the coordinate point of the first feature point and the second feature point whose actual error is greater than a preset error;
[0053] The error correction module 305 is used to correct the coordinate points whose actual errors are greater than the preset errors. In one embodiment, the units of the natural gas purification plant include: a desulfurization unit, a dehydration unit, a sulfur recovery unit or a tail gas treatment unit.
[0054] In one embodiment, the pipeline position information includes: centerline trajectory coordinates, feature point coordinates, and activation calibration point coordinates.
[0055] In one embodiment, the operation data of the pipeline detector includes: the movement speed of the entire pipeline section and the activation calibration point information.
[0056] Figure 4 FIG. 2 is another schematic diagram of the pipeline centerline trajectory data error correction device provided in an embodiment of the present invention. Figure 4 As shown, in one embodiment, a solution module 401 is also included, which is specifically used to:
[0057] The coordinates of the first feature point and the second feature point in the original pipeline surveying and detection data are used as the new centerline trajectory coordinates;
[0058] The new centerline trajectory coordinates are recalculated to generate the corrected pipeline centerline trajectory coordinates.
[0059] Based on the above invention concept, Figure 5 As shown, the present invention also proposes a computer device 500, including a memory 510, a processor 520, and a computer program 530 stored in the memory 510 and executable on the processor 520, wherein the processor 520 implements the aforementioned pipeline centerline trajectory data error correction method when executing the computer program 530.
[0060] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above pipeline centerline trajectory data error correction method is implemented.
[0061] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the above pipeline centerline trajectory data error correction method is implemented.
[0062] In summary, in an embodiment of the present invention, the pipeline position information after the pipeline centerline trajectory coordinates are solved for the pipeline to be tested is obtained, and the operation data of the pipeline detector is collected; according to the operation data of the pipeline detector, the pipeline points and peak speed points that exceed the preset speed are determined as the first feature points; the pipeline position information is imported into the map, and the calibration points whose spacing between calibration points is greater than the preset distance are determined from the map as the second feature points, and the coordinates of the first feature point and the second feature point are extracted; according to the coordinates of the first feature point and the second feature point, the geographical location information of the pipeline is determined, and the coordinates of the first feature point and the second feature point are compared with the corresponding geographical location information of the pipeline to obtain the actual error, and the coordinate points of the first feature point and the second feature point whose actual error is greater than the preset error are determined; the coordinate points whose actual error is greater than the preset error are corrected. In this way, by inserting the calibration data, the pipeline coordinate error points are screened out, and the pipeline centerline trajectory coordinates are recalculated after the error is corrected, so that the detection data can be corrected to the accuracy range of the industry standard, thereby improving the efficiency of buried pipeline mapping.
[0063] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0064] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0065] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0066] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0067] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A pipeline centerline trajectory data error correction method, characterized in that: include: Obtain the pipeline position information after solving the pipeline centerline trajectory coordinates of the pipeline to be tested, and collect the operation data of the pipeline detector; According to the operation data of the pipeline detector, a pipeline point exceeding a preset speed and a peak speed point are determined as the first characteristic point; Importing the pipeline location information into a map, determining from the map the calibration points whose spacing between calibration points is greater than a preset distance as second feature points, and extracting the coordinates of the first feature point and the second feature point; Determine the geographical location information of the pipeline according to the coordinates of the first feature point and the second feature point, compare the coordinates of the first feature point and the second feature point with the geographical location information of the corresponding pipeline to obtain an actual error, and determine a coordinate point of the first feature point and the second feature point whose actual error is greater than a preset error; Correct the coordinate points whose actual errors are greater than the preset errors.
2. The method according to claim 1, characterized in that The pipeline location information includes: centerline trajectory coordinates, feature point coordinates and activation calibration point coordinates.
3. The method according to claim 1, characterized in that The operation data of the pipeline detector includes: the movement speed of the entire pipeline section and the activation calibration point information.
4. The method according to claim 1, characterized in that After correcting the coordinate points whose actual errors are greater than the preset errors, it also includes: The coordinates of the first feature point and the second feature point in the original pipeline surveying and detection data are used as the new centerline trajectory coordinates; The new centerline trajectory coordinates are recalculated to generate the corrected pipeline centerline trajectory coordinates.
5. A pipeline centerline trajectory data error correction device, characterized in that: include: The data collection module is used to obtain the pipeline position information after solving the pipeline centerline trajectory coordinates of the pipeline to be tested, and collect the operation data of the pipeline detector; A feature point extraction module is used to determine the pipeline point exceeding the preset speed and the peak speed point according to the operation data of the pipeline detector as the first feature point; A coordinate extraction module is used to import the pipeline location information into a map, determine from the map the calibration points whose spacing between calibration points is greater than a preset distance as second feature points, and extract the coordinates of the first feature point and the second feature point; An error comparison module is used to determine the geographical location information of the pipeline according to the coordinates of the first feature point and the second feature point, compare the coordinates of the first feature point and the second feature point with the geographical location information of the corresponding pipeline to obtain an actual error, and determine a coordinate point of the first feature point and the second feature point whose actual error is greater than a preset error; The error correction module is used to correct the coordinate points whose actual errors are greater than the preset errors.
6. The device according to claim 5, characterized in that The pipeline location information includes: centerline trajectory coordinates, feature point coordinates and activation calibration point coordinates.
7. The device according to claim 5, characterized in that The operation data of the pipeline detector includes: the movement speed of the entire pipeline section and the activation calibration point information.
8. The device according to claim 5, characterized in that It also includes a solution module, which is specifically used for: The coordinates of the first feature point and the second feature point in the original pipeline surveying and detection data are used as the new centerline trajectory coordinates; The new centerline trajectory coordinates are recalculated to generate the corrected pipeline centerline trajectory coordinates.
9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.
11. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.