Pipeline surveying method and system based on ground penetrating radar and 3D imaging

Abstract

The invention provides a pipeline surveying method and system based on ground penetrating radar and 3D imaging, and relates to the technical field of underground pipe network construction.The method comprises the steps that a quantum annealing algorithm is used for planning and optimizing a surveying path, according to the optimal surveying path, a pipeline surveying vehicle is combined with a Beidou positioning device to walk along the line center line of a pipe network, and the line center line of the pipe network is obtained; the position is continuously corrected in the walking process; in the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle to obtain a reflected signal of the pipeline and perform parameter extraction, and the geophysical prospecting equipment verifies and supplements the reflected signal of the pipeline through sound wave propagation; performing optimization processing by using a quantum annealing algorithm according to the parameters of the underground pipeline network; and obtaining a high-precision three-dimensional image of the underground pipeline through a three-dimensional reconstruction algorithm by using 3D imaging software according to the optimized data. The technical problems that pipeline surveying is omitted, the pipeline position is inaccurate, and surveying work consumes a large amount of manpower and time are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground pipe network construction, and in particular to a pipeline survey method and system based on ground penetrating radar and 3D imaging. Background Art

[0002] With the continuous advancement of urbanization, urban construction has gradually become more complete, and the number of municipal pipeline supporting projects has also been increasing. In order to improve the level of urban infrastructure, rainwater and sewage diversion projects in old community renovation projects have become an important task. However, during the construction process, some unpredictable problems are often encountered, such as the appearance of unknown pipelines or the situation that the pipelines do not match the geological survey data. In order to solve these problems, we currently rely mainly on the completed project construction drawings and field geophysical exploration technology to draw the existing pipeline network map. However, due to the discontinuity of geophysical exploration technology, some pipelines are often missed, especially non-metallic pipelines, which brings considerable challenges to the construction.

[0003] In the process of manually surveying along the planned new pipeline, due to the limitations of manual operation, the surveyors may deviate from the planned route during the process, resulting in deviations in the survey path. In addition, the performance limitations of the survey equipment may also make it impossible to continue in-depth exploration work, thereby increasing the risk of missing the delivered pipeline, which may have a serious impact on subsequent construction and pipeline safety. Usually, the existing pipeline drawings of new projects are derived from the construction drawings of completed projects. Errors are inevitable in the construction process of previous projects, or due to various reasons, the actual construction is not carried out in full accordance with the design drawings. If these deviations are not accurately reflected in the final completion drawings, the pipeline positions on the pipeline drawings of the new project will be inconsistent with the actual positions. This inaccurate pipeline location information may mislead engineering design and construction, and thus affect the smooth progress of the entire project; surveyors need to conduct on-site surveys along the pipeline from the starting point to the end point, during which a large number of wellheads, valves and other facilities need to be surveyed and recorded. When processing these data, due to the large and complex data volume, various errors and omissions are prone to occur in the process. In addition, surveyors also need to face various difficulties and challenges during field operations, such as severe weather conditions, complex terrain, etc., which greatly increase the difficulty and workload of the survey work. Therefore, the survey work not only requires a lot of manpower and time, but also requires a high degree of care and professional skills to ensure the accuracy and reliability of the survey results. Summary of the invention

[0004] The present invention provides a pipeline survey method and system based on ground penetrating radar and 3D imaging, which solves the technical problems of pipeline survey omissions, inaccurate pipeline positions, and survey work consuming a lot of manpower and time.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, a pipeline survey method based on ground penetrating radar and 3D imaging, the method comprising:

[0007] Use quantum annealing algorithm to plan the survey path and optimize it to obtain the optimal survey path;

[0008] According to the optimal survey path, the pipeline survey vehicle uses the Beidou positioning device to move along the center line of the pipeline network and continuously corrects its position during the movement;

[0009] During the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle, obtains the reflection signal of the pipeline and extracts parameters to obtain the parameter information of the pipeline, which includes the location, depth and size of the pipeline;

[0010] During the walking process, the geophysical exploration equipment verifies and supplements the reflected signal of the pipeline through the propagation of sound waves to obtain the fused pipeline parameters;

[0011] According to the optimal survey path, the pipeline survey vehicle uses the Beidou positioning device to move along the center line of the underground pipeline network, and obtains the parameters of the underground pipeline network in real time through ground penetrating radar and geophysical exploration equipment during the movement;

[0012] According to the parameters of the underground pipeline network, the quantum annealing algorithm is used to perform optimization processing to obtain optimized data;

[0013] Based on the optimized data, 3D imaging software is used through a 3D reconstruction algorithm to obtain high-precision 3D images of underground pipelines.

[0014] Furthermore, the quantum annealing algorithm is used to plan the survey path and optimize it to obtain the optimal survey path, including:

[0015] Discretize the survey area into a grid, each grid point represents a survey point, and every two grid points connected represent a survey path;

[0016] According to each survey path, the objective function is constructed, that is, Where N is the total number of grid points, Ob is the quality index, and x i Indicates whether the path passes through the i-th grid point, x i ∈{0,1},x j Indicates whether the path passes through the jth grid point, x j ∈{0,1},d ij represents the distance from grid point i to grid point j, CC irepresents the survey value of grid point i, T represents the temperature parameter in the quantum annealing process, and λ is a weight parameter;

[0017] According to each survey path, the quantum bit corresponding to each grid point is put into a superposition state to obtain an initialized quantum system;

[0018] During the quantum annealing process, according to the initialized quantum system, the objective function is used to simulate the annealing process of the quantum system from high temperature to low temperature, so that the state of the quantum system gradually tends to the optimal solution of the objective function, and finally the optimal solution is obtained;

[0019] When the quantum annealing process is completed, the state of the quantum system is read and decoded to obtain the optimal survey path.

[0020] Furthermore, according to the optimal survey path, the pipeline survey vehicle uses the Beidou positioning device to move along the center line of the pipeline network and continuously corrects its position during the movement, including:

[0021] The pipeline survey vehicle obtains optimal survey path data, wherein the optimal survey path data includes the starting point, the end point and the coordinates of each node along the centerline of the pipeline network;

[0022] During the walking process, the real-time position information provided by the Beidou positioning device is continuously received, and the real-time position is compared with the optimal survey path to obtain the comparison result;

[0023] According to the comparison result, the deviation between the current position and the center line of the path is calculated to obtain the deviation calculation result;

[0024] According to the deviation calculation results, the pipeline survey vehicle automatically adjusts its direction of travel and corrects the accumulated errors during the travel process.

[0025] Furthermore, during the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle, obtains the reflection signal of the pipeline and extracts the parameters to obtain the parameter information of the pipeline, and the parameter information of the pipeline includes the position, depth and size of the pipeline, including:

[0026] Determine the parameters of the ground penetrating radar, which include operating frequency, scanning angle, and pulse width;

[0027] According to the working frequency, the ground penetrating radar continuously emits radar waves, which propagate toward the ground below along a preset scanning angle;

[0028] When the radar wave encounters an underground pipeline, a reflection signal is generated, and the ground-penetrating radar continuously receives the reflection signal through the receiver;

[0029] Preprocessing the received reflected signal to obtain a preprocessed signal;

[0030] According to the preprocessed signal, the signal is subjected to parameter extraction using time domain analysis to obtain parameter information of the pipeline. The signal is subjected to parameter extraction using time domain analysis including using The pipeline position is calculated, the pipeline depth is calculated using h = d × tan (θ), and the pipeline size is obtained by analyzing the amplitude and width of the reflected signal and the wavelength and frequency of the radar wave. Among them, d is the distance between the pipeline and the equipment, that is, the pipeline position, v is the propagation speed of the radar wave, and t d is the time delay of the reflected signal, h is the pipe depth, and θ is the preset scanning angle.

[0031] Furthermore, during the walking process, the geophysical exploration equipment verifies and supplements the reflected signal of the pipeline through acoustic wave propagation to obtain the fused pipeline parameters, including:

[0032] The geophysical exploration equipment emits sound waves according to the preset frequency. When the sound waves encounter underground pipelines, reflected sound waves are generated;

[0033] According to the reflected sound wave, the parameters of the reflected sound wave are extracted by using time domain analysis to obtain the sound wave characteristics;

[0034] Compare the acoustic wave characteristics with the parameter information of the pipeline to obtain a comparison result;

[0035] According to the comparison results, use The acoustic wave characteristics are fused with the pipeline parameter information to obtain the fused pipeline parameters, where: is the comprehensive estimate after weighted averaging, i.e., the pipeline parameter after fusion, x i is the value of the ith data point, w i is the weight of the ith data point, and n is the total number of data points.

[0036] Furthermore, according to the parameters of the underground pipeline network, the quantum annealing algorithm is used for optimization processing to obtain optimized data, including:

[0037] Determining parameters of a quantum annealing algorithm according to the parameters of the underground pipeline network, wherein the parameters of the quantum annealing algorithm include an initial temperature, a maximum number of iterations, an initial state and its corresponding state energy;

[0038] According to the parameters of the underground pipeline network and the parameters of the quantum annealing algorithm, use Perform quantum annealing to obtain data after quantum annealing, where H pot is the potential energy part, Γ(t) is the time-varying transverse field strength, Δ i is a parameter related to the quantum bit, σ i τis the Pauli spin matrix, representing the state of the quantum bit, t is the time, N is the total number of samples, and i is the index;

[0039] During the quantum annealing process, the annealing process is simulated by gradually reducing the transverse field strength to obtain optimized data.

[0040] Furthermore, based on the optimized data, a 3D imaging software is used to obtain a high-precision 3D image of the underground pipeline through a 3D reconstruction algorithm, including:

[0041] Preprocessing is performed according to the optimized data to obtain preprocessed data;

[0042] Based on the preprocessed data, the 3D imaging software generates a three-dimensional model of the underground pipeline;

[0043] The generated 3D model is post-processed to obtain a high-precision 3D image of the underground pipeline.

[0044] In the second aspect, a pipeline survey system based on ground penetrating radar and 3D imaging includes:

[0045] An acquisition module is used to plan and optimize the survey path using a quantum annealing algorithm to obtain an optimal survey path;

[0046] The processing module is used for the pipeline survey vehicle to walk along the line center line of the pipeline network in combination with the Beidou positioning device according to the optimal survey path, and continuously correct the position during the walking process. During the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle to obtain the reflection signal of the pipeline and extract parameters to obtain the parameter information of the pipeline, and the parameter information of the pipeline includes the pipeline position, depth, and size. During the walking process, the geophysical exploration equipment verifies and supplements the reflection signal of the pipeline through sound wave propagation to obtain the fused pipeline parameters. According to the optimal survey path, the pipeline survey vehicle walks along the line center line of the underground pipeline network in combination with the Beidou positioning device, and obtains the parameters of the underground pipeline network in real time through the ground penetrating radar and the geophysical exploration equipment during the walking process. According to the parameters of the underground pipeline network, the quantum annealing algorithm is used for optimization processing to obtain optimized data. According to the optimized data, the 3D imaging software is used to obtain a high-precision three-dimensional image of the underground pipeline through a three-dimensional reconstruction algorithm.

[0047] According to a third aspect, a computing device includes:

[0048] one or more processors;

[0049] The storage system is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the above method.

[0050] In a fourth aspect, a computer-readable storage medium stores a program, and the program implements the above method when executed by a processor.

[0051] The above solution of the present invention includes at least the following beneficial effects:

[0052] The above scheme of the present invention combines the high-precision detection capability of ground-penetrating radar with the intuitive display advantage of 3D imaging, and can accurately obtain information such as the location, depth, size and material of underground pipelines, thereby improving the accuracy and efficiency of surveying and reducing the construction risks and time costs caused by surveying errors. 3D imaging technology intuitively presents the complex layout of underground pipelines in the form of three-dimensional images, allowing technicians to easily understand the spatial relationship of pipelines, including intersections, parallelism, and differences in buried depths. Three-dimensional visualization management not only facilitates the planning of new pipelines, but also helps to more effectively maintain and troubleshoot existing pipelines. Through precise detection and three-dimensional imaging, the system can detect the location and status of underground pipelines in advance and avoid accidental damage during construction. It not only helps to protect underground pipeline facilities, but also reduces safety accidents caused by pipeline damage. Such as gas leakage, water pollution, etc., so as to ensure the safety of construction workers and surrounding residents; the detailed pipeline data generated by this system and method is an important part of smart city construction. By combining these data with urban planning, traffic management, environmental protection and other systems, it is possible to achieve intelligent management of urban infrastructure and improve urban operation efficiency and the quality of life of residents; long-term three-dimensional imaging data records provide a historical basis for pipeline maintenance, which is convenient for analyzing pipeline aging trends and potential problems. By regularly updating 3D images, pipeline faults can be discovered and handled in a timely manner, extending the service life of the pipeline and reducing maintenance costs; 3D imaging results can be easily shared with remote expert teams or decision-making bodies through the network, supporting multi-party collaboration and remote decision-making, which is particularly important for cross-regional and cross-departmental project cooperation, and can accelerate the decision-making process and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a flow chart of a pipeline survey method based on ground penetrating radar and 3D imaging provided by an embodiment of the present invention.

[0054] Figure 2 It is a schematic diagram of a pipeline survey system based on ground penetrating radar and 3D imaging provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0056] like Figure 1 As shown, an embodiment of the present invention provides a pipeline survey method based on ground penetrating radar and 3D imaging, the method comprising:

[0057] 11. Use quantum annealing algorithm to plan the survey path and optimize it to obtain the optimal survey path;

[0058] 12. According to the optimal survey path, the pipeline survey vehicle uses the Beidou positioning device to move along the center line of the pipeline network and continuously corrects its position during the movement;

[0059] 13. During the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle, obtains the reflection signal of the pipeline and extracts the parameters to obtain the parameter information of the pipeline, and the parameter information of the pipeline includes the position, depth and size of the pipeline;

[0060] 14. During the walking process, the geophysical exploration equipment verifies and supplements the reflected signal of the pipeline through sound wave propagation to obtain the fused pipeline parameters;

[0061] 15. According to the optimal survey path, the pipeline survey vehicle uses the Beidou positioning device to move along the center line of the underground pipeline network, and obtains the parameters of the underground pipeline network in real time through ground penetrating radar and geophysical exploration equipment during the movement;

[0062] 16. According to the parameters of the underground pipeline network, the quantum annealing algorithm is used to optimize the process to obtain optimized data;

[0063] 17. Based on the optimized data, a high-precision three-dimensional image of the underground pipeline is obtained using a three-dimensional reconstruction algorithm using 3D imaging software.

[0064] In the embodiment of the present invention, the survey path is planned and optimized by using the quantum annealing algorithm. The present invention can quickly find the optimal survey path, ensure the efficiency and economy of the survey process, reduce unnecessary survey time and cost, and the rapid convergence and global optimization capabilities of the quantum annealing algorithm enable the optimal solution to be found even in a complex underground pipe network environment; the pipeline survey vehicle is combined with the Beidou positioning device to walk along the center line of the pipe network and continuously correct the position during the walking process, ensuring that the survey vehicle can accurately track the preset path and maintain high accuracy even in a complex geographical environment. The use of the Beidou positioning system provides stable and reliable positioning information, further improving the accuracy of the survey; the ground penetrating radar continuously scans the pipeline at a preset frequency and angle, obtains the reflection signal of the pipeline and extracts parameters, and can obtain detailed parameter information of the pipeline, including the location, depth and size of the pipeline. The high resolution and penetration of the ground penetrating radar enable it to penetrate the surface cover and accurately detect the existence of the underground pipeline; the geophysical exploration equipment verifies the reflection signal of the pipeline through sound wave propagation and supplement to obtain the fused pipeline parameters. The characteristics of sound wave propagation underground are used to verify and supplement the data obtained by the ground penetrating radar, which improves the reliability and integrity of the data. The fused pipeline parameters are more accurate, providing a solid foundation for subsequent 3D imaging. During the walking process, the pipeline survey vehicle combines the Beidou positioning device, ground penetrating radar and geophysical equipment to obtain the parameters of the underground pipeline network in real time. At the same time, the quantum annealing algorithm is used to optimize these parameters to obtain optimized data, ensuring the real-time and accuracy of the survey data, providing a high-quality data source for subsequent 3D imaging. The optimization ability of the quantum annealing algorithm further improves the accuracy and reliability of the data. According to the optimized data, the 3D imaging software is used to obtain high-precision three-dimensional images of the underground pipeline through the three-dimensional reconstruction algorithm, and the abstract pipeline parameter information is converted into intuitive three-dimensional images, so that technicians can clearly see the layout, direction and size of the underground pipeline. The generation of high-precision three-dimensional images provides strong visual support for the management, maintenance and construction of the pipeline.

[0065] like Figure 1 As shown in 11, the survey path is planned and optimized using a quantum annealing algorithm to obtain the optimal survey path, including:

[0066] Discretize the survey area into a grid, each grid point represents a survey point, and every two grid points connected represent a survey path;

[0067] According to each survey path, the objective function is constructed, that is, Where N is the total number of grid points, Ob is the quality index, and x i Indicates whether the path passes through the i-th grid point, x i∈{0,1},x j Indicates whether the path passes through the jth grid point, x j ∈{0,1},d ij represents the distance from grid point i to grid point j, CC i represents the survey value of grid point i, T represents the temperature parameter in the quantum annealing process, and λ is a weight parameter;

[0068] According to each survey path, the quantum bit corresponding to each grid point is put into a superposition state to obtain an initialized quantum system;

[0069] During the quantum annealing process, according to the initialized quantum system, the objective function is used to simulate the annealing process of the quantum system from high temperature to low temperature, so that the state of the quantum system gradually tends to the optimal solution of the objective function, and finally the optimal solution is obtained;

[0070] When the quantum annealing process is completed, the state of the quantum system is read and decoded to obtain the optimal survey path.

[0071] In an embodiment of the present invention, the survey area is discretized into a grid, each grid point represents a survey point, and the connection between every two grid points represents a possible survey path. This method simplifies the complex survey area into a processable mathematical model. Such discretization allows us to systematically consider all possible survey paths, providing a basis for the subsequent optimization process. The constructed objective function comprehensively considers multiple factors, including the total number of grid points, the quality index of the path, whether the path passes through a specific grid point, the distance between the grid points, the survey value of the grid points, and the temperature parameters and weight parameters in the quantum annealing process. It not only considers the length of the path and the number of grid points covered, but also introduces the survey value of the grid points, so that the planned path can meet the survey requirements while also preferentially covering areas with higher values. The quantum bit corresponding to each grid point is placed in a superposition state, thereby obtaining an initialized quantum system, which utilizes the superposition property of the quantum bit so that the quantum system can simultaneously represent all possible survey paths. This parallelism greatly The exploration efficiency of the algorithm is improved; in the quantum annealing process, the annealing process of the quantum system from high temperature to low temperature is simulated. As the temperature gradually decreases, the state of the quantum system gradually tends to the optimal solution of the objective function. The quantum tunneling effect and quantum parallelism of the quantum system are utilized, so that the algorithm can find the global optimal solution or the approximate optimal solution in a relatively short time; when the quantum annealing process is over, the state of the quantum system is read and decoded to obtain the optimal survey path, and the final state of the quantum system is converted into understandable survey path information, which provides clear guidance for subsequent survey work; efficient and systematic path planning is achieved, taking into account multiple factors, including path length, coverage area and survey value; the superposition property of quantum bits and the quantum tunneling effect of quantum systems are utilized to improve the exploration efficiency and solution speed of the algorithm; finally, the global optimal or approximate optimal survey path is obtained, which provides clear and reliable guidance for subsequent survey work; it not only improves the efficiency and accuracy of survey path planning, but also provides new solutions for survey tasks in complex environments.

[0072] like Figure 1 As shown in 12, according to the optimal survey path, the pipeline survey vehicle moves along the center line of the pipeline network in combination with the Beidou positioning device, and continuously corrects the position during the walking process, including:

[0073] The pipeline survey vehicle obtains optimal survey path data, wherein the optimal survey path data includes the starting point, the end point and the coordinates of each node along the centerline of the pipeline network;

[0074] During the walking process, the real-time position information provided by the Beidou positioning device is continuously received, and the real-time position is compared with the optimal survey path to obtain the comparison result;

[0075] According to the comparison result, the deviation between the current position and the center line of the path is calculated to obtain the deviation calculation result;

[0076] According to the deviation calculation results, the pipeline survey vehicle automatically adjusts its direction of travel and corrects the accumulated errors during the travel process.

[0077] In an embodiment of the present invention, the pipeline survey vehicle can clearly know the walking route of the entire survey task by obtaining the optimal survey path data, including the starting point, end point and coordinates of each node along the centerline of the pipeline network, so that the survey vehicle can accurately move according to the predetermined plan, avoiding blind patrols and missing important survey points; during the movement, the pipeline survey vehicle continuously receives the real-time position information provided by the Beidou positioning device, ensuring that the survey vehicle can understand its precise position in real time, and by comparing the real-time position with the optimal survey path, the survey vehicle can quickly identify whether it has deviated from the predetermined path; the comparison result will be used to calculate the deviation between the current position and the centerline of the path, which directly determines whether the survey vehicle needs to adjust its travel The deviation calculation results provide an accurate numerical basis for the survey vehicle to make accurate adjustments according to the actual situation. According to the deviation calculation results, the pipeline survey vehicle can automatically adjust the direction of travel to ensure that it always walks along the center line of the pipeline network. At the same time, the accumulated errors in the walking process are corrected to avoid positioning drift and accumulated errors caused by long-term walking, ensuring the accuracy and reliability of the survey data. Through the above process, the pipeline survey vehicle can efficiently and accurately move along the optimal survey path, ensuring the smooth completion of the survey task. The precise path tracking and real-time correction mechanism greatly improves the efficiency and accuracy of the survey, and provides reliable data support for subsequent pipeline maintenance, management and construction.

[0078] like Figure 1 As shown in 13, during the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle, obtains the reflection signal of the pipeline and extracts the parameters to obtain the parameter information of the pipeline, and the parameter information of the pipeline includes the position, depth and size of the pipeline, including:

[0079] Determine the parameters of the ground penetrating radar, which include operating frequency, scanning angle, and pulse width;

[0080] According to the working frequency, the ground penetrating radar continuously emits radar waves, which propagate toward the ground below along a preset scanning angle;

[0081] When the radar wave encounters an underground pipeline, a reflection signal is generated, and the ground-penetrating radar continuously receives the reflection signal through the receiver;

[0082] Preprocessing the received reflected signal to obtain a preprocessed signal;

[0083] According to the preprocessed signal, the signal is subjected to parameter extraction using time domain analysis to obtain parameter information of the pipeline. The signal is subjected to parameter extraction using time domain analysis including using The pipeline position is calculated, the pipeline depth is calculated using h = d × tan (θ), and the pipeline size is obtained by analyzing the amplitude and width of the reflected signal and the wavelength and frequency of the radar wave. Among them, d is the distance between the pipeline and the equipment, that is, the pipeline position, v is the propagation speed of the radar wave, and t d is the time delay of the reflected signal, h is the pipe depth, and θ is the preset scanning angle.

[0084] In the embodiment of the present invention, the working parameters of the ground penetrating radar, including the working frequency, scanning angle and pulse width, are clearly defined, which determine the detection capability and accuracy of the ground penetrating radar; according to the set working frequency, the ground penetrating radar continuously emits radar waves, which propagate toward the ground below along the preset scanning angle, forming a continuous detection of the underground space, and the emission of radar waves is continuous and stable, ensuring the continuity and reliability of the detection; when the radar wave encounters an underground pipeline, a reflection signal is generated, and the ground penetrating radar continuously receives these reflection signals through its receiver, providing raw data for subsequent parameter extraction, and the reception of the reflection signal is real-time, ensuring the immediacy of the detection; the received reflection signal is preprocessed, including denoising, filtering, enhancement and other steps to improve the quality and reliability of the signal. The preprocessed signal is clearer, which is conducive to the subsequent parameter extraction; the preprocessed signal is analyzed using time domain to extract parameters. By calculating the time delay of the reflected signal and combining it with the propagation speed of the radar wave, the distance between the pipeline and the equipment, that is, the pipeline position, can be obtained. At the same time, based on the amplitude and width of the reflected signal and the wavelength and frequency of the radar wave and other parameters, the depth and size of the pipeline can be further analyzed; the pipeline position is obtained by calculating the product of the time delay of the reflected signal and the propagation speed of the radar wave. The pipeline depth is usually related to the time delay of the reflected signal and the incident angle of the radar wave. The pipeline size can be inferred from the diameter or cross-sectional size of the pipeline by analyzing the amplitude and width of the reflected signal and combining it with parameters such as the wavelength and frequency of the radar wave. Through the above process, the ground penetrating radar can continuously and accurately obtain the parameter information of the underground pipeline, including the position, depth and size, which not only improves the accuracy of detection, but also greatly improves the efficiency of detection, providing reliable data support for subsequent pipeline management, maintenance and construction.

[0085] like Figure 1 As shown in 14, during the walking process, the geophysical exploration equipment verifies and supplements the reflected signal of the pipeline through sound wave propagation to obtain the fused pipeline parameters, including:

[0086] The geophysical exploration equipment emits sound waves according to the preset frequency. When the sound waves encounter underground pipelines, reflected sound waves are generated;

[0087] According to the reflected sound wave, the parameters of the reflected sound wave are extracted by using time domain analysis to obtain the sound wave characteristics;

[0088] Compare the acoustic wave characteristics with the parameter information of the pipeline to obtain a comparison result;

[0089] According to the comparison results, use The acoustic wave characteristics are fused with the pipeline parameter information to obtain the fused pipeline parameters, where: is the comprehensive estimate after weighted averaging, i.e., the pipeline parameter after fusion, x i is the value of the ith data point, w i is the weight of the ith data point, and n is the total number of data points.

[0090] In the embodiment of the present invention, the geophysical exploration equipment emits sound waves according to a preset frequency. The sound waves propagate underground. When encountering underground pipelines, reflected sound waves are generated, which are the basis of sound wave detection and ensure the feasibility of subsequent parameter extraction. After the reflected sound waves are received by the geophysical exploration equipment, time domain analysis is used to extract parameters of the reflected sound waves. Through this process, the characteristics of the sound waves, such as reflection time, amplitude, frequency, etc., can be obtained, which are crucial for identifying pipelines and extracting pipeline parameters. The extracted sound wave characteristics are compared with the pipeline parameter information previously obtained by the ground penetrating radar to verify and supplement the pipeline parameters and ensure the accuracy and completeness of the data. By comparison, possible differences or Errors are detected and corrected accordingly; based on the comparison results, a specific data fusion algorithm is used to fuse the acoustic wave features with the parameter information of the pipeline, aiming to combine the advantages of different detection methods to obtain more accurate and reliable pipeline parameters. During the fusion process, a weighted average method is used to calculate the comprehensive estimate, i.e., the fused pipeline parameters; the reflected signal of the pipeline is verified and supplemented by acoustic wave propagation, and combined with the parameter information of other detection methods, the fused pipeline parameters can be obtained, which not only improves the detection accuracy, but also enhances the reliability of the data. The fused pipeline parameters are more comprehensive and accurate, providing more reliable data support for subsequent pipeline management, maintenance and construction.

[0091] like Figure 1 As shown in 16, according to the parameters of the underground pipeline network, the quantum annealing algorithm is used to perform optimization processing to obtain optimized data, including:

[0092] Determining parameters of a quantum annealing algorithm according to the parameters of the underground pipeline network, wherein the parameters of the quantum annealing algorithm include an initial temperature, a maximum number of iterations, an initial state and its corresponding state energy;

[0093] According to the parameters of the underground pipeline network and the parameters of the quantum annealing algorithm, use Perform quantum annealing to obtain data after quantum annealing, where H pot is the potential energy part, F(t) is the transverse field strength that varies with time, Δ i is a parameter related to the quantum bit, σ i τ is the Pauli spin matrix, representing the state of the quantum bit, t is the time, N is the total number of samples, and i is the index;

[0094] During the quantum annealing process, the annealing process is simulated by gradually reducing the transverse field strength to obtain optimized data.

[0095] In an embodiment of the present invention, the parameters required for the quantum annealing algorithm are determined according to the parameters of the underground pipeline network, such as pipeline position, depth, size, material, etc., including initial temperature, maximum number of iterations, initial state and its corresponding state energy. The initial temperature is usually high so that the algorithm can explore in a larger search space; the maximum number of iterations limits the running time of the algorithm to ensure that the algorithm can find the optimal solution within a reasonable time; the initial state and its corresponding state energy are the starting point of the algorithm, which has an important influence on the convergence speed of the algorithm and the quality of the final solution; according to the parameters of the underground pipeline network and the parameters of the quantum annealing algorithm, the quantum annealing algorithm is used to solve the problem. During the quantum annealing process, the algorithm maps the parameters of the underground pipeline network to the potential energy part of the quantum system, and simulates the quantum tunneling effect by introducing the transverse field strength that varies with time. The introduction of the transverse field strength enables the quantum system to transition between high energy state and low energy state. Thereby exploring more solution spaces; the potential energy part in the quantum annealing algorithm is closely related to the parameters of the underground pipeline network, reflecting the structural characteristics and optimization objectives of the pipeline network, while the transverse field strength gradually decreases with time, simulating the temperature drop during the annealing process, making the quantum system gradually stabilize and finally converge to a low-energy state; and the state of the quantum bit corresponds to different values ​​of the parameters of the underground pipeline network; in the quantum annealing process, the annealing process is simulated by gradually reducing the transverse field strength. As the transverse field strength decreases, the tunneling effect of the quantum system gradually weakens, and it becomes increasingly difficult for the system to transition between high-energy states and low-energy states, causing the quantum system to gradually converge to a low-energy state, that is, the optimized solution; by continuously iterating and adjusting the state of the quantum system, the algorithm can eventually obtain a set of optimized data, which corresponds to the optimal configuration of the parameters of the underground pipeline network; after optimization processing by the quantum annealing algorithm, a set of optimized data is finally obtained. This set of data not only meets the actual needs of the underground pipeline network, but also improves the operating efficiency and safety of the pipeline network to a certain extent. For example, by optimizing the position and size of the pipeline, the interference and conflict between pipelines can be reduced; by optimizing the material and thickness of the pipeline, the corrosion resistance and service life of the pipeline can be improved.

[0096] like Figure 1As shown in 17, based on the optimized data, a high-precision three-dimensional image of the underground pipeline is obtained by using a three-dimensional reconstruction algorithm using 3D imaging software, including:

[0097] Preprocessing is performed according to the optimized data to obtain preprocessed data;

[0098] Based on the preprocessed data, the 3D imaging software generates a three-dimensional model of the underground pipeline;

[0099] The generated 3D model is post-processed to obtain a high-precision 3D image of the underground pipeline.

[0100] In an embodiment of the present invention, the optimized underground pipeline data is preprocessed, including data cleaning, format conversion, coordinate system normalization, etc., to ensure the accuracy and consistency of the data. The preprocessed data is more suitable for the three-dimensional reconstruction algorithm, which can improve the efficiency and accuracy of subsequent steps; the preprocessed data is imported into the 3D imaging software, and the software starts to generate a three-dimensional model of the underground pipeline based on these data using the three-dimensional reconstruction algorithm. The three-dimensional reconstruction algorithm will gradually construct the three-dimensional shape and structure of the pipeline according to the parameters such as the position, depth, size, and connection relationship between the pipelines; in this process, the 3D imaging software will use advanced graphics processing technology and algorithms to ensure that the generated three-dimensional model has a high degree of accuracy and realism. At the same time, the software will also perform smoothing and detail enhancement on the model as needed to improve the visualization effect of the model; the generated three-dimensional model also needs to undergo post-processing steps to further improve its accuracy and visualization effect. The post-processing includes light Photo adjustment, texture mapping, shadow processing, anti-aliasing, etc. These steps can enhance the realism and delicacy of the model; after post-processing, a high-precision three-dimensional image of the underground pipeline is finally obtained, which not only accurately reflects the actual situation of the underground pipeline, including the location, direction, size, connection relationship, etc. of the pipeline, but also has a high degree of visualization effect, which can intuitively display the complex structure and details of the pipeline network; the application of high-precision three-dimensional images is very wide, and can be used in the management, maintenance, planning and other aspects of underground pipelines. For example, when repairing pipelines, maintenance personnel can accurately locate the location and status of problem pipelines by viewing three-dimensional images; when planning pipelines, planners can use three-dimensional images to simulate the effects of different solutions and thus select the optimal solution; high-precision three-dimensional images can also provide important references for the development and utilization of underground space. By viewing three-dimensional images, the distribution and occupied space of underground pipelines can be understood, thereby avoiding conflicts with pipelines or damage to pipelines during the development process.

[0101] like Figure 2 As shown, an embodiment of the present invention further provides a pipeline survey system 20 based on ground penetrating radar and 3D imaging, comprising:

[0102] An acquisition module 21 is used to plan and optimize a survey path using a quantum annealing algorithm to obtain an optimal survey path;

[0103] The processing module 22 is used for the pipeline survey vehicle to walk along the center line of the pipeline network in combination with the Beidou positioning device according to the optimal survey path, and continuously correct the position during the walking process. During the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle to obtain the reflection signal of the pipeline and extract parameters to obtain the parameter information of the pipeline, and the parameter information of the pipeline includes the pipeline position, depth, and size. During the walking process, the geophysical exploration equipment verifies and supplements the reflection signal of the pipeline through sound wave propagation to obtain the fused pipeline parameters. According to the optimal survey path, the pipeline survey vehicle walks along the center line of the underground pipeline network in combination with the Beidou positioning device, and obtains the parameters of the underground pipeline network in real time through the ground penetrating radar and the geophysical exploration equipment during the walking process. According to the parameters of the underground pipeline network, the quantum annealing algorithm is used to perform optimization processing to obtain optimized data. According to the optimized data, a high-precision three-dimensional image of the underground pipeline is obtained by using the 3D imaging software through the three-dimensional reconstruction algorithm.

[0104] It should be noted that the system is a system corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0105] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0106] The embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0107] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0108] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, systems and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0109] In the embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0110] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0111] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0112] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0113] In addition, it should be noted that in the system and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and system of the present invention can be implemented in any computing system (including processors, storage media, etc.) or a network of computing systems in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0114] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing system. The computing system can be a well-known general system. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or system. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the system and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0115] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A pipeline survey method based on ground penetrating radar and 3D imaging, characterized in that: The method comprises: Use quantum annealing algorithm to plan the survey path and optimize it to obtain the optimal survey path; According to the optimal survey path, the pipeline survey vehicle uses the Beidou positioning device to move along the center line of the pipeline network and continuously corrects its position during the movement; During the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle, obtains the reflection signal of the pipeline and extracts parameters to obtain the parameter information of the pipeline, which includes the location, depth and size of the pipeline; During the walking process, the geophysical exploration equipment verifies and supplements the reflected signal of the pipeline through the propagation of sound waves to obtain the fused pipeline parameters; According to the optimal survey path, the pipeline survey vehicle uses the Beidou positioning device to move along the center line of the underground pipeline network, and obtains the parameters of the underground pipeline network in real time through ground penetrating radar and geophysical exploration equipment during the movement; According to the parameters of the underground pipeline network, the quantum annealing algorithm is used to perform optimization processing to obtain optimized data; Based on the optimized data, 3D imaging software is used through a 3D reconstruction algorithm to obtain high-precision 3D images of underground pipelines.

2. The pipeline survey method based on ground penetrating radar and 3D imaging according to claim 1, characterized in that: The quantum annealing algorithm is used to plan and optimize the survey path to obtain the optimal survey path, including: Discretize the survey area into a grid, each grid point represents a survey point, and every two grid points connected represent a survey path; According to each survey path, construct the objective function, Where N is the total number of grid points, Ob is the quality index, and x i Indicates whether the path passes through the i-th grid point, x i ∈{0,1},x j Indicates whether the path passes through the jth grid point, x j ∈{0,1},d ij represents the distance from grid point i to grid point j, C i represents the survey value of grid point i, T represents the temperature parameter in the quantum annealing process, and λ is a weight parameter; According to each survey path, the quantum bit corresponding to each grid point is put into a superposition state to obtain an initialized quantum system; During the quantum annealing process, according to the initialized quantum system, the objective function is used to simulate the annealing process of the quantum system from high temperature to low temperature, so that the state of the quantum system gradually tends to the optimal solution of the objective function, and finally the optimal solution is obtained; When the quantum annealing process is completed, the state of the quantum system is read and decoded to obtain the optimal survey path.

3. The pipeline survey method based on ground penetrating radar and 3D imaging according to claim 2 is characterized in that: According to the optimal survey path, the pipeline survey vehicle uses the Beidou positioning device to move along the center line of the pipeline network and continuously corrects its position during the movement, including: The pipeline survey vehicle obtains optimal survey path data, wherein the optimal survey path data includes the starting point, the end point and the coordinates of each node along the centerline of the pipeline network; During the walking process, the real-time position information provided by the Beidou positioning device is continuously received, and the real-time position is compared with the optimal survey path to obtain the comparison result; According to the comparison result, the deviation between the current position and the center line of the path is calculated to obtain the deviation calculation result; According to the deviation calculation results, the pipeline survey vehicle automatically adjusts its direction of travel and corrects the accumulated errors during the travel process.

4. The pipeline survey method based on ground penetrating radar and 3D imaging according to claim 3 is characterized in that: During the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle, obtains the reflection signal of the pipeline and extracts the parameters to obtain the parameter information of the pipeline. The parameter information of the pipeline includes the location, depth and size of the pipeline, including: Determine the parameters of the ground penetrating radar, which include operating frequency, scanning angle, and pulse width; According to the working frequency, the ground penetrating radar continuously emits radar waves, which propagate toward the ground below along a preset scanning angle; When the radar wave encounters an underground pipeline, a reflection signal is generated, and the ground-penetrating radar continuously receives the reflection signal through the receiver; Preprocessing the received reflected signal to obtain a preprocessed signal; According to the preprocessed signal, the signal is subjected to parameter extraction using time domain analysis to obtain parameter information of the pipeline. The signal is subjected to parameter extraction using time domain analysis including using Calculate the pipeline position and use h = d × tan ( θ ) The pipeline depth is calculated, and the size of the pipeline is obtained by analyzing the amplitude and width of the reflected signal and the wavelength and frequency of the radar wave. Among them, d is the distance between the pipeline and the equipment, that is, the pipeline position, v is the propagation speed of the radar wave, and t d is the time delay of the reflected signal, h is the pipe depth, and θ is the preset scanning angle.

5. The pipeline survey method based on ground penetrating radar and 3D imaging according to claim 4, characterized in that: During the walking process, the geophysical exploration equipment verifies and supplements the reflected signal of the pipeline through sound wave propagation to obtain the fused pipeline parameters, including: The geophysical exploration equipment emits sound waves according to the preset frequency. When the sound waves encounter underground pipelines, reflected sound waves are generated; According to the reflected sound wave, the parameters of the reflected sound wave are extracted by using time domain analysis to obtain the sound wave characteristics; Compare the acoustic wave characteristics with the parameter information of the pipeline to obtain a comparison result; According to the comparison results, use The acoustic wave characteristics are fused with the pipeline parameter information to obtain the fused pipeline parameters, where: is the comprehensive estimate after weighted averaging, i.e., the pipeline parameter after fusion, x i is the value of the ith data point, w i is the weight of the ith data point, and n is the total number of data points.

6. The pipeline survey method based on ground penetrating radar and 3D imaging according to claim 5, characterized in that: According to the parameters of the underground pipeline network, the quantum annealing algorithm is used for optimization to obtain optimized data, including: Determining parameters of a quantum annealing algorithm according to the parameters of the underground pipeline network, wherein the parameters of the quantum annealing algorithm include an initial temperature, a maximum number of iterations, an initial state and its corresponding state energy; According to the parameters of the underground pipeline network and the parameters of the quantum annealing algorithm, use Perform quantum annealing to obtain the data after quantum annealing, where H pot is the potential energy part, Γ(t) is the transverse field strength that varies with time, Δ i is a parameter related to the quantum bit, σ i τ is the Pauli spin matrix, representing the state of the quantum bit, t is the time, N is the total number of samples, and i is the index; During the quantum annealing process, the annealing process is simulated by gradually reducing the transverse field strength to obtain optimized data.

7. The pipeline survey method based on ground penetrating radar and 3D imaging according to claim 6, characterized in that: Based on the optimized data, 3D imaging software is used to obtain high-precision 3D images of underground pipelines through 3D reconstruction algorithms, including: Preprocessing is performed according to the optimized data to obtain preprocessed data; Based on the preprocessed data, the 3D imaging software generates a three-dimensional model of the underground pipeline; The generated 3D model is post-processed to obtain a high-precision 3D image of the underground pipeline.

8. A pipeline survey system based on ground penetrating radar and 3D imaging, characterized in that: include: An acquisition module is used to plan and optimize the survey path using a quantum annealing algorithm to obtain an optimal survey path; The processing module is used for the pipeline survey vehicle to walk along the line center line of the pipeline network in combination with the Beidou positioning device according to the optimal survey path, and continuously correct the position during the walking process. During the walking process, the ground penetrating radar continuously scans the pipeline at a preset frequency and angle to obtain the reflection signal of the pipeline and extract parameters to obtain the parameter information of the pipeline, and the parameter information of the pipeline includes the pipeline position, depth, and size. During the walking process, the geophysical exploration equipment verifies and supplements the reflection signal of the pipeline through sound wave propagation to obtain the fused pipeline parameters. According to the optimal survey path, the pipeline survey vehicle walks along the line center line of the underground pipeline network in combination with the Beidou positioning device, and obtains the parameters of the underground pipeline network in real time through the ground penetrating radar and the geophysical exploration equipment during the walking process. According to the parameters of the underground pipeline network, the quantum annealing algorithm is used for optimization processing to obtain optimized data. According to the optimized data, the 3D imaging software is used to obtain a high-precision three-dimensional image of the underground pipeline through a three-dimensional reconstruction algorithm.

9. A computing device, characterized in that include: one or more processors; A storage system for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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