Ground surface mobile array sound wave detection device and method

Abstract

The invention relates to the field of underground pipeline detection, and provides an earth surface mobile array sound wave detection device and method. The device comprises a main control vehicle, a sound wave collection array and a collection array telescopic assembly, the main control vehicle is connected with the sound wave collection array and the collection array telescopic assembly, and the sound wave collection array comprises a plurality of sound wave transducers; the collection array telescopic assembly is used for controlling the ascending or descending of the sound wave collection array; the acoustic wave transducer is used for exciting and receiving a signal when being in contact with the ground; and the main control vehicle is used for receiving the underground pipeline related data transmitted by the acoustic wave transducer, calculating the speed of a front medium by adopting a tomography method based on the preprocessed underground pipeline related data, and carrying out three-dimensional imaging on the underground pipeline by adopting a full-focus imaging method according to the speed of the front medium and the preprocessed underground pipeline related data.

Description

Technical Field

[0001] The present invention relates to the field of underground pipeline detection, and in particular to a surface movable array acoustic wave detection device and method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the development of urban modernization, underground pipelines are complicated, which makes it difficult to quickly inspect and repair them. Unknown underground pipelines cause many problems in the construction and operation of power grid projects, including:

[0004] 1. It is inconvenient to adjust the height of the existing detection device during use, which easily leads to poor transmission performance of the acoustic signal, reduces the accuracy of pipeline positioning, and thus reduces the utilization rate of the acoustic detection device;

[0005] 2. After detecting underground pipelines, existing detection devices are unable to perform three-dimensional fine imaging of the underground pipelines. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a surface mobile array acoustic wave detection device and method. The present invention collects acoustic wave signals at each measuring point by moving the acoustic wave array through a main control vehicle, detects and images the underground pipelines in the measuring point area, thereby improving the detection efficiency and imaging accuracy.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A first aspect of the present invention provides a surface mobile array acoustic wave detection device.

[0009] A surface mobile array acoustic wave detection device, comprising: a main control vehicle, an acoustic wave collection array and an acquisition array telescopic assembly, wherein the main control vehicle is connected to the acoustic wave collection array and the acquisition array telescopic assembly respectively, and the acoustic wave collection array comprises a plurality of acoustic wave transducers;

[0010] The acquisition array telescopic component is used to control the rise or fall of the sound wave acquisition array;

[0011] The acoustic wave transducer is used to excite and receive signals when in contact with the ground;

[0012] The master control vehicle is used to receive underground pipeline related data transmitted by the acoustic wave transducer, calculate the front medium velocity based on the pre-processed underground pipeline related data by using the tomography method, and perform three-dimensional imaging of the underground pipeline by using the full focusing imaging method according to the front medium velocity and the pre-processed underground pipeline related data.

[0013] Furthermore, the acquisition array telescopic assembly includes a lifting bearing and a motor, the motor drives the lifting bearing, and the motor is connected to the main control vehicle.

[0014] Furthermore, the master control vehicle includes a power amplifier, an array acoustic wave host and a power module, the power amplifier is connected to the array acoustic wave host, and the power module supplies power to the power amplifier and the array acoustic wave host;

[0015] The array acoustic wave host is used to receive the underground pipeline related data transmitted by the acoustic wave transducer, calculate the front medium velocity distribution by using the tomography method based on the pre-processed underground pipeline related data, and perform three-dimensional imaging of the underground pipeline by using the full focusing imaging method according to the front medium velocity distribution and the pre-processed underground pipeline related data;

[0016] The array acoustic wave host is also used to control the acoustic wave collection array to rise or fall by controlling the array telescopic components.

[0017] Furthermore, the sound wave collection array also includes a mounting plate, and the sound wave transducer is mounted on the mounting plate.

[0018] Furthermore, the process of adopting the tomography method includes: calculating the front medium velocity according to a linear tomography inversion equation between the travel time of the reflection interface and the model parameters, the travel time residual of the reflected ray of the reflection interface and the depth variation of the reflection interface.

[0019] Furthermore, the linear tomography inversion equation is:

[0020] C ref Δx i =Δt i

[0021] Among them, C ref represents the partial derivative matrix of the travel time of the i-th reflection interface with respect to the model parameters, Δx i is the velocity change and depth change of each grid point in the i-th reflection interface, Δt i is the travel time residual of the reflected ray at the i-th reflection interface.

[0022] Furthermore, the process of adopting the all-focus imaging method includes:

[0023] Divide the underground area into a three-dimensional network, including surface planes and underground directions;

[0024] The velocity of the medium ahead is averaged at the surface plane to obtain the approximate velocity of each layer;

[0025] The acoustic wave propagation time of each point in the imaging area is calculated based on the approximate velocity of each layer, the distance between the imaging point and the excitation point, the distance between the imaging point and the receiving point, the depth of the imaging point in the underground direction, the thickness and velocity of each layer under the acoustic wave propagation path;

[0026] According to the sound wave propagation time of each point in the imaging area and combined with the pre-processed underground pipeline related data, the three-dimensional imaging result of the underground pipeline is obtained.

[0027] Furthermore, the calculation of the acoustic wave propagation time at each point in the imaging area adopts the following formula:

[0028]

[0029] Among them, S sour is the distance between the imaging point and the excitation point, S rec is the distance from the imaging point to the receiving point, L is the depth of the imaging point in the z direction, l m and v m are the thickness and velocity of each layer in the sound wave propagation path, respectively, and nlayer is the total number of layers in the sound wave propagation path.

[0030] Furthermore, the three-dimensional imaging result of the underground pipeline is obtained using the following formula:

[0031]

[0032] Wherein, dt is the sampling interval of the acoustic wave data, and t is the acoustic wave propagation time of each point in the imaging area.

[0033] A second aspect of the present invention provides a surface mobile array acoustic wave detection method.

[0034] A surface mobile array acoustic wave detection method, using the surface mobile array acoustic wave detection device described in the first aspect, comprising:

[0035] The master control vehicle drives the acoustic wave collection array to the designated measurement point area;

[0036] The acoustic wave collection array is controlled to descend by the array acoustic wave host until the acoustic wave transducer is in full contact with the ground surface;

[0037] Under the control of the array acoustic wave host, each acoustic wave transducer excites the acoustic wave signal one by one, and after being amplified by the power amplifier, the remaining acoustic wave transducers receive the reflected signal of the underground pipeline and send the reflected signal to the array acoustic wave host;

[0038] The array acoustic wave host preprocesses the underground pipeline related data, calculates the front medium velocity based on the preprocessed underground pipeline related data by using the tomography method, and performs three-dimensional imaging of the underground pipeline by using the full focusing imaging method according to the front medium velocity and the preprocessed underground pipeline related data.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention moves the sound wave collection array to a designated measuring point by moving the main control vehicle, and detects and images the underground pipelines in the measuring point area, thereby improving the detection efficiency.

[0041] The present invention can control the automatic lifting of the acoustic wave collection array, realize the coupling of the collection array and the ground, and retract the array after the signal collection is completed to move to the next measuring point.

[0042] The present invention also arranges an array acoustic wave data acquisition and imaging system in the main control vehicle, which can automatically control the raising and lowering of the acoustic wave acquisition array, the excitation and reception of the acoustic wave transducer, and the processing and imaging of the acquired data to realize the automation of underground pipeline detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0044] Figure 1 is a top view of the surface mobile array acoustic wave detection device shown in the present invention;

[0045] Figure 2 It is a front view of the surface mobile array acoustic wave detection device shown in the present invention;

[0046] Figure 3 It is a flow chart of the surface mobile array acoustic wave detection method shown in the present invention;

[0047] Among them, 1. wheels, 2. mobile frame, 3. sound wave transducer, 4. sound wave collection array, 5. lifting bearing, 6. motor, 7. connecting rod, 8. signal transmission line, 9. main control vehicle, 10. power amplifier, 11. array sound wave host. DETAILED DESCRIPTION

[0048] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0049] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0050] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods and systems according to various embodiments of the present disclosure. It should be noted that each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of a code may include one or more executable instructions for implementing the logical functions specified in each embodiment. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the flowchart and / or block diagram, and the combination of boxes in the flowchart and / or block diagram can be implemented using a dedicated hardware-based system that performs a specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0052] Embodiment 1

[0053] In this embodiment, a surface mobile array acoustic wave detection device is disclosed, such as Figure 1 , Figure 2 As shown, it includes a main control vehicle 9, an acoustic wave collection array 4, and a collection array telescopic component, and the collection array telescopic component includes a lifting bearing 5 and a motor 6.

[0054] The main control vehicle 9 has two functions: moving the acoustic wave collection array 4 to each measuring point for signal collection; and being equipped with a signal collection and processing imaging system to realize the control of signal collection and the automatic imaging of underground pipelines.

[0055] The main control vehicle 9 provides 220V AC to power the power amplifier 10 and the array acoustic wave host 11. The array acoustic wave host 11 controls the lifting and lowering of the acoustic wave collection array 4, can realize the encoding and transmission of acoustic wave signals and the reception of acoustic wave signals, and process and image the received signals. The power amplifier realizes the energy enhancement of the transmitted signal.

[0056] The sound wave collection array 4 is composed of a steel disk and a sound wave transducer array 3 fixed thereon. The sound wave transducer 3 can transmit high-frequency sound wave signals (main frequency 4kHz) and receive wide-band sound wave signals of 0 to 200kHz. The sound wave transducers are arranged circumferentially on the steel disk. The sound wave transducers are in full contact with the ground when exciting and receiving signals.

[0057] The lifting bearing 5 is a spiral telescopic rod structure, the outer shell is fixed to the mobile frame, and the internal telescopic rod is fixed to the sound wave collection array 4. The sound wave collection array 4 is driven by the motor 6 to achieve lifting.

[0058] Embodiment 2

[0059] This embodiment provides a surface mobile array acoustic wave detection method.

[0060] like Figure 3 As shown, a surface mobile array acoustic wave detection method proposed in this embodiment adopts the surface mobile array acoustic wave detection device described in Example 1, including:

[0061] The master control vehicle drives the acoustic wave collection array to the designated measurement point area;

[0062] The acoustic wave collection array is controlled to descend by the array acoustic wave host until the acoustic wave transducer is in full contact with the ground surface;

[0063] Under the control of the array acoustic wave host, each acoustic wave transducer excites the acoustic wave signal one by one, and after being amplified by the power amplifier, the remaining acoustic wave transducers receive the reflected signal of the underground pipeline and send the reflected signal to the array acoustic wave host;

[0064] The array acoustic wave host preprocesses the underground pipeline related data, calculates the front medium velocity based on the preprocessed underground pipeline related data by using the tomography method, and performs three-dimensional imaging of the underground pipeline by using the full focusing imaging method according to the front medium velocity and the preprocessed underground pipeline related data.

[0065] More specifically, the specific solution of this embodiment can be implemented by the following contents:

[0066] (1) The master control vehicle drives the acoustic wave collection array to the designated measuring point to ensure that the terrain in the measuring point area is flat and the probe array can have good contact with the ground surface.

[0067] (2) Operate the array acoustic wave host in the main control vehicle to control the acoustic wave collection array to descend until the acoustic wave transducer is in complete contact with the ground surface due to its own weight; stimulate any acoustic wave transducer, and the other acoustic wave transducers will receive it, and check whether the received waveform is complete. If it is complete, it means that the acoustic wave transducer is well coupled with the ground surface. If it is incomplete, manually adjust the corresponding acoustic wave transducer until all acoustic wave transducers are in good contact with the ground surface.

[0068] (3) Under the control of the array acoustic wave host, each acoustic wave transducer excites the acoustic wave signal one by one. Simple harmonic waves and triple-peak waves of different frequencies can be selected. The intensity of the excited signal is amplified by a power amplifier. While being excited, the remaining acoustic wave transducers receive the reflected signal of the underground pipeline, and the signal is stored in the array acoustic wave host.

[0069] (4) De-noise the data using methods such as predictive filtering and wavelet transform.

[0070] (5) The array acoustic wave host uses the tomography method to calculate the velocity distribution of the medium ahead.

[0071] (6) The array acoustic wave host uses the full-focus imaging method to collect data and obtain the velocity distribution of the underground medium to achieve three-dimensional fine imaging of the underground pipeline.

[0072] In step (5), the main steps of the tomography method are:

[0073] The velocity is solved in layers in the detection area, and the reflection travel time tomography inversion problem is solved iteratively. The linear tomography inversion equation satisfied by the reflection travel time residual, the formation slowness correction and the reflection interface depth correction is:

[0074] C ref Δx i =Δt i

[0075] Among them, C ref represents the partial derivative matrix of the travel time of the i-th reflection interface with respect to the model parameters, Δx i is the velocity change and depth change of each grid point in the i-th reflection interface, Δt i is the travel time residual of the reflected ray at the i-th reflection interface.

[0076] The main steps of the step (6) of the all-focus imaging method are:

[0077] (6-1) The underground area is divided into three-dimensional grids in the x, y, and z directions, where the xy plane is the surface and the z direction is the underground direction.

[0078] (6-2) The collected acoustic wave data is represented by D(nsour,nrec,nt), where nsour represents the number of exciting probes in each set of data, and nrec represents the number of receiving probes in each set of data.

[0079] (6-2) The velocity results of the tomography method are averaged in the xy plane to obtain the approximate velocity v of each layer. m .

[0080] (6-3) Calculate the sound wave propagation time at each point in the imaging area:

[0081]

[0082] Among them, S sour is the distance between the imaging point and the excitation point, S rec is the distance from the imaging point to the receiving point, L is the depth of the imaging point in the z direction, l m and v m are the thickness and velocity of each layer in the sound wave propagation path, respectively, and nlayer is the total number of layers in the sound wave propagation path.

[0083] (6-4) Calculate the three-dimensional imaging results of underground pipelines according to the following formula:

[0084]

[0085] Where Imag is the three-dimensional imaging result, x, y, z are the spatial position coordinates of the imaging point, D is the acoustic wave data, including three channel information of the excitation point (1, 2, …, j, …, nsour), the receiving point (1, 2, …, k, …, nrec) and the sampling time t, and dt is the sampling interval of the acoustic wave data.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A surface mobile array acoustic wave detection device, characterized in that: include: A main control vehicle, an acoustic wave collection array and an acquisition array telescopic component, wherein the main control vehicle is connected to the acoustic wave collection array and the acquisition array telescopic component respectively, and the acoustic wave collection array includes a plurality of acoustic wave transducers; The acquisition array telescopic component is used to control the rise or fall of the sound wave acquisition array; The acoustic wave transducer is used to excite and receive signals when in contact with the ground; The master control vehicle is used to receive underground pipeline related data transmitted by the acoustic wave transducer, calculate the front medium velocity based on the pre-processed underground pipeline related data by using the tomography method, and perform three-dimensional imaging of the underground pipeline by using the full focusing imaging method according to the front medium velocity and the pre-processed underground pipeline related data.

2. The surface mobile array acoustic wave detection device according to claim 1, characterized in that: The acquisition array telescopic component comprises a lifting bearing and a motor, wherein the motor drives the lifting bearing and the motor is connected to a main control vehicle.

3. The surface mobile array acoustic wave detection device according to claim 1, characterized in that: The master control vehicle includes a power amplifier, an array acoustic wave host and a power module, the power amplifier is connected to the array acoustic wave host, and the power module supplies power to the power amplifier and the array acoustic wave host; The array acoustic wave host is used to receive the underground pipeline related data transmitted by the acoustic wave transducer, calculate the front medium velocity distribution by using the tomography method based on the pre-processed underground pipeline related data, and perform three-dimensional imaging of the underground pipeline by using the full focusing imaging method according to the front medium velocity distribution and the pre-processed underground pipeline related data; The array acoustic wave host is also used to control the acoustic wave collection array to rise or fall by controlling the array telescopic components.

4. The surface mobile array acoustic wave detection device according to claim 1, characterized in that: The sound wave collection array also includes a mounting plate, and the sound wave transducer is mounted on the mounting plate.

5. The surface mobile array acoustic wave detection device according to claim 1, characterized in that: The process of adopting the tomography method includes: calculating the front medium velocity according to the linear tomography inversion equation between the travel time of the reflection interface and the model parameters, the travel time residual of the reflected ray of the reflection interface and the depth variation of the reflection interface.

6. The surface mobile array acoustic wave detection device according to claim 5, characterized in that: The linear tomography inversion equation is: C ref Δx i =Δt i Among them, C ref represents the partial derivative matrix of the travel time of the i-th reflection interface with respect to the model parameters, Δx i is the velocity change and depth change of each grid point in the i-th reflection interface, Δt i is the travel time residual of the reflected ray at the i-th reflection interface.

7. The surface mobile array acoustic wave detection device according to claim 1, characterized in that: The process of adopting the all-focus imaging method comprises: Divide the underground area into a three-dimensional network, including surface planes and underground directions; The velocity of the medium ahead is averaged at the surface plane to obtain the approximate velocity of each layer; The acoustic wave propagation time of each point in the imaging area is calculated based on the approximate velocity of each layer, the distance between the imaging point and the excitation point, the distance between the imaging point and the receiving point, the depth of the imaging point in the underground direction, the thickness and velocity of each layer under the acoustic wave propagation path; According to the sound wave propagation time of each point in the imaging area and combined with the pre-processed underground pipeline related data, the three-dimensional imaging result of the underground pipeline is obtained.

8. The surface mobile array acoustic wave detection device according to claim 7, characterized in that: The following formula is used to calculate the acoustic wave propagation time of each point in the imaging area: Among them, S sour is the distance between the imaging point and the excitation point, S rec is the distance from the imaging point to the receiving point, L is the depth of the imaging point in the z direction, l m and v m are the thickness and velocity of each layer in the sound wave propagation path, respectively, and nlayer is the total number of layers in the sound wave propagation path.

9. The surface mobile array acoustic wave detection device according to claim 7, characterized in that: The three-dimensional imaging result of underground pipelines is obtained by using the following formula: Wherein, dt is the sampling interval of the acoustic wave data, and t is the acoustic wave propagation time of each point in the imaging area.

10. A surface mobile array acoustic wave detection method, characterized in that: The surface mobile array acoustic wave detection device according to any one of claims 1 to 9 comprises: The master control vehicle drives the acoustic wave collection array to the designated measurement point area; The acoustic wave collection array is controlled to descend by the array acoustic wave host until the acoustic wave transducer is in full contact with the ground surface; Under the control of the array acoustic wave host, each acoustic wave transducer excites the acoustic wave signal one by one, and after being amplified by the power amplifier, the remaining acoustic wave transducers receive the reflected signal of the underground pipeline and send the reflected signal to the array acoustic wave host; The array acoustic wave host preprocesses the underground pipeline related data, calculates the front medium velocity based on the preprocessed underground pipeline related data by using the tomography method, and performs three-dimensional imaging of the underground pipeline by using the full focusing imaging method according to the front medium velocity and the preprocessed underground pipeline related data.

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