Large-burial-depth metal pipeline positioning method and system based on electromagnetic method nondestructive detection

Abstract

The invention relates to the technical field of large-burial-depth metal pipeline positioning, in particular to a large-burial-depth metal pipeline positioning method and system based on electromagnetic method nondestructive detection, and the method comprises the following steps: S1, obtaining data and constructing a model: S1.1, obtaining magnetic field data when a pipeline leaks, carrying out the induction of the data, carrying out the subsequent analysis of the data, and constructing a detection model; s1.2, acquiring magnetic field data of the pipeline position, concluding the data, then analyzing the data, and constructing a calculation model; the device can meet the measurement of large-burial-depth pipelines smaller than 100 m, has high electromagnetic anti-interference capacity, can detect the accurate positions and burial depths of the pipelines, is suitable for close-distance same-ditch laying of multiple pipelines, is not prone to being interfered by nearby pipelines, is further suitable for measurement of pipelines in complex environments such as water areas and buildings above, and has wide application prospects. Meanwhile, measurement of underground optical cables and cables can be met, and the application range of the device is greatly widened.

Description

Technical Field

[0001] The present invention relates to the technical field of deep buried metal pipeline positioning, and in particular to a deep buried metal pipeline positioning method and system based on electromagnetic non-destructive detection. Background Art

[0002] With the sustained and rapid development of the national economy and society, infrastructure construction projects such as roads, railways, and pipelines are springing up everywhere. Cross-construction and parallel construction with in-service pipelines are becoming more and more common. Ensuring the safe operation of in-service pipelines has become a top priority for new projects. In order to ensure the safety of in-service pipelines, it is necessary to regularly inspect in-service pipelines.

[0003] For example, a method for locating a deep buried pipeline based on digital display, with the authorization announcement number CN202210921979.0 and the authorization announcement date 20240903, includes: using multiple detection methods to preliminarily obtain the pipeline location; determining the complex pipeline location area based on the differences in the detection methods; detecting metal pipelines based on the vertical component observation method; building a pipeline error confidence model based on the BP neural network; determining the location and depth of the buried pipeline based on digital display, wherein the determination of the location and depth of the buried pipeline based on digital display specifically includes: establishing a pipeline buried depth detection system based on the vertical component observation method, determining the location and depth of the buried pipeline according to the pipeline buried depth detection system; and determining the direction of each pipeline for complex pipelines.

[0004] Traditional pipeline positioning methods include ordinary electromagnetic method, inertial navigation positioning technology, acoustic wave method, ground penetrating radar and well measurement method. However, ordinary electromagnetic method, acoustic wave method and ground penetrating radar cannot measure pipelines at great depth, pipelines in electromagnetic interference environments or pipelines in complex environments with structures above. Inertial navigation positioning technology can only measure pipelines that have stopped transmission. Well measurement method cannot measure pipelines with other pipelines nearby, pipelines crossing rock geology and pipelines in electromagnetic interference environments. Therefore, in order to ensure the measurement of deep buried pipelines, it is urgent to design a deep buried metal pipeline positioning method and system based on electromagnetic non-destructive detection to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for locating deep buried metal pipelines based on electromagnetic non-destructive detection, so as to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A method for locating a deep buried metal pipeline based on non-destructive detection by electromagnetic method comprises the following steps:

[0008] S1. Get data and build a model:

[0009] S1.1. Obtain the magnetic field data when the pipeline leaks, summarize the data, and then analyze the data to build a detection model;

[0010] S1.2. Obtain the magnetic field data of the pipeline location, summarize the data, and then analyze the data to build a calculation model;

[0011] S.2 Test Preparation:

[0012] S2.1. Set up a test pile and lay a test cable between two test cables to form a power circuit;

[0013] S2.2. Power on the test circuit, and then use the magnetic field receiving sensor to move along the pipeline path to obtain magnetic signals at various positions of the pipeline;

[0014] S3. Data analysis and calculation:

[0015] S3.1. Analyze the original data and set a boundary condition based on the analysis results;

[0016] S3.2. The analyzed data is transmitted to the detection model and the calculation model, and then the detection model and the calculation model will calculate the magnetic field data. According to the calculation results, the location information and leakage information of the pipeline can be obtained.

[0017] Furthermore, the magnetic field data of pipeline leakage obtained in step S1.1 is the magnetic field data of underground pipelines measured by professional institutions in the past, and the detection model in step S1.1 is constructed based on the calculation formula of magnetic induction intensity and magnetic flux and the comparison algorithm.

[0018] Furthermore, the pipeline position magnetic field data acquired in step S1.2 is magnetic field data previously measured on underground pipelines by professional institutions, and the calculation model in step S1.2 constitutes a magnetic field model based on Maxwell's equations.

[0019] Furthermore, the magnetic signal data in step S2.2 are geomagnetic inclination, gravity field, instrument inclination, azimuth, field strength component, environmental noise, magnetic induction intensity, and magnetic flux data.

[0020] Furthermore, in the step S3.1, the original data is magnetic signal data, and the data is processed by a data outlier algorithm in the step S3.1. If outliers appear in the data, it is possible to consider using data from adjacent points and using an algorithm to calculate a predicted value for the point and replace it.

[0021] Furthermore, the boundary conditions in step S3.1 are standard boundary conditions of the algorithms in the detection model and the calculation model, and the boundary conditions need to be measured and calibrated on site and subsequently set in conjunction with the coordinate system.

[0022] Furthermore, when the detection model in step S3.2 processes the data, the magnetic field data at the time of pipeline leakage obtained in step S1.1 will be compared with the data analyzed in step S3.1. If the comparison results are the same, leakage occurs at the corresponding position of the pipeline. If the comparison results are different, there is no leakage at the corresponding position of the pipeline.

[0023] Furthermore, the calculation model in step S3.2 is divided into error compensation calculation, depth measurement calculation and product calculation, wherein the error compensation calculation adopts the least squares formula, and is specifically as follows:

[0024]

[0025] Where n is the highest order term of the polynomial, R 2 The fitting formula with the largest value is taken as the final compensation formula value, and xi and yi are the coordinates of the measurement points of the pipeline position.

[0026] Furthermore, the depth measurement calculation formula is as follows:

[0027]

[0028] Among them, h is the theoretical value of depth sounding, A is the current amplitude, unit: A; f is the frequency of the current signal, unit: Hz; ω is the initial phase of the current signal, unit: rad; μ0 is the air magnetic permeability, unit: H / m;

[0029] The product calculation formula is as follows:

[0030] H=h×R 2

[0031] Among them, H is the actual value of depth measurement, h is the theoretical value of depth measurement, and R is the actual value of depth measurement. 2 The fitting formula with the largest value is taken as the final compensation formula value.

[0032] A deep buried metal pipeline positioning system based on electromagnetic non-destructive detection comprises a test pile, a measured pipeline, a measuring vehicle, an ELF extremely low frequency power supply, an energized cable, and a magnetic field receiving sensor. The test pile is electrically connected to the measured pipeline through a wire, the ELF extremely low frequency power supply is electrically connected to two test piles through the energized cable, the magnetic field receiving sensor is communicatively connected to the measuring vehicle through communication, the magnetic field receiving sensor can be equipped on unmanned aerial vehicle equipment and speedboat equipment, and a computer and a display screen device are arranged inside the measuring vehicle.

[0033] In the above technical solution, the present invention provides a method and system for locating deep buried metal pipelines based on electromagnetic non-destructive detection, which has the following beneficial effects:

[0034] (1) The present invention can meet the measurement requirements of pipelines buried at a depth of less than 100 m, and has strong electromagnetic anti-interference capability. It can detect the exact position and buried depth of the pipeline, is suitable for laying multiple pipelines in the same trench at a close distance, and is not easily interfered by nearby pipelines. It is also suitable for measuring pipelines in complex environments such as water areas and buildings above. At the same time, it can also meet the measurement requirements of underground optical cables and electrical cables, greatly improving the scope of application of the present invention.

[0035] (2) The detection model designed by the present invention can process the data when the magnetic field receiving sensor collects the magnetic field data. In this process, the detection model will compare the magnetic field data when the pipeline is leaking with the data collected by the magnetic field receiving sensor, thereby realizing the detection of whether the pipeline has a leakage problem.

[0036] (3) The calculation model designed by the present invention performs error calculation when calculating the pipeline position, and then multiplies it by the theoretical value of the depth measurement to obtain the actual depth measurement value. The calculation model eliminates the error in the test process and greatly improves the accuracy of the depth measurement of this method. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0038] Figure 1 A method flow chart of a method and system embodiment of the present invention for locating a deeply buried metal pipeline based on non-destructive detection using electromagnetic method.

[0039] Figure 2 A schematic diagram of the system structure is provided for an embodiment of a method and system for locating a deeply buried metal pipeline based on non-destructive detection using electromagnetic method according to the present invention. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0041] like Figure 1 As shown, an embodiment of the present invention provides a method for locating a deep buried metal pipeline based on non-destructive detection by electromagnetic method, comprising the following steps:

[0042] S1. Get data and build a model:

[0043] S1.1. Obtain the magnetic field data when the pipeline leaks, summarize the data, and then analyze the data to build a detection model;

[0044] S1.2. Obtain the magnetic field data of the pipeline location, summarize the data, and then analyze the data to build a calculation model;

[0045] S.2 Test Preparation:

[0046] S2.1. Set up a test pile and lay a test cable between two test cables to form a power circuit;

[0047] S2.2. Power on the test circuit, and then use the magnetic field receiving sensor to move along the pipeline path to obtain magnetic signals at various positions of the pipeline;

[0048] S3. Data analysis and calculation:

[0049] S3.1. Analyze the original data and set a boundary condition based on the analysis results;

[0050] S3.2. The analyzed data is transmitted to the detection model and the calculation model, and then the detection model and the calculation model will calculate the magnetic field data. According to the calculation results, the location information and leakage information of the pipeline can be obtained.

[0051] Specifically, in this embodiment, the following steps are included:

[0052] S1. Get data and build a model:

[0053] S1.1. Obtain the magnetic field data when the pipeline is leaking. The magnetic field data obtained when the pipeline is leaking is the magnetic field data measured by professional institutions on underground pipelines in the past. The data is summarized and then analyzed to build a detection model. The detection model is composed of the calculation formula of magnetic induction intensity and magnetic flux and the comparison algorithm.

[0054] It should be noted that the calculation formula of magnetic induction intensity is: B = μ0I / (2πr), where B represents magnetic induction intensity, I represents current, r represents distance, and μ0 represents magnetic permeability in vacuum (approximately equal to 4πx10^-7T*m / A);

[0055] Calculation formula of magnetic flux (Φ): Magnetic flux represents the measure of magnetic field passing through a surface, and the calculation formula is Φ=B*A*cosθ, where B represents magnetic induction intensity, A represents the surface area perpendicular to the magnetic induction intensity, and θ represents the angle between the magnetic induction intensity and the surface normal;

[0056] The comparison algorithm uses a ratio comparison algorithm, and the details are as follows:

[0057] #include<stdio.h>

[0058] / / Function to calculate the ratio

[0059] doublecalculate_ratio(intnumerator,intdenominator){

[0060] if (denominator == 0) {

[0061] printf("Error:Divisionbyzeroisnotallowed.\n");

[0062] return -1; / / Use -1 as an error flag

[0063] }

[0064] return(double)numerator / denominator;

[0065] }

[0066] intmain(){

[0067] inta = data collected by the magnetic field receiving sensor; / / molecule

[0068] intb = magnetic field data when pipeline leaks; / / denominator

[0069] doubleratio=calculate_ratio(a,b);

[0070] if (ratio!=-1) {

[0071] printf("Theratiois:%f\n",ratio);

[0072] }

[0073] return 0;

[0074] }

[0075] S1.2. Obtain the magnetic field data of the pipeline location. The obtained magnetic field data of the pipeline location is the magnetic field data of underground pipelines measured by professional institutions in the past. The data is summarized and then analyzed to construct a calculation model. The calculation model is a magnetic field model based on Maxwell equations.

[0076] It should be noted that there are two ways to express Maxwell's equations:

[0077] The integral form of Maxwell's equations is a mathematical model that describes the electromagnetic field in a certain volume or area, and the expression is:

[0078]

[0079] Formula ① is the total current law generalized from Ampere's circuit law, which means: the line integral of the magnetic field intensity H along any closed curve is equal to the total current passing through the area defined by this curve. The first term on the right side of the equal sign is the conduction current. The second term is the displacement current. Formula ② is the expression of Faraday's law of electromagnetic induction, which shows that the line integral of the electric field intensity E along any closed curve is equal to the negative value of the rate of change of the magnetic flux passing through the area defined by the curve with respect to time. The closed curve mentioned here does not have to be composed of a conductor. It can be a dielectric loop or even just any closed contour. Formula ③ represents the principle of flux continuity, which means that for any closed surface, there is an equal amount of flux leaving the surface as there is flux entering it. That is, line B has neither a beginning nor an end; it also means that there is no magnetic charge corresponding to the electric charge. Formula ④ is the expression of Gauss's law, which means that under time-varying conditions, the net flux of D coming out of any closed surface should be equal to the sum of all free charges in the volume enclosed by the closed surface;

[0080] Maxwell's equations in differential form. The Maxwell equations in differential form are for every point in the field. Using the del operator, they can be written as:

[0081]

[0082] Formula ⑤ is the differential form of the total current law, which shows that the curl of the magnetic field intensity H is equal to the total current density at that point (the sum of the conduction current density J and the displacement current density), that is, the vortex source of the magnetic field is the total current density, and the displacement current can generate a magnetic field just like the conduction current. Formula ⑥ is the differential form of Faraday's law of electromagnetic induction, which shows that the curl of the electric field intensity E is equal to the negative value of the time rate of change of the magnetic flux density B at that point, that is, the vortex source of the electric field is the time rate of change of the magnetic flux density. Formula ⑦ is the differential form of the principle of magnetic flux continuity, which shows that the divergence of the magnetic flux density B is always equal to zero, that is, the B line has no beginning and no end. In other words, there is no magnetic charge corresponding to the electric charge. Formula ⑧ is a generalization of Gauss's law of electrostatic field, that is, under time-varying conditions, the divergence of the electric displacement D is still equal to the free charge body density at that point.

[0083] S.2 Test Preparation:

[0084] S2.1. Set up a test pile and lay a test cable between two test cables to form a power circuit;

[0085] S2.2. Power on the test circuit, and then use the magnetic field receiving sensor to move along the pipeline path to obtain magnetic signals at various positions of the pipeline. The magnetic signal data includes geomagnetic inclination, gravity field, instrument inclination, azimuth, field strength component, environmental noise, magnetic induction intensity, and magnetic flux data;

[0086] S3. Data analysis and calculation:

[0087] S3.1. Analyze the original data. The original data is magnetic signal data. During the analysis, the data is processed by the data outlier algorithm. If outliers appear in the data, you can consider using the data of the adjacent points and use the algorithm to calculate a predicted value for the point to replace it. Set a boundary condition based on the analysis results. The boundary condition is the standard boundary condition of the algorithm in the detection model and the calculation model. The boundary condition needs to be measured and calibrated on site, and then set in combination with the coordinate system.

[0088] It should be noted that the outlier algorithm uses the Laida criterion (3σ criterion):

[0089] Applicable to normally distributed data, first calculate the mean (μ) and standard deviation (σ) of the data, and the values ​​greater than μ+3σ or less than μ-3σ are considered outliers. This method is based on the characteristics of normal distribution, that is, most of the data (about 99.73%) will fall within three times the standard deviation of the mean.

[0090] S3.2. The analyzed data is transmitted to the detection model and the calculation model, and then the detection model and the calculation model will calculate the magnetic field data. According to the calculation results, the position information and leakage information of the pipeline can be obtained. When the detection model processes the data in step S3.2, the magnetic field data obtained when the pipeline leaks will be compared with the data analyzed in the above steps. If the comparison results are the same, leakage occurs at the corresponding position of the pipeline. If the comparison results are different, there is no leakage at the corresponding position of the pipeline.

[0091] The calculation model is divided into error compensation calculation, depth measurement calculation and product calculation. The error compensation calculation adopts the least squares formula, and the specific details are as follows:

[0092]

[0093] Where n is the highest order term of the polynomial, R 2 The fitting formula with the largest value is taken as the final compensation formula value, and xi and yi are the coordinates of the measurement points of the pipeline position.

[0094] The depth calculation formula is as follows:

[0095]

[0096] Among them, h is the theoretical value of depth sounding, A is the current amplitude, unit: A; f is the frequency of the current signal, unit: Hz; ω is the initial phase of the current signal, unit: rad; μ0 is the air magnetic permeability, unit: H / m;

[0097] The product calculation formula is as follows:

[0098] H=h×R 2

[0099] Among them, H is the actual value of depth measurement, h is the theoretical value of depth measurement, and R is the actual value of depth measurement. 2 The fitting formula with the largest value is taken as the final compensation formula value.

[0100] The present invention provides a method for locating deeply buried metal pipelines based on electromagnetic non-destructive detection, which can meet the measurement of pipelines with a great burial depth of less than 100m, and has strong electromagnetic anti-interference ability, can detect the accurate position and buried depth of the pipeline, is suitable for laying multiple pipelines in the same trench at a close distance, is not easily interfered by nearby pipelines, and is also suitable for the measurement of pipelines in complex environments such as water areas and buildings above. At the same time, it can also meet the measurement of underground optical cables and electrical cables, greatly improving the scope of application of the present invention.

[0101] A deep buried metal pipeline positioning system based on electromagnetic non-destructive detection, such as Figure 2 As shown, it includes a test pile, a pipeline to be tested, a measuring vehicle, an ELF extremely low frequency power supply, an energized cable, and a magnetic field receiving sensor. It should be noted that the test pile is designed as a multifunctional test pile, which is used for the detection of cathodic protection parameters. It is an indispensable device in pipeline management and maintenance, and is arranged along the line according to the test function. The test pile is used to detect the potential, current, and insulation performance of the pipeline. The test vehicle is a small car. The test pile is electrically connected to the pipeline to be tested through a wire, and the ELF extremely low frequency power supply is electrically connected to the two test piles through the energized cable. The magnetic field receiving sensor is connected to the measuring vehicle by communication. The magnetic field receiving sensor can be equipped on drone equipment and speedboat equipment. The measuring vehicle is equipped with a computer and a display screen device.

[0102] It should be noted that the test pile, the tested pipeline, the measuring vehicle, the ELF extremely low frequency power supply, the energized cable, and the magnetic field receiving sensor can constitute a pipeline extremely low frequency (ELF) electromagnetic positioning test system, which is a new pipeline measurement technology developed by using the accumulation of classical electromagnetic theory and related technical applications to solve the difficulties in accurately locating and measuring in-service / non-in-service metal pipelines installed in deep burial and complex environments, especially using the horizontal directional drilling crossing method. There are two application modes of pipeline extremely low frequency electromagnetic positioning technology: ground measurement mode (G-Mode) and parallel tracking mode (P-Mode). The signal receiving device is located on the ground and moves with the surveyor according to the designed trajectory, with the main purpose of obtaining the location information of the existing buried pipeline. Use the horizontal directional drilling method to measure the existing pipelines that are parallel to the new pipeline while constructing the new pipeline. Ensure that the new pipeline is kept at a safe distance from the existing pipeline during construction to avoid mutual interference or damage; it can also accurately locate the existing parallel pipelines and output the measurement results.

[0103] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A method for locating deep buried metal pipelines based on electromagnetic nondestructive detection, characterized in that: The following steps are involved: S1. Get data and build a model: S1.

1. Obtain the magnetic field data when the pipeline leaks, summarize the data, and then analyze the data to build a detection model; S1.

2. Obtain the magnetic field data of the pipeline location, summarize the data, and then analyze the data to build a calculation model; S.2 Test Preparation: S2.

1. Set up a test pile and lay a test cable between two test cables to form a power circuit; S2.

2. Power on the test circuit, and then use the magnetic field receiving sensor to move along the pipeline path to obtain magnetic signals at various positions of the pipeline; S3. Data analysis and calculation: S3.

1. Analyze the original data and set a boundary condition based on the analysis results; S3.

2. The analyzed data is transmitted to the detection model and the calculation model, and then the detection model and the calculation model will calculate the magnetic field data. According to the calculation results, the location information and leakage information of the pipeline can be obtained.

2. According to claim 1, a method for locating deep buried metal pipelines based on electromagnetic nondestructive detection is characterized in that: The magnetic field data obtained in step S1.1 when the pipeline is leaking is the magnetic field data previously measured on underground pipelines by professional institutions. The detection model in step S1.1 is constructed based on the calculation formula of magnetic induction intensity and magnetic flux and the comparison algorithm.

3. The method for locating deep buried metal pipelines based on electromagnetic nondestructive detection according to claim 1 is characterized in that: The pipeline position magnetic field data acquired in step S1.2 is the magnetic field data previously measured on underground pipelines by professional institutions. The calculation model in step S1.2 constitutes a magnetic field model based on Maxwell's equations.

4. The method for locating deep buried metal pipelines based on electromagnetic nondestructive detection according to claim 1 is characterized in that: The magnetic signal data in step S2.2 are geomagnetic inclination, gravity field, instrument inclination, azimuth, field strength component, environmental noise, magnetic induction intensity, and magnetic flux data.

5. The method for locating deeply buried metal pipelines based on electromagnetic nondestructive detection according to claim 1 is characterized in that: The original data in step S3.1 is magnetic signal data. In step S3.1, the data is processed by a data outlier algorithm. If outliers appear in the data, it is possible to use data from nearby points and use an algorithm to calculate a predicted value for the point and replace it.

6. The method for locating deeply buried metal pipelines based on electromagnetic nondestructive detection according to claim 1 is characterized in that: The boundary conditions in step S3.1 are standard boundary conditions of the algorithms in the detection model and the calculation model, and the boundary conditions need to be measured and calibrated on site and subsequently set in conjunction with the coordinate system.

7. The method for locating deeply buried metal pipelines based on electromagnetic nondestructive detection according to claim 1 is characterized in that: When the detection model in step S3.2 processes the data, the magnetic field data of the pipeline leakage obtained in step S1.1 will be compared with the data analyzed in step S3.

1. If the comparison results are the same, leakage occurs at the corresponding position of the pipeline. If the comparison results are different, there is no leakage at the corresponding position of the pipeline.

8. The method for locating deeply buried metal pipelines based on electromagnetic nondestructive detection according to claim 1 is characterized in that: The calculation model in step S3.2 is divided into error compensation calculation, depth measurement calculation and product calculation, wherein the error compensation calculation adopts the least squares formula, and is specifically as follows: Where n is the highest order term of the polynomial, R 2 The fitting formula with the largest value is taken as the final compensation formula value, and xi and yi are the coordinates of the measurement points of the pipeline position.

9. The method for locating deeply buried metal pipelines based on electromagnetic nondestructive detection according to claim 8 is characterized in that: The depth calculation formula is as follows: Among them, h is the theoretical value of depth sounding, A is the current amplitude, unit: A; f is the frequency of the current signal, unit: Hz; ω is the initial phase of the current signal, unit: rad; μ0 is the air magnetic permeability, unit: H / m; The product calculation formula is as follows: H=h×R 2 Among them, H is the actual value of depth measurement, h is the theoretical value of depth measurement, and R is the actual value of depth measurement. 2 The fitting formula with the largest value is taken as the final compensation formula value.

10. A deep buried metal pipeline positioning system based on electromagnetic non-destructive detection, characterized in that: It includes a test pile, a tested pipeline, a measuring vehicle, an ELF extremely low frequency power supply, an energized cable, and a magnetic field receiving sensor. The test pile is electrically connected to the tested pipeline through a wire, the ELF extremely low frequency power supply is electrically connected to two test piles through the energized cable, the magnetic field receiving sensor is communicatively connected to the measuring vehicle through communication, the magnetic field receiving sensor can be equipped on unmanned aerial vehicle equipment and speedboat equipment, and a computer and a display screen device are arranged inside the measuring vehicle.

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