Underground pipe network surveying equipment and surveying method thereof

Abstract

The invention relates to underground pipe network surveying equipment and a surveying method thereof. The underground pipe network survey equipment is used for conducting fault survey on a to-be-detected pipeline with fluid. The underground pipe network surveying equipment comprises a surveying device and a signal repeater; the surveying device comprises a supporting body and a scanning part, the supporting body is located on the fluid surface in the to-be-measured pipeline and can move along the fluid surface, and the scanning part is arranged on the supporting body and can move along with the supporting body so that the scanning part can scan section contour data of the to-be-measured pipeline in the extending direction of the to-be-measured pipeline; the signal repeater is arranged on the fluid surface of the to-be-detected pipeline, and the signal repeater can detect the distance between the signal repeater and the supporting body. In this way, accurate exploration of all pipelines in the underground pipe network can be achieved, and the exploration efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of underground pipe networks, and in particular to underground pipe network surveying equipment and a surveying method thereof. Background Art

[0002] The survey of underground pipe networks is a top priority in urban management. The types of underground pipe networks include but are not limited to heating pipe networks, water pipe networks, and sewage pipe networks. In addition to the loss of liquid resources, pipe leakage may also cause risks such as pipe bursts in serious cases, posing safety hazards. Therefore, the survey of regional pipe network leaks and the prevention, detection, and early warning of leaks have always been an important part of the work of pipe network engineers.

[0003] At present, sewage pipe detection equipment is only suitable for sewage pipe surveys in waterless or low-water operations. Usually, when using sewage pipe detection equipment to conduct underground pipe network leak surveys, it is necessary to seal both ends of the pipe and discharge the sewage in the pipe. After that, the sewage pipe detection equipment enters the pipe to conduct leak surveys. However, the sewage pipe detection device has a short single-time detection distance and needs to discharge the sewage in the pipe, resulting in low efficiency and accuracy of pipe network surveys. Summary of the invention

[0004] Based on this, it is necessary to provide an underground pipeline survey equipment and a survey method to address the problems of low efficiency and low accuracy in the current detection using sewage pipe detection equipment. The equipment can survey pipelines to be tested that contain fluid, improve the accuracy of fault detection, and realize fault detection of non-shutdown pipelines without draining the fluid in the pipeline, thereby improving the survey efficiency of the underground pipeline network.

[0005] An underground pipe network surveying device is used for conducting fault survey on a pipeline to be tested with fluid; the underground pipe network surveying device comprises a surveying device and a signal repeater;

[0006] The surveying device comprises a supporting body and a scanning component, wherein the supporting body is located on the fluid surface in the pipeline to be measured and can move along the fluid surface, and the scanning component is arranged on the supporting body and can move with the supporting body so that the scanning component scans the cross-sectional profile data of the pipeline to be measured along its extension direction;

[0007] The signal repeater is arranged on the fluid surface of the pipeline to be tested, and the signal repeater can measure the distance between the signal repeater and the supporting body.

[0008] In one embodiment of the present application, the scanning component includes a first scanning component and a second scanning component, the first scanning component is disposed above the supporting body and is used to scan the cross-sectional profile data above the surface of the fluid;

[0009] The second scanning component is disposed below the supporting body and is used for scanning the cross-sectional profile data below the surface of the fluid.

[0010] In one embodiment of the present application, the first scanning component is a laser radar;

[0011] and / or, the second scan is a sonar;

[0012] And / or, the lower surface of the support body is a smooth surface, the smooth surface has a recessed portion, the second scanning piece is arranged in the recessed portion, and the height of the second scanning piece is less than or equal to the depth of the recessed portion.

[0013] In one embodiment of the present application, the signal repeater has a carrier-free communication technology receiver, and the supporting body has a carrier-free communication technology transmitter. The carrier-free communication technology receiver cooperates with the carrier-free communication technology transmitter to survey the distance between the signal repeater and the supporting body.

[0014] In one embodiment of the present application, the surveying device further comprises a turbojet propeller, and the turbojet propeller is disposed on the supporting body to drive the supporting body to move along the surface of the fluid.

[0015] In one embodiment of the present application, the underground pipe network surveying equipment further includes a monitoring component, the monitoring component is wirelessly connected to the scanning component, and the monitoring component is communicatively connected to the signal repeater;

[0016] And / or, the surveying device further comprises a storage component, the storage component is arranged on the supporting body, the storage component is communicatively connected with the signal repeater and the scanning component, and is used to store the cross-sectional profile data and the distance between the signal repeater and the supporting body;

[0017] And / or, the surveying device further comprises a support member, wherein the support member is disposed on the support body, and a height of the support member is greater than a height of the scanning component located above the support body.

[0018] The underground pipe network survey equipment has a scanning component of the survey device arranged on a supporting body, the supporting body can move along the fluid in the pipeline to be measured, the scanning component can move with the supporting body, and scan the cross-sectional profile data of the pipeline to be measured during the movement. The signal repeater is arranged on the surface of the fluid in the pipeline to be measured. The signal repeater can measure the distance between it and the survey device in real time.

[0019] The underground pipe network survey equipment scans the cross-sectional profile data of the pipeline to be tested through the scanning component, and cooperates with the signal repeater to survey the distance between it and the survey device to obtain the survey data of the pipeline to be tested, and judges whether the pipeline to be tested has a fault according to the survey data, thereby realizing accurate survey of the pipeline to be tested. The underground pipe network survey equipment can survey the pipeline to be tested with fluid, and the survey device and the signal repeater can continuously scan multiple cross-sectional profile data on the surface of the fluid in the pipeline to be tested, so as to realize the fault survey of the non-shutdown pipeline without discharging the fluid in the pipeline, thereby improving the survey efficiency of the underground pipe network.

[0020] An underground pipe network survey method is applied to an underground pipe network survey device as described in any of the above technical features, wherein the underground pipe network survey device is located on the fluid surface in the pipeline to be measured, and the underground pipe network survey method comprises:

[0021] Acquire cross-sectional profile data of the pipeline to be tested along its extension direction at time t, and convert the cross-sectional profile data into three-dimensional coordinate values ​​of contour points of the pipeline to be tested;

[0022] Based on the three-dimensional coordinate values, a preliminary restored pipeline contour is obtained;

[0023] The fault of the pipeline to be tested is determined based on the initially restored pipeline profile.

[0024] In one embodiment of the present application, the step of obtaining a preliminary restored pipeline contour based on the three-dimensional coordinate values ​​includes:

[0025] Based on the three-dimensional coordinate vertical, the contour points of the pipeline to be measured corresponding to each angle value in the polar coordinate system at time t are respectively collected to form n curves, wherein each curve corresponds to the contour baseline of the n angle values;

[0026] Feature extraction and deviation correction are performed on each contour baseline to obtain a preliminary restored pipeline contour.

[0027] In one embodiment of the present application, after the step of obtaining a preliminary restored pipeline contour based on the three-dimensional coordinate values, the underground pipeline network survey method further includes the following steps:

[0028] The contour points of the pipeline contour that are initially restored are sampled, and contour fitting is performed on the acquired contour points of the pipeline contour;

[0029] Drawing a sparse point cloud schematic diagram of the pipeline contour according to the fitted contour;

[0030] The fault of the pipeline to be tested is determined according to the sparse point cloud schematic diagram.

[0031] In one embodiment of the present application, the underground pipe network survey method includes at least any one of the following features:

[0032] First, the formula for converting the cross-sectional profile data into the three-dimensional coordinate values ​​of the profile points of the pipeline to be tested is:

[0033] ;

[0034] ;

[0035] ;

[0036] Wherein, t represents the cross-sectional profile of the pipeline to be measured scanned by the scanning component at the tth moment, and the cross-sectional profile at each moment includes n measuring points, which respectively correspond to the distance between the scanning component and the cross-sectional profile at angle values ​​of 0 to (n-1); l t,i represents the measured value of the i-th distance at the t-th time, α t,i represents the angle corresponding to the i-th distance measurement value at the t-th time; d t x is the cumulative distance moved by the scanning component along the z axis at the tth moment recorded by the rangefinder; t,i ,y t,i 、z t,i is the three-dimensional coordinate value after conversion calculation; n is greater than or equal to 1;

[0037] Second, when a contour baseline is obtained according to the pipeline contour, a fully adaptive noise set empirical mode decomposition algorithm is used to extract and correct the contour baseline when features are extracted and corrected for each contour baseline.

[0038] The underground pipeline network survey method utilizes the underground pipeline network survey equipment to move on the fluid surface in the pipeline to be measured to obtain the cross-sectional profile data of the pipeline to be measured, and converts the profile data to be measured into three-dimensional coordinate values ​​of the profile points of the pipeline to be measured, and then obtains a preliminary restored pipeline profile based on the three-dimensional coordinate values, thereby judging the fault of the pipeline to be measured according to the restored pipeline profile, and realizing the survey of the pipeline fault to be measured.

[0039] In this way, the underground pipe network survey method uses underground pipe network survey equipment to scan the pipe to be tested, obtains relevant data of the pipe to be tested, and finally obtains a preliminary restored pipe outline. According to the pipe outline, the fault point of the pipe to be tested can be preliminarily determined, thereby realizing accurate survey of each pipe to be tested in the underground pipe network and improving the fault survey accuracy. At the same time, the underground pipe network survey method can survey the pipe to be tested with fluid, and use the underground pipe network survey equipment to move on the fluid surface of the pipe to be tested to obtain relevant data, thereby realizing fault survey of non-shutdown pipes, without the need to discharge the fluid in the pipe, and improving the survey efficiency of the underground pipe network. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of an underground pipe network surveying device according to an embodiment of the present application.

[0041] Figure 2 A schematic diagram of an underground pipe network survey method according to an embodiment of the present application.

[0042] Figure 3 for Figure 1 An exploded view of the underground pipe network survey equipment is shown.

[0043] Figure 4 for Figure 1 The front view of the underground pipeline survey equipment is shown.

[0044] Figure 5 For use Figure 1 Schematic diagram of underground pipeline survey equipment being used for survey.

[0045] Figure 6 for Figure 2 The flowchart of the underground pipeline network survey method for obtaining the preliminary restored pipeline outline is shown.

[0046] Figure 7 The principle and flow chart of the EMD algorithm.

[0047] Figure 8 The principle and flow chart of the CEMMDAN algorithm.

[0048] Fig. 9 for Figure 2 A flow chart of another implementation of the underground pipeline network survey method is shown.

[0049] Fig.10 To adopt Fig. 9 The underground pipeline network survey method shown obtains a sparse point cloud schematic diagram of the pipeline contour.

[0050] Among them: 100, underground pipe network survey equipment; 110, survey device; 111, support body; 1111, installation hole; 112, first scanning piece; 113, storage component; 114, charging component; 115, turbojet propeller; 116, support; 120, signal repeater; 130, monitoring component; 140, connecting cable; 200, pipeline to be measured; 300, fluid surface; A1, first area; A2, second area. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0052] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0053] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0055] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "on" or "below" a second feature, etc., or the like, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0057] It is understandable that sewage pipe detection equipment is only suitable for sewage pipe surveys in waterless or low-water operations. Usually, when using sewage pipe detection equipment to conduct underground pipe network leak surveys, it is necessary to seal both ends of the pipe and discharge the sewage in the pipe. After that, the sewage pipe detection equipment enters the pipe to conduct leak surveys. However, the sewage pipe detection device has a short single-time detection distance and needs to discharge the sewage in the pipe, resulting in low efficiency and accuracy of pipe network surveys.

[0058] For this purpose, see Figure 1 and Figure 2 The present application provides a novel underground pipe network surveying device 100, which uses an underground pipe network surveying method to survey each pipeline in the underground pipe network to determine whether there is a fault in the underground pipe network. Figure 1 Schematic diagram of an underground pipe network survey device 100 according to an embodiment of the present application. Figure 2 A schematic diagram of an underground pipe network survey method according to an embodiment of the present application.

[0059] It can be understood that the underground pipe network includes but is not limited to a heating pipe network, a water pipe network, a sewage pipe network, etc. The underground pipe network includes pipes connected in parallel and / or in series, and the pipe is the pipe to be tested 200. In addition, generally, the shape of the pipe to be tested 200 is not limited in principle, and can be a cylindrical pipe or a square culvert. Of course, the pipe to be tested can also be other regular or irregular shapes.

[0060] Furthermore, after surveying the pipeline to be tested, the underground pipe network surveying device 100 of the present application can obtain survey data of the pipeline to be tested, and then judge the fault of the pipeline to be tested 200 according to the survey data. It is worth noting that the faults here include but are not limited to leakage faults, fracture faults, blockage faults, etc., and can also be other types of faults.

[0061] In this application, only the underground pipe network survey method and the underground pipe network survey device 100 are used to survey the pipe 200 to be tested in the underground pipe network, and the pipe 200 to be tested can be any pipe of the underground pipe network. The pipe 200 to be tested has fluid in it, and the underground pipe network survey device 100 is on the surface 300 of the fluid to scan the pipe 200 to be tested. Optionally, the fluid is sewage. Of course, in other embodiments of the present application, the fluid can also be tap water or hot water.

[0062] The underground pipe network surveying equipment 100 can survey a pipe to be tested 200 containing fluid. Specifically, the underground pipe network surveying equipment 100 can continuously scan a plurality of cross-sectional profile data on the fluid surface 300 in the pipe to be tested 200, that is, the underground pipe network surveying equipment 100 can operate with water, that is, perform fault survey on the pipe to be tested 200 in a water environment, thereby improving the accuracy of fault survey and realizing fault survey of non-shutdown pipes without discharging the fluid in the pipe, thereby improving the survey efficiency of the underground pipe network.

[0063] The underground pipe network survey method can determine the fault of the pipeline 200 to be tested, realize the accurate survey of each pipeline in the underground pipe network, and improve the fault survey accuracy. At the same time, it can also realize the fault survey of non-shutdown pipelines without discharging the fluid in the pipeline, thereby improving the survey efficiency of the underground pipe network.

[0064] In order to better illustrate the survey of underground pipeline network faults, the specific structure of the underground pipeline network survey equipment 100 is first introduced here.

[0065] See also Figures 1 to 5 In one embodiment, the underground pipe network surveying equipment 100 includes a surveying device 110 and a signal repeater 120. The surveying device 110 includes a supporting body 111 and a scanning component (not shown), the supporting body 111 is located on the fluid surface 300 in the pipeline 200 to be measured and can move along the fluid surface 300, and the scanning component is arranged on the supporting body 111 and can move with the supporting body 111, so that the scanning component scans the cross-sectional profile data of the pipeline 200 to be measured along its extension direction.

[0066] The signal repeater 120 is disposed on the fluid surface 300 of the pipeline 200 to be tested, and the signal repeater 120 can measure the distance between the signal repeater 120 and the support body 111 . Figure 3 for Figure 2The exploded view of the underground pipe network surveying device 100 is shown. Figure 4 for Figure 2 The front view of the underground pipe network surveying device 100 is shown. Figure 5 For use Figure 2 The schematic diagram of the underground pipe network surveying equipment 100 performing survey is shown.

[0067] The survey device 110 is the main structure of the underground pipe network survey equipment 100. The survey device 110 can be located on the fluid surface 300 of the pipeline 200 to be measured, and can move in the pipeline 200 to be measured. The survey device 110 can scan the cross-sectional profile of the pipeline 200 to be measured in real time to obtain the cross-sectional profile information of the pipeline 200 to be measured. When the survey device 110 moves in the pipeline 200 to be measured, the survey device 110 can obtain the cross-sectional profile information of each section of the pipeline 200 to be measured.

[0068] The signal repeater 120 is fixedly arranged on the fluid surface 300 in the pipeline 200 to be tested. That is, the signal repeater 120 is fixedly arranged. The signal repeater 120 is connected to the survey device 110 for communication, and the signal repeater 120 can detect the distance between it and the survey device 110 in real time. That is, the signal repeater 120 can detect the displacement of the survey device 110 along the extension direction of the pipeline 200 to be tested, thereby obtaining the displacement information of the survey device 110.

[0069] Thus, after the signal repeater 120 detects that the surveying device 110 is at a position, the surveying device 110 scans a section profile information at the position. After the signal repeater 120 detects that the surveying device 110 moves to the next position, the surveying device 110 scans the next section profile information at the next position.

[0070] In this way, the cross-sectional profile information of each section when the survey device 110 moves is connected in series through the displacement information detected by the signal repeater 120 to form the complete cross-sectional profile information of the pipeline to be tested 200. The cross-sectional profile information of the pipeline to be tested 200 is combined with the displacement information of the survey device 110 detected by the signal repeater 120 to obtain the preliminary restored pipeline profile of the pipeline to be tested 200.

[0071] It can be understood that the initially restored pipeline outline can fully show the actual situation of the pipeline to be tested 200. Specifically, the initially restored pipeline outline will display data information of the pipeline to be tested 200, and the operator can determine whether the pipeline to be tested 200 has a fault based on the data.

[0072] It is understandable that if the initially restored pipeline profile is misaligned in a certain section, it indicates that there is a fracture fault in the pipeline 200 to be tested. If the initially restored pipeline profile has no outer diameter in a certain part, it indicates that there is a leakage point fault in the pipeline 200 to be tested. Of course, the initially restored pipeline profile can also display other fault information of the pipeline 200 to be tested.

[0073] In this way, by combining the cross-sectional profile information of the pipeline 200 to be tested with the displacement information of the survey device 110 detected by the signal repeater 120, fault survey of the pipeline 200 to be tested and damage survey of the underground pipeline network can be achieved, thereby ensuring the accuracy of the survey results.

[0074] It should be noted that the underground pipe network survey equipment 100 of the present application is Figure 1 and Figure 5 The up and down directions shown are used as reference. Figure 5 The direction shown, that is, the underground pipe network surveying device 100 is located on the fluid surface 300, that is, the underground pipe network surveying device 100 can operate with water, that is, perform fault survey in a water environment.

[0075] Specifically, the support body 111 is disposed on the fluid surface 300 of the pipeline 200 to be tested, and the support body 111 plays a bearing role. All components of the surveying device 110 are disposed on the support body 111. Moreover, the support body 111 is also waterproof. When the surveying device 110 moves in the pipeline 200 to be tested, the fluid will not enter the upper part of the support body 111, so as to ensure the surveying performance of the surveying device 110.

[0076] The scanning component is arranged on the supporting body 111, and the scanning component is a component for scanning the cross section of the pipeline to be measured 200. When the surveying device 110 moves in the pipeline to be measured 200, the scanning component can scan the cross section of the pipeline to be measured 200 in turn, and generate the cross section profile data of the pipeline to be measured 200, so as to facilitate the subsequent generation of a sparse point cloud schematic diagram of the pipeline profile, and realize the accurate survey of the underground pipe network.

[0077] When the underground pipe network surveying device 100 of the present application surveys the pipe 200 to be measured, the surveying device 110 is placed in the pipe 200 to be measured along the vertical shaft, and the signal repeater 120 is fixed to the fluid surface 300 of the pipe 200 to be measured. At this time, the surveying device 110 is also located on the fluid surface 300. When the surveying device 110 moves in the pipe 200 to be measured, the signal repeater 120 can detect the position of the surveying device 110, and the scanning component scans the cross-sectional profile of the pipe 200 to be measured at each moment, and the underground pipe network surveying method is used to calculate and obtain the preliminary restored pipe profile, thereby realizing the accurate survey of the underground pipe network.

[0078] The underground pipe network surveying equipment 100 of the above-mentioned embodiment scans the cross-sectional profile data of the pipeline 200 to be tested by the scanning component, and cooperates with the signal repeater 120 to survey the distance between it and the surveying device 110 to obtain the survey data of the pipeline 200 to be tested, and determines whether there is a fault in the pipeline 200 to be tested based on the survey data, thereby realizing accurate survey of the pipeline 200 to be tested.

[0079] The underground pipe network survey equipment 100 can survey a pipeline 200 to be tested that contains fluid. The survey device 110 and the signal repeater 120 can continuously scan multiple cross-sectional profile data on the fluid surface 300 in the pipeline 200 to be tested, thereby realizing fault survey of non-shutdown pipelines without draining the fluid in the pipeline, thereby improving the survey efficiency of the underground pipe network.

[0080] See also Figures 2 to 4 In one embodiment, the support body 111 is a test ship. All components of the survey device 110 are arranged on the test ship. Of course, in other embodiments of the present application, the support body 111 can also be a support bottom plate, or other structures that can play a supporting role on the fluid surface 300.

[0081] See also Figures 2 to 4 In one embodiment, the scanning component includes a first scanning component 112 and a second scanning component (not shown), the first scanning component 112 is arranged above the supporting body 111, and is used to scan the cross-sectional contour data above the fluid surface 300, and the second scanning component is arranged below the supporting body 111, and is used to scan the cross-sectional contour data below the fluid surface 300.

[0082] The first scanning component 112 can scan the cross-sectional profile of the pipeline 200 to be tested above the fluid, and the second scanning component can scan the cross-sectional profile of the pipeline 200 to be tested below the fluid. When the surveying device 110 moves, the first scanning component 112 and the second scanning component scan respectively at each moment. The first scanning component 112 scans the cross-sectional profile above the fluid and the second scanning component scans the cross-sectional profile below the fluid to form a complete cross-sectional profile of the pipeline 200 to be tested.

[0083] In this way, the first scanning piece 112 and the second scanning piece can cooperate to scan the complete cross-sectional contour data of the pipeline to be tested 200. After the cross-sectional contour data is processed, a preliminary restored pipeline contour can be obtained. The fault of the pipeline to be tested 200 can be judged based on the preliminary restored pipeline contour, thereby realizing the damage survey of the underground pipeline network and ensuring the accuracy of the survey results.

[0084] See also Figures 2 to 4Optionally, the first scanning component 112 is a laser radar. The laser radar is used to scan the cross-sectional profile of the pipeline 200 to be tested above the fluid. Of course, in other embodiments of the present application, the first scanning component 112 can also be other structures that can scan the cross-sectional profile of the pipeline 200 to be tested above the fluid.

[0085] Optionally, the second scanning device is a sonar. The sonar is located in the fluid, and the cross-sectional profile of the pipeline 200 to be tested is scanned by the sonar below the three-dimensional. Of course, in other embodiments of the present application, the second scanning device can also be other structures that can scan the cross-sectional profile of the pipeline 200 to be tested above the fluid.

[0086] In one embodiment, the lower surface of the support body 111 is a smooth surface, the smooth surface has a recessed portion, the second scanning piece is disposed in the recessed portion, and the height of the second scanning piece is less than or equal to the depth of the recessed portion.

[0087] That is, the second scanning piece does not expose the lower surface of the supporting body 111. In this way, when the surveying device 110 is dragged, the second scanning piece will not interfere, which can facilitate the dragging of the surveying device 110, and prevent the second scanning piece from protruding from the lower surface of the supporting body 111, thereby preventing the second scanning piece from being entangled with garbage in the fluid.

[0088] See also Figures 2 to 5 In one embodiment, the underground pipe network surveying device 100 further includes a monitoring component 130, the monitoring component 130 is wirelessly connected to the scanning component, and the monitoring component 130 is communicatively connected to the signal repeater 120. The monitoring device is a component for monitoring the signal repeater 120 and the surveying device 110.

[0089] The monitoring component 130 can be wirelessly connected to the scanning component to achieve wireless signal transmission. In this way, the influence of the wired cable on the movement of the support body 111 can be avoided, and the surveying device 110 can be easily moved to different positions of the fluid surface 300 to achieve damage survey at different positions of the underground pipe network.

[0090] The monitoring component 130 can be wirelessly connected to the scanning component, and the cross-sectional profile information scanned by the first scanning component 112 and the second scanning component can be fed back to the monitoring component 130. Moreover, after the monitoring component 130 is connected to the signal repeater 120 for communication, the signal repeater 120 detects the displacement information.

[0091] In this way, the operator can detect the movement of the signal repeater 120 and the surveying device 110 through the monitoring component 130. Optionally, the monitoring component 130 is an operator with a display screen. Of course, in other embodiments of the present application, the monitoring component 130 can also be other components capable of monitoring.

[0092] See also Figure 5 In one embodiment, the underground pipe network surveying device 100 further includes a connecting cable 140, and the connecting cable 140 connects the signal repeater 120 and the monitoring component 130. That is, the signal repeater 120 and the monitoring component 130 are connected in a wired manner, and the connecting cable 140 can fix the signal repeater 120. Of course, in other embodiments of the present application, the signal repeater 120 and the monitoring component 130 can also be connected wirelessly.

[0093] In one embodiment, the surveying device 110 is wirelessly connected to the signal repeater 120. That is, the surveying device 110 and the signal repeater 120 are not connected by cables, and the two transmit signals wirelessly. This makes it easier to use the surveying device 110 and avoids interference of cables on the movement of the surveying device 110. Of course, in other embodiments of the present application, the signal repeater 120 and the surveying device 110 may also be connected by wire.

[0094] In one embodiment, the signal repeater 120 can detect the displacement of the survey device 110 in real time, and feed back the displacement information to the monitoring component 130 in real time, and the monitoring component 130 controls the survey device 110 through the signal repeater 120. Exemplarily, the monitoring component 130 controls the travel direction or travel speed of the survey device 110 through the signal repeater 120. Of course, if the underground pipe network surveying device 100 is not provided with the monitoring component 130, the survey device 110 can move automatically.

[0095] See also Figures 2 to 4 In one embodiment, the surveying device 110 further includes a storage component 113, which is disposed on the supporting body 111. The storage component 113 is communicatively connected to the signal repeater 120 and the scanning component, and is used to store the cross-sectional contour data and the distance between the signal repeater 120 and the supporting body 111.

[0096] The storage component 113 is disposed on the supporting body 111. The storage component 113 is a component for storing data, and the storage component 113 is communicatively connected with the signal repeater 120 and the first scanning piece 112 and the second scanning piece. The signal repeater 120 can feed back the detected displacement information to the storage component 113, and the contour information scanned by the first scanning piece 112 and the second scanning piece can also be fed back to the storage component 113. Optionally, the storage component 113 is a memory.

[0097] In one embodiment, the signal repeater 120 has a carrier-free communication technology (Ultra Wideband, UWB) receiver, and the supporting body 111 has a carrier-free communication technology (Ultra Wideband, UWB) transmitter, and the carrier-free communication technology receiver cooperates with the carrier-free communication technology transmitter to survey the distance between the signal repeater 120 and the supporting body 111.

[0098] The UWB transmitter and the UWB receiver can be paired to form a rangefinder to detect the distance between the signal repeater 120 and the surveying device 110 , thereby detecting the displacement of the surveying device 110 .

[0099] It is understandable that the pipeline 200 to be tested is generally a water-filled, closed environment, which will interfere with the transmission of the distance signal. In addition, the fluid surface 300 will also reflect the distance signal, causing the distance signal to be eliminated, affecting the accuracy of the distance measurement between the detection signal repeater 120 and the survey device 110.

[0100] To this end, the present application uses a UWB transmitter and a UWB receiver to achieve stable transmission of distance signals to accurately detect the distance between the signal repeater 120 and the surveying device 110 and ensure the accuracy of the distance detection between the signal repeater 120 and the surveying device 110.

[0101] Of course, in other embodiments of the present application, the signal repeater 120 and the surveying device 110 may also use other types of transmitters and receivers, as long as they can achieve accurate displacement detection of the surveying device 110 .

[0102] See also Figures 2 to 4 In one embodiment, the surveying device 110 further includes a charging component 114, which is disposed on the supporting body 111 and is electrically connected to the scanning component, the storage component 113, and the transmitter. The charging component 114 supplies power to the scanning component, the storage component 113, and the transmitter to ensure the performance of the scanning component, the storage component 113, and the transmitter.

[0103] Optionally, the charging component 114 is a battery. In this embodiment, the number of the charging components 114 is two. Of course, in other embodiments of the present application, the number of the charging components 114 can also be one or more.

[0104] See also Figures 2 to 4In one embodiment, the surveying device 110 further includes a turbojet propeller 115, which is disposed on the supporting body 111 to drive the supporting body 111 to move along the fluid surface 300. The turbojet propeller 115 is a power source of the surveying device 110, and the turbojet propeller 115 is disposed on the supporting body 111 to drive the surveying device 110 to move in the pipeline 200 to be measured.

[0105] Compared with other power structures, the turbojet propeller has the advantages of small radius and space saving, which facilitates the survey device 110 to move in the pipeline 200 to be measured. In addition, the turbojet propeller is arranged above the support body 111 to prevent the survey device 110 from being entangled with garbage and floating objects during its movement.

[0106] At the same time, the turbojet propeller 115 can also use air as a driving gas, so that underwater garbage and the like can be prevented from clogging the turbojet propeller 115, and the fluid in the pipeline 200 to be tested can be prevented from affecting the operation of the turbojet propeller 115, so that the underground pipeline survey equipment 100 can work in a water environment, that is, operate with water.

[0107] Of course, in other embodiments of the present application, the surveying device 110 may also adopt other structures that can propel the surveying device 110 forward.

[0108] In one embodiment of the present application, the first scanning member 112 is located at the front end above the supporting body 111, the turbojet propeller 115 is disposed at the rear end above the supporting body 111, and the storage component 113 and the charging component 114 extend along the length direction and are disposed between the first scanning member 112 and the turbojet propeller 115. Furthermore, the storage component 113 is located between the two charging components 114.

[0109] That is, in the length direction of the support body 111, the storage component 113 and the charging component 114 are located in the middle area of ​​the support body 111, and in the width direction of the support body 111, the charging component 114 is located on both sides, and the storage component 113 is located in the middle. In addition, the first scanning member 112 scans the cross-sectional profile at the front end of the support body 111, and the turbojet propeller 115 pushes the support body 111 forward at the rear end.

[0110] Of course, in other embodiments of the present application, the storage component 113 and the charging component 114 may also be arranged side by side along the ultra-high difficulty direction.

[0111] See also Figure 3, in one embodiment, the survey device 110 further includes a support member 116 disposed on the support body 111. The support member 116 is disposed on the support body 111 and extends upward toward the support body 111. The support body 111 is a holding member of the survey device 110, and an operator can carry the survey device 110 by holding the support member 116, which facilitates placing the survey device 110 into the pipeline 200 to be measured.

[0112] See Figure 3 , in one embodiment, the support member 116 includes a plurality of support segments that are bent and connected, and both ends of the support member 116 are fixed to the support body 111. In this way, the support member 116 can generally form an arched structure, which is convenient for an operator to hold.

[0113] Optionally, the support member 116 is a support rod. Optionally, the support member 116 includes, but is not limited to, a "冂"-shaped, "︹"-shaped, or "︿"-shaped structure, etc., and can also be other shapes that are convenient for an operator to hold.

[0114] In one embodiment, the height of the support member 116 is greater than the height of the scanning member above the support body 111. That is to say, the height of the support member 116 is higher than the height of the first scanning member 112. In this way, when the survey device 110 jolts during movement and causes the survey device 110 to move upward, due to the relatively high support member 116, the support member 116 contacts the inner wall of the pipeline 200 to be measured first, preventing the first scanning member 112 from hitting the wall and playing a role in protecting the first scanning member 112.

[0115] See Figure 3 , in one embodiment, the support body 111 is provided with mounting holes 1111, and the support member 116 is fixed to the support member 116 through the mounting holes 1111. Moreover, the support member 116 and the mounting holes 1111 are connected by means of plugging, threaded connection, welding, etc.

[0116] In this embodiment, the number of support members 116 is two, and they are spaced along the length of the support body 111. Correspondingly, four mounting holes 1111 are provided to mount two support members 116. Of course, in other embodiments of the present application, the support member 116 can also be one or even more.

[0117] See Figures 2 to 5When the underground pipe network surveying device 100 of the present application is surveying the pipeline 200 to be measured, the surveying device 110 is placed in the pipeline 200 to be measured along the vertical shaft, and the signal repeater 120 is fixed to the fluid surface 300 of the pipeline 200 to be measured. At this time, the surveying device 110 is also located on the fluid surface 300. When the surveying device 110 moves in the pipeline 200 to be measured, the signal repeater 120 detects the displacement of the surveying device 110, and at each moment, the first scanning part 112 and the second scanning part scan respectively, the first scanning part 112 scans the cross-sectional profile above the fluid and the second scanning part scans the cross-sectional profile below the fluid, so as to form the cross-sectional profile of the complete pipeline 200 to be measured.

[0118] The survey device 110 moves in an approximately uniform unidirectional direction along the forward direction, and the moving time is t, thereby scanning and obtaining t cross-sectional profiles of the pipeline 200 to be tested along the moving direction of the survey device 110. Through the calculation of the underground pipeline network survey method, a sparse point cloud schematic diagram of the pipeline profile is obtained, and accurate survey of the underground pipeline network is realized. At the same time, the survey device 110 and the signal repeater 120 can continuously scan multiple cross-sectional profile data on the fluid surface 300 in the pipeline 200 to be tested, realize the fault survey of the non-shutdown pipeline, without the need to discharge the fluid in the pipeline 200 to be tested, and improve the survey efficiency of the underground pipeline network.

[0119] like Figure 2 As shown, the present application also provides an underground pipe network survey method, which is used to survey the fault of the pipeline 200 to be tested. The underground pipe network survey device 100 is located on the fluid surface 300 in the pipeline 200 to be tested. The underground pipe network survey method includes:

[0120] S1, obtaining the cross-sectional profile data of the pipeline 200 to be tested along its extension direction at time t, and converting the cross-sectional profile data into three-dimensional coordinate values ​​of the contour points of the pipeline 200 to be tested.

[0121] The surveying device 110 moves in the pipeline 200 to be measured. At each moment, the first scanning component 112 and the second scanning component scan respectively. The first scanning component 112 scans the cross-sectional profile above the fluid and the second scanning component scans the cross-sectional profile below the fluid. The signal repeater 120 detects the displacement of the surveying device 110.

[0122] In this way, the survey device 110 and the signal repeater 120 can continuously scan the cross-sectional profile of the pipeline 200 to form cross-sectional profile data of the pipeline 200 to be tested. Then, the cross-sectional profile data of the pipeline 200 to be tested is converted into three-dimensional coordinate values ​​of the contour points of the pipeline 200 to be tested, so as to restore the pipeline contour scanned by the first scanning piece 112 and the second scanning piece.

[0123] S2, judging the fault of the pipeline to be tested according to the initially restored pipeline profile.

[0124] After the cross-sectional profile data of the pipeline 200 to be tested is converted into three-dimensional coordinate values ​​of the contour points of the pipeline 200 to be tested, the three-dimensional coordinate data is processed to form a smooth and complete curve. By processing the curve, a preliminary restored pipeline contour can be obtained.

[0125] S3, judging the fault of the pipeline 200 to be tested according to the initially restored pipeline profile.

[0126] It can be understood that the initially restored pipeline outline can fully show the actual situation of the pipeline to be tested 200. Specifically, the initially restored pipeline outline will display data information of the pipeline to be tested 200, and the operator can determine whether the pipeline to be tested 200 has a fault based on the data.

[0127] It is understandable that if the initially restored pipeline profile is misaligned in a certain section, it indicates that there is a fracture fault in the pipeline 200 to be tested. If the initially restored pipeline profile has no outer diameter in a certain part, it indicates that there is a leakage point fault in the pipeline 200 to be tested. Of course, the initially restored pipeline profile can also display other fault information of the pipeline 200 to be tested.

[0128] In this way, by combining the cross-sectional profile information of the pipeline 200 to be tested with the displacement information of the survey device 110 detected by the signal repeater 120, fault survey of the pipeline 200 to be tested and damage survey of the underground pipeline network can be achieved, thereby ensuring the accuracy of the survey results.

[0129] The underground pipe network surveying method of the above-mentioned embodiment scans the pipe 200 to be tested by the underground pipe network surveying method, and processes the scanned cross-sectional profile data to obtain a preliminary restored pipe profile, and judges the fault of the pipe 200 to be tested based on the preliminary restored pipe profile data, thereby realizing accurate survey of each pipe in the underground pipe network and improving the fault survey accuracy.

[0130] At the same time, the underground pipeline network survey method can survey the pipeline 200 to be tested that contains fluid, and use the underground pipeline network survey equipment 100 to move on the fluid surface 300 of the pipeline 200 to obtain relevant data, thereby realizing fault survey of non-shutdown pipelines without discharging the fluid in the pipeline, thereby improving the survey efficiency of the underground pipeline network.

[0131] See also Figure 2 and Figure 6 , Figure 6 for Figure 2 The flowchart of obtaining a preliminary restored pipeline outline in the underground pipeline network survey method shown in FIG. In one embodiment, the step of obtaining a preliminary restored pipeline outline based on the three-dimensional coordinate values ​​includes:

[0132] S21, based on the three-dimensional coordinate vertical, respectively collect the contour points of the pipeline to be measured corresponding to each angle value in the polar coordinate system at time t to form n curves, wherein each curve corresponds to the contour baseline of the n angle values;

[0133] S22, performing feature extraction and deviation correction on each contour baseline to obtain a preliminary restored pipeline contour.

[0134] After the cross-sectional profile data of the pipeline 200 to be tested is converted into the three-dimensional coordinate values ​​of the contour points of the pipeline 200 to be tested, the contour points of the pipeline 200 to be tested corresponding to each angle value under the polar coordinates at each moment are gathered to form a contour baseline, and the contour baseline is extracted and corrected so that the contour baseline forms a smooth and complete curve.

[0135] Furthermore, the contour points of the pipeline 200 to be tested corresponding to each angle value in the polar coordinate system at time t are respectively collected to form n curves, each of which corresponds to the contour baseline of n angle values. In this way, a continuous contour baseline can be formed, and after extracting and correcting the contour baseline, a preliminary restored pipeline contour can be obtained.

[0136] In one embodiment, when performing feature extraction and deflection correction for each of the contour baselines, a Completely Adaptive Ensemble Empirical Mode Decomposition with Noise (CEEMDAN) algorithm is used to extract and deflect the contour baselines.

[0137] Specifically, the CEEMDAN algorithm works as follows:

[0138] CEEMDAN is a signal deconstruction processing and feature extraction algorithm, which is improved from the empirical mode decomposition (EMD) algorithm. Figure 7 As shown, Figure 7 The principle and flow chart of the EMD algorithm. The EMD algorithm decomposes the original signal into characteristic mode functions (IMFs) based on the local characteristic time scale of the original signal, that is, decomposing it into a series of subsequence components from high frequency to low frequency.

[0139] For an arbitrary signal s(t), the maximum and minimum envelopes of the signal are obtained by cubic spline interpolation, and the mean curve a(t) is calculated based on the upper and lower envelopes. Then, .

[0140] Whether (ht) is an IMF component is determined based on the following two conditions: 1) The number of local extreme points and zero-crossing points of the signal is equal or differs by at most one, that is, all the maximum and minimum values ​​in the signal fluctuate around the zero axis; 2) At any point in the signal, the mean of the upper envelope and the lower envelope formed by the local maximum and local minimum respectively are both 0.

[0141] If h(t) satisfies the condition, then there is a first-order IMF component , the first-order residual component is If r1(t) is a non-monotonic function, then let , and then use cubic spline interpolation to obtain the extreme envelope to obtain the second-order, third-order, and so on IMF components until r n (t) is a monotonic function.

[0142] If h(t) does not satisfy the condition, then let , perform cubic spline interpolation again to extract the upper and lower envelopes, repeat the above steps, and iterate continuously until h(t) satisfies the IMF component establishment condition.

[0143] It should be noted that in order to make the obtained components have physical meaning, it is also necessary to limit the number of iterations, that is, to imitate the Cauchy convergence criterion and define , when SD is between 0.2 and 0.3, the iterative screening process stops.

[0144] EMD has the characteristics of adaptability and multi-resolution, but it has problems such as envelope fitting deviation, endpoint effect, and modal aliasing. Among them, the modal aliasing phenomenon is specifically manifested as follows: 1) different characteristic frequencies appear in the same IMF component; 2) similar characteristic frequencies exist in different IMF components.

[0145] like Figure 8 As shown, Figure 8 The principle and flow chart of the CEMMDAN algorithm. The CEEMDAN algorithm is improved by the following design to effectively solve the modal aliasing problem of EMD: 1) adding the IMF component containing auxiliary noise after EMD decomposition; 2) performing overall average calculation after obtaining the first-order IMF component to obtain the final first-order IMF component, and then repeating the above operation on the residual part.

[0146] where Ek ( * ) is the k-th order IMF component generated by the EMD algorithm, A ( * ) is the first-order residual component corresponding to the calculated first-order IMF component, β is the constant coefficient, and w is the added random noise. Determine the number of times the noise is added M and obtain M initial quantities , use the EMD algorithm to obtain the first-order residual component for M initial quantities, calculate the average value ( / M) to obtain the first-order average residual component r1, and use the formula Calculate the first-order average IMF component and then let , repeat the above steps to obtain the second-order, third-order, and so on IMF components in turn, until rk can no longer be decomposed.

[0147] Specifically, the contour baseline correction process is as follows: the CEEMDAN algorithm can deconstruct the signal sequence, that is, each contour baseline in the present application, into a series of subsequences with specific center frequency and bandwidth values ​​and a residual term. The residual term represents the overall trend of the original sequence and is usually presented as a smooth curve. These subsequences and residual terms can reconstruct the complete original sequence.

[0148] When the fully adaptive noise set empirical mode decomposition algorithm is used to extract and correct the profile baseline, each original profile baseline is first deconstructed using the CEEMDAN algorithm. For the curve corresponding to the residual term in the deconstruction result, the three-dimensional coordinate points on each residual term curve are sampled and obtained. Based on the principle of least squares, the coordinate points are linearly fitted. Constraints are added during the fitting process. The constraints are parallel to the central axis of the pipeline profile, that is, the specified correct direction of travel. The profile baseline is corrected through the deconstruction of the above-mentioned profile baseline and further fitting processing.

[0149] In one embodiment, the formula for converting the cross-sectional profile data into the three-dimensional coordinate values ​​of the profile points of the pipeline 200 to be tested is:

[0150] ;

[0151] ;

[0152] ;

[0153] Wherein, t represents the cross-sectional profile of the pipeline 200 to be tested scanned by the scanning component at the tth moment, and the cross-sectional profile at each moment includes n measuring points, which respectively correspond to the distance between the scanning component and the cross-sectional profile at angle values ​​of 0 to (n-1); l t,i represents the measured value of the i-th distance at the t-th time, α t,i represents the angle corresponding to the i-th distance measurement value at the t-th time; d t x is the cumulative distance moved by the scanning component along the z axis at the tth moment recorded by the rangefinder; t,i ,y t,i 、z t,i It is the three-dimensional coordinate value after conversion calculation; n is greater than or equal to 1.

[0154] Through the above formula, the cross-sectional contour data of the pipeline 200 to be tested scanned by the first scanning piece 112 and the second scanning piece can be converted into three-dimensional coordinate values ​​of contour points of the pipeline 200 to be tested, so as to restore the pipeline contour scanned by the first scanning piece 112 and the second scanning piece.

[0155] Optionally, n ranges from 145 to 720. In this embodiment, n=360. That is, the cross-sectional profile scanned at each moment includes 360 measurement points, which respectively correspond to angle values ​​of 0 to 359. In step S2, the contour points corresponding to the angle values ​​of 0 to 359 of each cross-sectional profile at t moments are respectively collected to form 360 curves, that is, the 360 ​​curves respectively correspond to the contour baselines of 360 angle values.

[0156] Of course, in other embodiments of the present application, n may also be 90, 180, 720 or other vertical values. It is worth noting that the larger the value of n, the higher the scanning accuracy, the higher the detection accuracy of the damage of the pipeline 200 to be tested, and the greater the calculation amount.

[0157] See also Figure 2 , Fig. 9 and Fig.10 , Fig. 9 for Figure 2 The flowchart of another embodiment of the underground pipe network survey method shown in FIG. Fig.10 To adopt Fig. 9 The underground pipe network survey method shown in the figure obtains a sparse point cloud schematic diagram of the pipeline contour. In one embodiment, after the step of obtaining a preliminary restored pipeline contour based on the three-dimensional coordinate values, the underground pipe network survey method further includes the following steps:

[0158] S4, sampling the contour points of the pipeline contour that are initially restored, and performing contour fitting on the acquired contour points of the pipeline contour.

[0159] It can be understood that the initially restored pipeline contour obtained in step S2 is not the complete shape of the pipeline 200 to be tested, and a fitting process is still required.

[0160] The initially restored pipeline contour is sampled to obtain contour points of the pipeline contour, and contour fitting is performed on the contour points of the pipeline contour to obtain contour parameters of the fitting contour, and at the same time, the relevant dimension data of the pipeline 200 to be tested is determined.

[0161] S5, drawing a sparse point cloud schematic diagram of the pipeline contour according to the fitted contour.

[0162] After fitting the contour points of the pipeline contour, a contour surface of the fitted contour can be obtained, and a three-dimensional image is drawn based on the fitted contour, thereby obtaining a sparse point cloud schematic diagram of the pipeline contour of the pipeline 200 to be tested scanned by the scanning component.

[0163] Optionally, the matplotlib library of the Python programming language and the mplot3d module in the mpl_toolkits library can be used to process the contour surface of the fitted contour to obtain a sparse point cloud schematic diagram of the pipeline contour. Specifically, the matplotlib library of the Python programming language and the mplot3d module in the mpl_toolkits library can draw a three-dimensional image to obtain a sparse point cloud schematic diagram of the pipeline contour scanned by the scanning component.

[0164] Of course, in other embodiments of the present application, other three-dimensional image drawing software may also be used to generate a sparse point cloud schematic diagram of the pipeline contour.

[0165] S6, determining the fault of the pipeline to be tested according to the sparse point cloud schematic diagram.

[0166] The sparse point cloud schematic diagram can display the distances between points of different colors and the center line of the pipeline 200 to be tested, so as to determine whether there is a fault such as a leak in the pipeline 200 to be tested.

[0167] exist Figure 8 In the pipeline outline shown, the pipeline outline includes two areas, namely the first area A1 and the second area A2. The first area A1 is one color, indicating that the closer the distance from the closure of the tested pipeline 200 to the center line is, the second area A2 is another color, indicating that the farther the distance from the closure of the tested pipeline 200 to the center line is, the more leakage (damage) occurs in the second area A2.

[0168] Of course, in other implementations of the present application, other fault information of the pipeline to be tested 200, such as pipeline breakage, pipeline blockage, etc., may also be limited on the sparse point cloud schematic diagram.

[0169] It can be understood that, generally, the contour information of the pipeline 200 to be tested is scanned by the scanning component, and the contour information is converted into three-dimensional coordinate values ​​of the contour points of the pipeline 200 to be tested, and based on the three-dimensional coordinate values, a preliminary restored pipeline contour is obtained. Through the above process, the relevant data of the pipeline 200 to be tested can be obtained, and at this time, the fault of the pipeline 200 to be tested can be determined according to the relevant data.

[0170] Of course, after the failure of the pipeline 200 to be tested, the failure of the pipeline 200 to be tested can also be displayed for easy archiving and recording as the failure record of the pipeline 200 to be tested. Specifically, the initially restored pipeline 200 to be tested is fitted to obtain a fitting contour, and a sparse point cloud schematic diagram of the pipeline 200 to be tested is generated according to the fitting contour, and the failure of the pipeline 200 to be tested is determined according to the sparse point cloud schematic diagram.

[0171] In one embodiment of the present application, contour points of the pipeline contour are initially restored by sampling, and cylindrical surface fitting is performed on the acquired contour points of the pipeline contour; based on the cylindrical surface of the fitted cylinder, a sparse point cloud schematic diagram of the pipeline contour is drawn.

[0172] The initially restored pipeline contour is sampled to obtain the contour points of the pipeline contour. The contour points of the pipeline contour are fitted with a cylindrical surface to obtain the cylindrical surface parameters of the fitted cylinder, and at the same time, the center line alignment and average radius parameters of the pipeline 200 to be tested are determined.

[0173] After fitting the contour points of the pipeline contour, the cylindrical surface of the fitting cylinder can be obtained, and a three-dimensional image is drawn based on the fitting cylinder, thereby obtaining a sparse point cloud schematic diagram of the pipeline contour of the pipeline 200 to be tested scanned by the scanning component.

[0174] In one embodiment, when performing cylinder fitting on the obtained contour points of the pipeline contour, the minimum sum of the squares of the distances from the contour points of the pipeline contour to the central axis of the fitting cylinder is used as an optimization target, and the solution is calculated by the least squares method to obtain the cylindrical surface parameters of the fitting cylinder, and at the same time determine the centerline direction and average radius parameters of the pipeline 200 to be tested.

[0175] The initially restored pipeline contour is sampled to obtain the contour points of the pipeline contour. The contour points of the pipeline contour are fitted with a cylindrical surface to obtain the cylindrical surface parameters of the fitting cylinder, and at the same time, the center line alignment and average radius parameters of the pipeline 200 to be tested are determined. In this way, the contour shape of the fitting cylinder can be basically consistent with the contour shape of the pipeline 200 to be tested.

[0176] In one embodiment, the formula for performing cylindrical fitting on the acquired contour points of the pipeline contour is:

[0177]

[0178] Among them, a, b, c are any points on the central axis of the fitting cylinder, d, e, f are the direction vectors of the central axis, x, y, z are the three-dimensional coordinates of the contour points of the pipeline contour used as the cylindrical surface of the fitting cylinder, and r is the radius of the fitting cylinder.

[0179] Through the above formula, the contour points of the pipeline contour can be fitted with a cylindrical surface to obtain the cylindrical surface parameters of the fitting cylinder, and at the same time, the center line alignment and average radius parameters of the pipeline to be tested 200 can be determined. In this way, the contour shape of the fitting cylinder can be basically consistent with the contour shape of the pipeline to be tested 200.

[0180] In another embodiment of the present application, contour points of the pipeline contour are initially restored by sampling, and square culvert surface fitting is performed on the acquired contour points of the pipeline contour; a sparse point cloud schematic diagram of the pipeline contour is drawn based on the square culvert surface of the fitted square culvert.

[0181] The initially restored pipeline contour is sampled to obtain the contour points of the pipeline contour. The contour points of the pipeline contour are fitted with a square culvert surface to obtain the square culvert surface parameters of the fitted square culvert. At the same time, the central axis and contour parameters of the pipeline 200 to be tested are determined.

[0182] After fitting the contour points of the pipeline contour, the culvert surface of the fitted culvert can be obtained, and a three-dimensional image is drawn based on the fitted culvert to obtain a sparse point cloud schematic diagram of the pipeline contour of the pipeline 200 to be tested scanned by the scanning component.

[0183] It is worth noting that when the pipe 200 to be tested is a square culvert, its fitting principle is substantially the same as the cylindrical fitting principle, except that there is a difference between the two formulas, which will not be described in detail below.

[0184] Of course, in other embodiments of the present application, fitting can also be performed on the pipe 200 to be tested of other shapes, and the fitting principle is substantially the same as the cylindrical fitting principle, which will not be described in detail below.

[0185] The underground pipe network survey method of the present application can realize accurate survey of each pipe in the underground pipe network and improve the survey accuracy of faults. At the same time, the underground pipe network survey method uses the underground pipe network survey device 100 to move on the fluid surface 300 of the pipe to be tested 200 to obtain relevant data, realize the fault survey of the non-shutdown pipe, and there is no need to discharge the fluid in the pipe, thereby improving the survey efficiency of the underground pipe network.

[0186] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0187] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An underground pipe network surveying device, characterized in that: Used to perform fault survey on a pipeline to be tested with fluid; the underground pipeline network survey equipment includes a survey device and a signal repeater; The surveying device comprises a supporting body and a scanning component, wherein the supporting body is located on the fluid surface in the pipeline to be measured and can move along the fluid surface, and the scanning component is arranged on the supporting body and can move with the supporting body so that the scanning component scans the cross-sectional profile data of the pipeline to be measured along its extension direction; The signal repeater is arranged on the fluid surface of the pipeline to be tested, and the signal repeater can measure the distance between the signal repeater and the supporting body.

2. The underground pipe network survey equipment according to claim 1, characterized in that: The scanning component includes a first scanning component and a second scanning component, wherein the first scanning component is disposed above the supporting body and is used to scan the cross-sectional profile data above the surface of the fluid; The second scanning component is disposed below the supporting body and is used for scanning the cross-sectional profile data below the surface of the fluid.

3. The underground pipe network survey equipment according to claim 2, characterized in that: The first scanning part is a laser radar; and / or, the second scan is a sonar; And / or, the lower surface of the support body is a smooth surface, the smooth surface has a recessed portion, the second scanning piece is arranged in the recessed portion, and the height of the second scanning piece is less than or equal to the depth of the recessed portion.

4. The underground pipe network surveying equipment according to any one of claims 1 to 3, characterized in that: The signal repeater has a carrier-free communication technology receiver, and the supporting body has a carrier-free communication technology transmitter. The carrier-free communication technology receiver cooperates with the carrier-free communication technology transmitter to survey the distance between the signal repeater and the supporting body.

5. The underground pipe network surveying equipment according to any one of claims 1 to 3, characterized in that: The surveying device further comprises a turbojet propeller, which is arranged on the supporting body to drive the supporting body to move along the surface of the fluid.

6. The underground pipe network surveying equipment according to any one of claims 1 to 3, characterized in that: The underground pipe network survey equipment further comprises a monitoring component, the monitoring component is wirelessly connected to the scanning component, and the monitoring component is communicatively connected to the signal repeater; And / or, the surveying device further comprises a storage component, the storage component is arranged on the supporting body, the storage component is communicatively connected with the signal repeater and the scanning component, and is used to store the cross-sectional profile data and the distance between the signal repeater and the supporting body; And / or, the surveying device further comprises a support member, wherein the support member is disposed on the support body, and a height of the support member is greater than a height of the scanning component located above the support body.

7. A method for surveying an underground pipe network, characterized in that: Applied to the underground pipe network surveying equipment according to any one of claims 1 to 6, the underground pipe network surveying equipment is located on the fluid surface in the pipeline to be measured, and the underground pipe network surveying method comprises: Acquire cross-sectional profile data of the pipeline to be tested along its extension direction at time t, and convert the cross-sectional profile data into three-dimensional coordinate values ​​of contour points of the pipeline to be tested; Based on the three-dimensional coordinate values, a preliminary restored pipeline contour is obtained; The fault of the pipeline to be tested is determined based on the initially restored pipeline profile.

8. The underground pipe network survey method according to claim 7, characterized in that: The step of obtaining a preliminary restored pipeline contour based on the three-dimensional coordinate values ​​comprises: Based on the three-dimensional coordinate vertical, the contour points of the pipeline to be measured corresponding to each angle value in the polar coordinate system at time t are respectively collected to form n curves, wherein each curve corresponds to the contour baseline of the n angle values; Feature extraction and deviation correction are performed on each contour baseline to obtain a preliminary restored pipeline contour.

9. The underground pipe network survey method according to claim 7 or 8, characterized in that: After the step of obtaining a preliminary restored pipeline contour based on the three-dimensional coordinate values, the underground pipeline network survey method further includes the following steps: The contour points of the pipeline contour that are initially restored are sampled, and contour fitting is performed on the acquired contour points of the pipeline contour; Drawing a sparse point cloud schematic diagram of the pipeline contour according to the fitted contour; The fault of the pipeline to be tested is determined according to the sparse point cloud schematic diagram.

10. The underground pipe network survey method according to claim 7 or 8, characterized in that: The underground pipe network survey method includes at least one of the following features: First, the formula for converting the cross-sectional profile data into the three-dimensional coordinate values ​​of the profile points of the pipeline to be tested is: ； ； ； Wherein, t represents the cross-sectional profile of the pipeline to be measured scanned by the scanning component at the tth moment, and the cross-sectional profile at each moment includes n measuring points, which respectively correspond to the distance between the scanning component and the cross-sectional profile at angle values ​​of 0 to (n-1); l t,i represents the measured value of the i-th distance at the t-th time, α t,i represents the angle corresponding to the i-th distance measurement value at the t-th time; d t x is the cumulative distance moved by the scanning component along the z axis at the tth moment recorded by the rangefinder; t,i ,y t,i 、z t,i is the three-dimensional coordinate value after conversion calculation; n is greater than or equal to 1; Second, when a contour baseline is obtained according to the pipeline contour, a fully adaptive noise set empirical mode decomposition algorithm is used to extract and correct the contour baseline when features are extracted and corrected for each contour baseline.

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