RTK equipment and pipeline detector integrated underground pipeline surveying system

Abstract

The invention particularly relates to an RTK equipment and pipeline detector integrated underground pipeline surveying system, which comprises small RTK equipment, a pipeline detector and an integrated pipeline surveying platform, and is characterized in that the integrated pipeline surveying platform is used for carrying out integrated configuration based on information of the small RTK equipment and information of the pipeline detector; and the integrated pipeline detection device is obtained. And then performing pipeline detection analysis based on the to-be-detected pipeline information and the underground environment information, and determining the working information of the detector. And then, pipeline drawing is carried out based on pipeline detection data acquired by the pipeline detector and pipeline coordinate data acquired by the small RTK equipment, and an underground pipeline diagram is obtained. According to the invention, the small RTK equipment and the pipeline detector are matched to carry out pipeline survey, so that the work which needs to be operated twice originally can be completed only through one-time operation, the pipeline survey efficiency is improved, and the underground pipeline map is drawn so as to provide indispensable basic data for urban construction and operation.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and in particular to an underground pipeline survey system integrating an RTK device and a pipeline detector. Background Art

[0002] As an important part of urban infrastructure, underground pipelines undertake important tasks such as information transmission, energy transmission and material transmission. In order to ensure the normal operation of urban infrastructure and improve the level of urban safety, it is particularly important to survey underground pipelines. When performing underground pipeline surveys, related technologies often rely on two types of equipment: positioning equipment and pipeline detectors. Among them, positioning equipment is a special measurement tool used to accurately determine the spatial position of a specific target; pipeline detectors are tools designed specifically for underground pipeline detection, which use electromagnetic induction, radar detection or other physical principles to identify and locate the position of underground pipelines.

[0003] Positioning equipment is usually limited to performing positioning tasks and cannot be directly used for underground pipeline detection. At the same time, although the GPS function is integrated in the pipeline detector, the positioning information accuracy it provides is relatively low, which is difficult to meet the needs of high-precision surveying. Therefore, in actual operations, due to the functional limitations of positioning equipment and pipeline detectors, it is usually necessary to arrange two groups of personnel to use these two devices respectively, or to perform two independent operation processes in the same area. However, this method of underground pipeline surveying is inefficient.

[0004] Therefore, how to solve the above technical defects is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] The purpose of this application is to provide an underground pipeline survey system integrating RTK equipment and pipeline detector, so as to solve at least one of the above technical problems.

[0006] The above invention objectives of the present application are achieved through the following technical solutions: In the first aspect, the present application provides an underground pipeline survey system integrating an RTK device and a pipeline detector, which adopts the following technical solutions: An underground pipeline survey system integrating an RTK device and a pipeline detector comprises: a small RTK device, a pipeline detector and an integrated pipeline survey platform, wherein: Small RTK equipment for collecting high-precision coordinate data; Pipeline detector, used to locate and track underground pipelines, so as to complete the identification and location of underground pipelines on the ground; An integrated pipeline survey platform is used to obtain small RTK equipment information and pipeline detector information, and perform integrated configuration based on the small RTK equipment information and the pipeline detector information to obtain an integrated pipeline detection device; Acquire pipeline information to be detected and underground environment information, perform pipeline detection analysis based on the pipeline information to be detected and the underground environment information, determine detector working information, and control the pipeline detector in the integrated pipeline detection device to perform pipeline detection according to the detector working information; The pipeline detection data collected by the pipeline detector and the pipeline coordinate data collected by the small RTK device are obtained, and pipeline drawing is performed based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map.

[0007] By adopting the above technical scheme, the underground pipeline survey system includes: a small RTK device, a pipeline detector and an integrated pipeline survey platform, wherein: the small RTK device is used to collect high-precision coordinate data; the pipeline detector is used to locate and track the path of the underground pipeline. The integrated pipeline survey platform is used to perform integrated configuration based on the information of the small RTK device and the pipeline detector to obtain an integrated pipeline detection device. Then, pipeline detection analysis is performed based on the pipeline information to be detected and the underground environment information, the detector working information is determined, and the pipeline detector in the integrated pipeline detection device is controlled to perform pipeline detection work according to the detector working information. Then, pipeline drawing is performed based on the pipeline detection data collected by the pipeline detector and the pipeline coordinate data collected by the small RTK device to obtain an underground pipeline map. The underground pipeline survey system combines the small RTK device and the pipeline detector to conduct pipeline survey, so that the work that originally required two operations can be completed with only one operation, which improves the efficiency of pipeline survey, and draws underground pipeline maps to provide indispensable basic data for urban construction and operation.

[0008] In a preferred example, the present application may be further configured as follows: when the pipeline detector performs the positioning and path tracking of the underground pipeline, it is used to: When the detector working information sent by the integrated pipeline survey platform is detected, the working parameters of the pipeline detector are automatically adjusted based on the detector working information; When underground pipeline detection is performed according to the adjusted working parameters, the sensing signals of the underground pipelines are acquired in real time, positioning and path tracking are performed based on the sensing signals, and pipeline detection data are determined, wherein the pipeline detection data includes: pipeline direction and pipeline burial depth.

[0009] In a preferred example, the present application can be further configured as follows: when the small RTK device is executing the acquisition of high-precision coordinate data, it is used to: When it is detected that the pipeline detector is positioned at the pipeline detection data, current position data is acquired as pipeline coordinate data; Data association is performed based on the pipeline detection data and the pipeline coordinate data to obtain a pipeline data association relationship, and the pipeline data association relationship is sent to the integrated pipeline survey platform.

[0010] In a preferred example, the present application can be further configured as: a pipeline detector, further used for: Acquire sensing signals of underground pipelines in real time, perform damage point detection based on the sensing signals, determine damage detection results, and send the damage detection results to the integrated pipeline survey platform; When the damage detection result indicates that damage exists, the preliminary damage point position in the damage detection result is sent to the underground pipeline inspection robot, so that the underground pipeline inspection robot can perform multi-dimensional detection on the damage point.

[0011] In a preferred example, the present application can be further configured as follows: An underground pipeline inspection robot is used to autonomously navigate based on the location of the preliminary damage point until it reaches the damage point; When it is detected that the pipeline reaches the position of the preliminary damage point, the multi-functional probe carried is used to perform multi-dimensional detection on the damage point of the pipeline to obtain multi-dimensional detection data, wherein the multi-dimensional detection includes: ultrasonic flaw detection, infrared thermal imaging detection, and gas concentration detection; A fault point analysis is performed based on the multi-dimensional detection data, the fault point data is determined, and the fault point data is sent to the integrated pipeline survey platform.

[0012] In a preferred example, the present application may be further configured as follows: when the integrated pipeline survey platform performs pipeline drawing based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map, it is used to: Performing preliminary pipeline drawing based on the pipeline detection data and the pipeline coordinate data to determine a pipeline sketch; Based on the pipeline information to be detected and the underground environment information, pipeline attributes are added to the pipeline sketch to obtain a pipeline attribute map; Based on the fault point data, the pipeline attribute map is marked with fault points to obtain an underground pipeline map.

[0013] In the second aspect, the present application provides an underground pipeline survey method integrating an RTK device and a pipeline detector, which adopts the following technical solution: Acquire small RTK equipment information and pipeline detector information, and perform integrated configuration based on the small RTK equipment information and the pipeline detector information to obtain an integrated pipeline detection device; Acquire pipeline information to be detected and underground environment information, perform pipeline detection analysis based on the pipeline information to be detected and the underground environment information, and determine detector working information; Pipeline detection data and pipeline coordinate data are obtained, and pipeline drawing is performed based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map.

[0014] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: at least one processor; Memory; At least one application, wherein the at least one application is stored in the memory and is configured to be executed by at least one processor, and the at least one application is configured to: execute the underground pipeline surveying method integrating the above-mentioned RTK device and pipeline detector.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium stores a computer program, which, when executed in a computer, causes the computer to execute the underground pipeline surveying method integrating the RTK device and the pipeline detector as described above.

[0016] In summary, the present application includes at least one of the following beneficial technical effects: 1. The underground pipeline survey system includes: a small RTK device, a pipeline detector and an integrated pipeline survey platform, wherein: the small RTK device is used to collect high-precision coordinate data; the pipeline detector is used to locate and track the path of the underground pipeline. The integrated pipeline survey platform is used to perform integrated configuration based on the information of the small RTK device and the pipeline detector to obtain an integrated pipeline detection device. Then, pipeline detection analysis is performed based on the information of the pipeline to be detected and the underground environment information, the working information of the detector is determined, and the pipeline detector in the integrated pipeline detection device is controlled to perform pipeline detection according to the working information of the detector. Then, pipeline drawing is performed based on the pipeline detection data collected by the pipeline detector and the pipeline coordinate data collected by the small RTK device to obtain an underground pipeline map. The underground pipeline survey system combines the small RTK device and the pipeline detector to conduct pipeline survey, so that the work that originally required two operations can be completed with only one operation, which improves the efficiency of pipeline survey, and draws underground pipeline maps to provide indispensable basic data for urban construction and operation.

[0017] 2. When the detector working information sent by the integrated pipeline survey platform is detected, the working parameters of the pipeline detector are automatically adjusted based on the detector working information. When performing underground pipeline detection according to the adjusted working parameters, the sensing signal of the underground pipeline is obtained in real time, and positioning and path tracking are performed based on the sensing signal to determine the pipeline detection data. Automatically adjusting the working parameters of the pipeline detector can ensure that the pipeline detector works in the best state, thereby improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of an underground pipeline survey system integrating an RTK device and a pipeline detector according to one embodiment of the present application; Figure 2 It is a flowchart of an underground pipeline survey method integrating an RTK device and a pipeline detector according to one embodiment of the present application; Figure 3 It is a structural schematic diagram of an electronic device according to one embodiment of the present application. DETAILED DESCRIPTION

[0019] The following combination Figures 1 to 3 This application is described in further detail.

[0020] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, a person skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by the patent law as long as they are within the scope of the present application.

[0021] In order to make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application. It should be noted that in the optional embodiments of the present application, the object information and other related data involved, when the embodiments in the present application are applied to specific products or technologies, need to obtain the permission or consent of the object, and the collection, use and processing of the relevant data need to comply with the relevant laws, regulations and standards of the relevant countries and regions. In other words, if the data related to the object is involved in the embodiment of the present application, it needs to be obtained through the authorization and consent of the object, the authorization and consent of the relevant departments, and in accordance with the relevant laws, regulations and standards of the country and region. If personal information is involved in the embodiment, the acquisition of all personal information needs to obtain the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained, and the embodiment also needs to be implemented with the authorization and consent of the object.

[0022] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0023] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0024] The embodiment of the present application provides an underground pipeline survey system integrating an RTK device and a pipeline detector, including: a small RTK device 101, a pipeline detector 102 and an integrated pipeline survey platform 103, wherein: the small RTK device 101 is used to collect high-precision coordinate data; the pipeline detector 102 is used to locate and track the path of the underground pipeline; the integrated pipeline survey platform 103 is used to perform integrated configuration based on the small RTK device information and the pipeline detector information to obtain an integrated pipeline detection device; perform pipeline detection analysis based on the pipeline information to be detected and the underground environment information, determine the detector working information, and control the pipeline detector 102 in the integrated pipeline detection device to perform pipeline detection work according to the detector working information; and perform pipeline drawing based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map.

[0025] An underground pipeline survey system integrating RTK equipment and pipeline detector, such as Figure 1 As shown, the system includes: a small RTK device 101, a pipeline detector 102 and an integrated pipeline survey platform 103, wherein: A small RTK device 101 for collecting high-precision coordinate data; The pipeline detector 102 is used to locate and track the path of underground pipelines, so as to complete the identification and location of underground pipelines on the ground; For the embodiment of the present application, the small RTK device 101 can realize the collection of high-precision coordinate data through technical means such as differential positioning technology, carrier phase observation and real-time data processing. The pipeline detector 102 is a tool designed for underground pipeline detection, which identifies and locates the position of underground pipelines through electromagnetic induction, radar detection or other physical principles, so that the underground pipelines can be identified and located without digging the ground.

[0026] The integrated pipeline survey platform 103 is used to obtain the small RTK equipment information and the pipeline detector information, and perform integrated configuration based on the small RTK equipment information and the pipeline detector information to obtain an integrated pipeline detection device; For the embodiment of the present application, in the operation of performing underground pipeline detection, due to the functional limitations of the positioning device and the pipeline detector 102, it is usually necessary to arrange two groups of personnel to use these two devices to perform the operation respectively, or to perform two independent operation processes in the same area: one time to use the pipeline detector 102 to perform preliminary detection of the pipeline position, and the other time to use the positioning device to determine the precise position. However, the underground pipeline survey method using the positioning device and the pipeline detector 102 for two operations is not only inefficient, but also increases the cost of manpower and time. In order to solve the problem of low efficiency of pipeline survey in two operations in related technologies, in an embodiment of the present application, a small RTK device 101 and a pipeline detector 102 are integrated. The small RTK device 101 in the integrated pipeline detection device can provide positioning data with an accuracy of ±5cm, and the pipeline detector 102 in the integrated pipeline detection device can accurately identify and locate various underground pipelines, so that the work that originally required two operations can be completed in one operation, thereby improving the efficiency of pipeline survey. In addition, the underground pipeline survey system will also draw pipeline detection data collected by the pipeline detector 102 and pipeline coordinate data collected by the small RTK device 101 to obtain an underground pipeline map, so as to provide indispensable basic data for urban construction and operation.

[0027] Specifically, obtain the small RTK device information, which includes but is not limited to: device ID, device model, firmware version, positioning accuracy, connection kit (e.g., Bluetooth, Wi-Fi, etc.) and interface information (e.g., SDK development kit interface); obtain the pipeline detector information, which includes but is not limited to: detector ID, detector model, storage status, network connection, available detection mode, etc. Then, based on the small RTK device information and pipeline detector information, perform integrated configuration to obtain an integrated pipeline detection device. The integrated configuration is used to control the small RTK device 101 and the pipeline detector 102 to work together, so that the underground pipeline survey operation that originally required two operations can be completed with only one operation, thereby improving the efficiency of pipeline survey. The specific implementation process for the integrated configuration is as follows: Based on the connection kit in the small RTK device information, the small RTK device 101 and the pipeline detector 102 are configured with hardware integration, and the connection kit includes but is not limited to: Bluetooth module, Wi-Fi module, etc. The connection kit not only provides a channel for data transmission, but also ensures the real-time and stability of data transmission. Real-time means that the data between the small RTK device 101 and the pipeline detector 102 can be transmitted in real time, while stability ensures that there will be no interruption or error during the data transmission process. At the same time, it is also necessary to customize and develop an application, which communicates with the small RTK device 101 at the software level and receives coordinate data, and integrates the pipeline survey function to ensure that the pipeline detection work is performed while collecting positioning data. Therefore, based on the interface information in the small RTK device information, that is, the SDK development kit interface, the communication and data receiving functions between the application and the small RTK device 101 are realized; at the same time, when the pipeline survey function is integrated in the application, the synchronization of pipeline survey and coordinate data collection is ensured. Through the close integration of hardware and software, the integrated pipeline detection device reduces the intermediate links in the data transmission process, reduces the risk of data loss or error, and thus improves the stability of data acquisition; at the same time, the use of the integrated pipeline detection device for underground pipeline detection allows the work that originally required two operations to be completed with only one operation, thereby improving the efficiency of underground pipeline detection.

[0028] Acquire pipeline information to be detected and underground environment information, perform pipeline detection analysis based on the pipeline information to be detected and the underground environment information, determine detector working information, and control the pipeline detector 102 in the integrated pipeline detection device to perform pipeline detection according to the detector working information; For the embodiment of the present application, different pipeline materials, specifications, burial depths and underground environments will affect the detection effect of the pipeline detector 102. Therefore, in order to ensure the accuracy of the detection results, the pipeline information to be detected and the underground environment information are comprehensively considered to select the most appropriate detection type and parameters to reduce unnecessary detection time and workload.

[0029] Specifically, the pipeline information to be detected is obtained, which can be obtained through official data such as urban planning maps and completion drawings, including but not limited to: pipeline type, pipeline material, pipeline laying time, and of course, it can also include: pipeline location and pipeline burial depth, the pipeline location only includes the starting point, end point, midway turning point and intersection of the pipeline; pipeline burial depth refers to the distance from the ground to the bottom (inner wall) of the pipeline. The above pipeline location and pipeline burial depth are the standards based on when laying the pipeline, which may be different from the actual laying of the pipeline. Therefore, it can only be used as auxiliary information for subsequent drawing of underground pipeline maps. Obtain underground environmental information, which includes but is not limited to: geological conditions, electromagnetic interference, underground obstacles, and natural or man-made interference factors. Then, based on the pipeline information to be detected and the underground environmental information, pipeline detection analysis is performed to determine the detector working information, which includes but is not limited to: detection type and detection working parameters. After that, the pipeline detector 102 in the integrated pipeline detection device is controlled to adjust the working parameters according to the detector working information and perform pipeline detection.

[0030] For pipeline detection and analysis, the specific implementation process is as follows: First, according to the material, burial depth and underground environmental information of the pipeline to be detected, select the appropriate detection type. For example, for metal pipelines, such as gas pipelines, power cables, etc., electromagnetic detection, acoustic detection or clamp method can be selected; for non-metallic pipelines, such as plastic pipes, concrete pipes, etc., ground penetrating radar detection method can be selected; in areas with complex geological conditions or severe electromagnetic interference, it may be necessary to combine multiple detection methods for comprehensive detection. Secondly, according to the material and burial depth of the pipeline, select the appropriate transmission frequency. Generally speaking, the frequency selected for non-metallic pipeline detection is lower, while the frequency selected for metallic pipeline detection is higher; adjust the receiving sensitivity according to the interference of the underground environment, that is, in areas with severe electromagnetic interference, it may be necessary to reduce the receiving sensitivity to reduce false alarms; in areas with less interference, the receiving sensitivity can be increased to improve the detection accuracy; determine the detection depth according to the burial depth of the pipeline and geological conditions. Generally speaking, the detection depth should be slightly greater than the actual burial depth of the pipeline to ensure the accuracy of the detection results.

[0031] The pipeline detection data collected by the pipeline detector 102 and the pipeline coordinate data collected by the small RTK device 101 are obtained, and pipeline drawing is performed based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map.

[0032] For the embodiment of the present application, when the small RTK device 101 and the pipeline detector 102 in the integrated pipeline detection device work in cooperation, the pipeline detector 102 will send the collected pipeline detection data to the integrated pipeline survey platform 103, and the small RTK device 101 will send the collected pipeline coordinate data to the integrated pipeline survey platform 103, wherein the pipeline detection data refers to the data corresponding to the pipeline when the pipeline detector 102 detects the pipeline, including but not limited to: pipeline point number (used to identify each key point on the pipeline, such as the starting point, end point, turning point, etc.), pipeline direction, pipeline buried depth, pipeline elevation, etc.; pipeline coordinate data refers to the high-precision coordinate data corresponding to the current position when the pipeline detector 102 collects the pipeline detection data, including but not limited to: accuracy, dimension, used to determine the precise position of the pipeline. At the same time, there is a one-to-one correspondence between the pipeline detection data and the pipeline coordinate data, and the pipeline is drawn based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map. That is, according to the drawing needs and accuracy requirements, appropriate drawing software is selected, and the drawing software is used to draw the pipeline according to the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map. The underground pipeline map facilitates a clear understanding of the layout, direction and properties of the underground pipelines, and provides accurate data support for urban infrastructure construction, road reconstruction, underground space development, etc.

[0033] It can be seen that in the embodiment of the present application, the underground pipeline survey system includes: a small RTK device 101, a pipeline detector 102 and an integrated pipeline survey platform 103, wherein: the small RTK device 101 is used to collect high-precision coordinate data; the pipeline detector 102 is used to locate and track the path of the underground pipeline. The integrated pipeline survey platform 103 is used to perform integrated configuration based on the small RTK device information and the pipeline detector information to obtain an integrated pipeline detection device. Then, pipeline detection analysis is performed based on the pipeline information to be detected and the underground environment information, the detector working information is determined, and the pipeline detector 102 in the integrated pipeline detection device is controlled to perform pipeline detection according to the detector working information. Furthermore, pipeline drawing is performed based on the pipeline detection data collected by the pipeline detector 102 and the pipeline coordinate data collected by the small RTK device 101 to obtain an underground pipeline map. The underground pipeline survey system combines the small RTK device 101 and the pipeline detector 102 to conduct pipeline survey, so that the work that originally required two operations can be completed with only one operation, thereby improving the efficiency of pipeline survey, and drawing underground pipeline maps to provide indispensable basic data for urban construction and operation.

[0034] Furthermore, in order to improve the detection efficiency, in the embodiment of the present application, the pipeline detector 102 is used to: When the detector working information sent by the integrated pipeline survey platform 103 is detected, the working parameters of the pipeline detector 102 are automatically adjusted based on the detector working information; When performing underground pipeline detection according to the adjusted working parameters, the sensing signals of the underground pipelines are acquired in real time, positioning and path tracking are performed based on the sensing signals, and pipeline detection data are determined, wherein the pipeline detection data includes: pipeline direction and pipeline burial depth.

[0035] For the embodiment of the present application, when the pipeline detector 102 performs the survey function of the underground pipeline, it will receive the detector working information sent by the integrated pipeline survey platform 103. The detector working information specifies the detection type and detection working parameters. Therefore, after receiving the detector working information, the pipeline detector 102 automatically adjusts the working parameters of the pipeline detector 102 based on the detector working information, so that the pipeline detector 102 can adapt to different detection environments and pipeline types. With regard to adjusting the working parameters of the pipeline detector 102, the detection type, frequency, sensitivity and detection depth can be adjusted. Of course, other working parameters can also be adjusted, which is not limited in the embodiment of the present application. By receiving the detector working information sent by the integrated pipeline survey platform 103 and automatically adjusting the working parameters of the pipeline detector 102, it can be ensured that the pipeline detector 102 works in the best state, thereby improving the detection efficiency.

[0036] Furthermore, the transmitter of the pipeline detector 102 sends electromagnetic signals or radar waves to the underground pipeline. These signals will induce current or reflect echoes in the pipeline. The receiver of the pipeline detector 102 receives the induction signals induced or reflected by the pipeline. These induction signals include information such as the location, direction and depth of the pipeline. Then, the received induction signals are filtered to remove noise interference, and the effective signals are amplified to improve the signal quality. The processed induction signals are analyzed using special software or algorithms to extract information such as the direction and burial depth of the pipeline. Positioning and path tracking based on the induction signals can accurately determine the direction and burial depth of the pipeline and reduce the possibility of misjudgment and missed judgment.

[0037] It can be seen that in the embodiment of the present application, when the detector working information sent by the integrated pipeline survey platform 103 is detected, the working parameters of the pipeline detector 102 are automatically adjusted based on the detector working information. When performing underground pipeline detection according to the adjusted working parameters, the sensing signal of the underground pipeline is obtained in real time, and positioning and path tracking are performed based on the sensing signal to determine the pipeline detection data. Automatically adjusting the working parameters of the pipeline detector 102 can ensure that the pipeline detector 102 works in the best state, thereby improving the detection efficiency.

[0038] Furthermore, in order to improve the integrity and accuracy of pipeline detection and collection data, in the embodiment of the present application, the small RTK device 101 is used to collect high-precision coordinate data: When it is detected that the pipeline detector 102 locates the pipeline detection data, the current position data is obtained as the pipeline coordinate data; Data association is performed based on the pipeline detection data and the pipeline coordinate data to obtain a pipeline data association relationship, and the pipeline data association relationship is sent to the integrated pipeline survey platform 103.

[0039] For the embodiment of the present application, the pipeline detector 102 can also identify and locate the position of the underground pipeline through a specific detection technology, but the pipeline position in the pipeline detection data is usually only a relative position or distance, lacking an absolute geographical location. Therefore, when the pipeline detector 102 locates the pipeline, it will send an instruction to collect coordinate data to the small RTK device 101. Therefore, the small RTK device 101 can accurately record the actual geographical location of the pipeline by obtaining the current position data (such as longitude, latitude, altitude, etc.), providing an accurate basis for subsequent construction, maintenance and management. With its high-precision positioning capability, the small RTK device 101 can obtain centimeter-level or even millimeter-level pipeline coordinate data in real time. This high-precision positioning capability ensures the accuracy of the pipeline position and reduces subsequent construction or maintenance problems caused by positioning errors. At the same time, the real-time nature of RTK technology makes the pipeline positioning process faster and improves work efficiency.

[0040] The pipeline detection data provides key information such as the location, direction, and material of the pipeline, while the pipeline coordinate data provides the precise location of the pipeline in the geographic space. By associating these two types of data, a complete pipeline information system can be formed, which is convenient for subsequent data integration and unified management, and improves the integrity and accuracy of pipeline detection and collection data. Therefore, the pipeline detection data and pipeline coordinate data of the same timestamp are associated to obtain the pipeline data association relationship, and the pipeline data association relationship is sent to the integrated pipeline survey platform 103 to form a complete pipeline information system.

[0041] It can be seen that in the embodiment of the present application, when it is detected that the pipeline detector 102 locates the pipeline detection data, the current position data is obtained as the pipeline coordinate data. Then, data association is performed based on the pipeline detection data and the pipeline coordinate data to obtain the pipeline data association relationship, and the pipeline data association relationship is sent to the integrated pipeline survey platform 103. By associating these two types of data, a complete pipeline information system can be formed, which is convenient for subsequent data integration and unified management, and improves the integrity and accuracy of pipeline detection and collection data.

[0042] Furthermore, in order to timely understand the health status of the pipeline and better plan and manage the maintenance of the pipeline, in the embodiment of the present application, the pipeline detector 102 is also used to: Acquire sensing signals of underground pipelines in real time, detect damage points based on the sensing signals, determine damage detection results, and send the damage detection results to the integrated pipeline survey platform 103; When the damage detection result shows that damage exists, the preliminary damage point location in the damage detection result is sent to the underground pipeline inspection robot, so that the underground pipeline inspection robot can perform multi-dimensional detection of the damage point.

[0043] For the embodiment of the present application, the sensing signal of the underground pipeline is obtained in real time, and the damage point detection is performed based on the sensing signal to determine the damage detection result, wherein the damage detection result includes: the presence of damage and the absence of damage. When there is damage, the preliminary damage position is stored accordingly. Regarding the process of damage point detection, the pipeline detector 102 analyzes the received sensing signal to identify the signal area that is abnormal compared with the normal pipeline signal. The abnormal signal may indicate that the pipeline is damaged, corroded or has other problems. Then, the gain and sensitivity parameters are automatically adjusted to determine the specific location of the damage point by comparing the signal strength between different points. The damage point detection is performed based on the sensing signal, and the damage detection result is sent to the integrated pipeline survey platform 103, so as to timely grasp the health status of the pipeline and better plan and manage the maintenance of the pipeline. Furthermore, when the damage detection result is that there is damage, the preliminary damage point position in the damage detection result is sent to the underground pipeline inspection robot, so that the underground pipeline inspection robot can perform multi-dimensional detection of the damage point.

[0044] It can be seen that in the embodiment of the present application, the sensing signal of the underground pipeline is obtained in real time, the damage point detection is performed based on the sensing signal, the damage detection result is determined, and the damage detection result is sent to the integrated pipeline survey platform 103, so as to timely grasp the health status of the pipeline and better plan and manage the maintenance of the pipeline. When the damage detection result is that there is damage, the preliminary damage point location in the damage detection result is sent to the underground pipeline inspection robot, so that the underground pipeline inspection robot can perform multi-dimensional detection of the damage point.

[0045] Furthermore, in order to reduce operational risks and improve detection accuracy and reliability, in the embodiment of the present application, it also includes: Underground pipeline inspection robot, used to autonomously navigate based on the initial damage point location until it reaches the damage point; When the initial damage point is detected, the multi-functional probe carried is used to perform multi-dimensional detection on the damaged point of the pipeline to obtain multi-dimensional detection data, wherein the multi-dimensional detection includes: ultrasonic flaw detection, infrared thermal imaging detection, and gas concentration detection; The fault point analysis is performed based on the multi-dimensional detection data, the fault point data is determined, and the fault point data is sent to the integrated pipeline survey platform 103 .

[0046] For the embodiment of the present application, the underground pipeline survey system also includes an underground pipeline inspection robot, which is a robot device specially used for autonomous navigation, detection and diagnosis in the underground pipeline system. It combines advanced navigation technology, sensor technology and data processing technology, and can perform efficient and accurate inspection operations in complex and changeable underground pipeline environments, providing strong support for pipeline maintenance and management. Therefore, when the underground pipeline inspection robot receives the initial damage point location sent by the pipeline detector 102, and detects the instruction allowing multi-dimensional detection, it performs autonomous navigation based on the initial damage point location until it moves to the damage point.

[0047] When it is detected that it has reached the initial damage point, the multi-functional probe carried is used to perform multi-dimensional detection of the damage point of the pipeline to obtain multi-dimensional detection data, wherein the multi-dimensional detection includes: ultrasonic flaw detection, infrared thermal imaging detection, and gas concentration detection. For ultrasonic flaw detection, after the underground pipeline inspection robot reaches the initial damage point, the ultrasonic flaw detection equipment is started, that is, the ultrasonic probe is close to the inner wall of the pipeline and emits ultrasonic waves into the pipeline. When the ultrasonic wave propagates inside the pipeline, it will generate reflected waves when it encounters defects (such as cracks, corrosion, etc.). After the reflected waves are received by the probe, they are converted into electrical signals and recorded as ultrasonic flaw detection data. For infrared thermal imaging detection, after the underground pipeline inspection robot reaches the initial damage point, the infrared thermal imager is started. The infrared thermal imager scans the outside or inside of the pipeline to capture the thermal radiation information on the surface of the pipeline, which is recorded as infrared thermal imaging detection data. For gas concentration detection, after the underground pipeline inspection robot reaches the initial damage point, it starts the gas concentration sensor, which samples and analyzes the gas inside or around the pipeline and records it as gas concentration detection data. The ultrasonic flaw detection data, infrared thermal imaging detection data and gas concentration detection data are combined to obtain multi-dimensional detection data. Using inspection robots to detect fault points can prevent personnel from entering dangerous environments and reduce operational risks. At the same time, the underground pipeline inspection robot can perform multi-dimensional detection on the damaged points of the pipeline, such as ultrasonic flaw detection, infrared thermal imaging detection and gas concentration detection, so as to have a more comprehensive understanding of the condition of the damaged points and improve the accuracy and reliability of detection.

[0048] Then, based on the multi-dimensional detection data, the fault point analysis is performed to determine the fault point data, and the fault point data is sent to the integrated pipeline survey platform 103, wherein the fault point data includes: the fault point location, the fault point size, the fault point type, and whether there is a gas leak. For the fault point analysis, firstly, the ultrasonic flaw detection data and the infrared thermal imaging detection data are combined to determine the precise location of the fault point through algorithm analysis, that is, for the ultrasonic flaw detection data, the specific location of the fault point inside the pipeline is determined by analyzing the characteristics and propagation path of the reflected wave signal; for the infrared thermal imaging detection data, the specific location of the fault point outside the pipeline is determined by analyzing the location and shape of the temperature abnormality area; the specific locations obtained by the two are combined to finally determine the location of the fault point. Secondly, the amplitude, phase and other information in the ultrasonic flaw detection data, combined with parameters such as pipeline material and thickness, are used to determine the size and type of the fault point through algorithm analysis; the degree and range of temperature anomalies in the infrared thermal imaging detection data are combined to further verify and correct the size and type judgment results of the fault point; for gas concentration detection data, by analyzing the changing trend and distribution characteristics of the gas concentration, it is determined whether the fault point involves harmful gas leakage and the amount of leakage is estimated.

[0049] It can be seen that in the embodiment of the present application, the underground pipeline inspection robot performs autonomous navigation based on the initial damaged point position until it reaches the damaged point. When it is detected that it has reached the initial damaged point position, the damaged point of the pipeline is detected in multiple dimensions using the multifunctional probe carried, and multidimensional detection data is obtained. The fault point analysis is performed based on the multidimensional detection data, the fault point data is determined, and the fault point data is sent to the integrated pipeline survey platform 103. Using the inspection robot to detect the fault point can prevent personnel from entering a dangerous environment and reduce the risk of operation. At the same time, the underground pipeline inspection robot performs multidimensional detection to more comprehensively understand the condition of the damaged point and improve the accuracy and reliability of the detection.

[0050] Furthermore, in order to improve the reliability and stability of the pipeline, in the embodiment of the present application, the integrated pipeline survey platform 103, when executing pipeline drawing based on pipeline detection data and pipeline coordinate data to obtain an underground pipeline map, is used to: Perform preliminary pipeline drawing based on pipeline detection data and pipeline coordinate data to determine the pipeline sketch; Based on the pipeline information to be detected and the underground environment information, pipeline attributes are added to the pipeline sketch to obtain a pipeline attribute map; Based on the fault point data, the fault points are marked on the pipeline attribute map to obtain the underground pipeline map.

[0051] For the embodiment of the present application, according to the needs and accuracy requirements of pipeline drawing, a suitable drawing tool is selected, and a pipeline sketch of the underground pipeline is drawn in the drawing tool according to the pipeline detection data and the pipeline coordinate data, that is, using tools such as straight lines, arcs, and polylines, it is drawn according to the actual direction and shape of the pipeline, and in the drawing process, the continuity and smoothness of the lines are maintained to avoid breaks and dislocations. Then, on the basis of the pipeline sketch, the pipeline attributes are added based on the pipeline information to be detected and the underground environment information to obtain a pipeline attribute map, that is, based on the attribute information of the pipeline in the pipeline information to be detected, a detailed description and annotation are made at the corresponding position in the pipeline sketch; at the same time, different colors, lines, symbols, etc. are used to represent different underground environment information to improve the readability and accuracy of the pipeline attribute map. Furthermore, based on the fault point data, the fault point is marked on the pipeline attribute map to obtain an underground pipeline map, in which the key information such as the type, location, and type of the fault point is clearly and accurately marked. The underground pipeline map makes it easy to clearly understand the layout, direction and properties of underground pipelines, and provides accurate data support for urban infrastructure construction, road reconstruction, underground space development, etc. At the same time, it accurately marks the location, size and type of faults so that relevant departments can quickly take measures to repair and maintain them, thereby improving the reliability and stability of the pipelines.

[0052] It can be seen that in the embodiment of the present application, a preliminary pipeline drawing is performed based on the pipeline detection data and the pipeline coordinate data to determine the pipeline sketch. Then, based on the pipeline information to be detected and the underground environment information, the pipeline attributes are added to the pipeline sketch to obtain a pipeline attribute map. Finally, based on the fault point data, the fault point is marked on the pipeline attribute map to obtain an underground pipeline map. The fault location, size and type are accurately marked so that the relevant departments can quickly take measures to repair and maintain it, thereby improving the reliability and stability of the pipeline.

[0053] The above embodiment introduces an underground pipeline survey system integrating an RTK device and a pipeline detector from the perspective of a system. The following embodiment introduces an underground pipeline survey method integrating an RTK device and a pipeline detector from the perspective of a method flow, including steps S201, S202, and S203, wherein: Step S201: acquiring small RTK equipment information and pipeline detector information, and performing integrated configuration based on the small RTK equipment information and pipeline detector information to obtain an integrated pipeline detection device; Step S202: Acquire pipeline information to be detected and underground environment information, perform pipeline detection analysis based on the pipeline information to be detected and underground environment information, and determine detector working information; Step S203: Acquire pipeline detection data and pipeline coordinate data, and draw pipelines based on the pipeline detection data and pipeline coordinate data to obtain an underground pipeline map.

[0054] Technical personnel in the relevant field can clearly understand that, for the convenience and simplicity of description, the specific working process of the underground pipeline survey method integrating an RTK device and a pipeline detector described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0055] An electronic device is provided in an embodiment of the present application, such as Figure 3 As shown, Figure 3 The electronic device 300 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present application.

[0056] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0057] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but it does not mean that there is only one bus or only one type of bus.

[0058] The memory 303 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0059] The memory 303 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the contents shown in the above method embodiment.

[0060] The electronic devices include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 3 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0061] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding content in the aforementioned method embodiment.

[0062] An embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method in any of the above embodiments is implemented.

[0063] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0064] The above are only some implementation methods of the present application. 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 application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An underground pipeline survey system integrating RTK equipment and pipeline detector, characterized in that: include: Small RTK equipment, pipeline detectors and integrated pipeline survey platforms, including: Small RTK equipment for collecting high-precision coordinate data; Pipeline detector, used to locate and track underground pipelines, so as to complete the identification and location of underground pipelines on the ground; An integrated pipeline survey platform is used to obtain small RTK equipment information and pipeline detector information, and perform integrated configuration based on the small RTK equipment information and the pipeline detector information to obtain an integrated pipeline detection device; Acquire pipeline information to be detected and underground environment information, perform pipeline detection analysis based on the pipeline information to be detected and the underground environment information, determine detector working information, and control the pipeline detector in the integrated pipeline detection device to perform pipeline detection according to the detector working information; The pipeline detection data collected by the pipeline detector and the pipeline coordinate data collected by the small RTK device are obtained, and pipeline drawing is performed based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map.

2. The underground pipeline survey system integrating RTK equipment and pipeline detector according to claim 1 is characterized in that: When performing the positioning and path tracking of the underground pipeline, the pipeline detector is used to: When the detector working information sent by the integrated pipeline survey platform is detected, the working parameters of the pipeline detector are automatically adjusted based on the detector working information; When underground pipeline detection is performed according to the adjusted working parameters, the sensing signals of the underground pipelines are acquired in real time, positioning and path tracking are performed based on the sensing signals, and pipeline detection data are determined, wherein the pipeline detection data includes: pipeline direction and pipeline burial depth.

3. The underground pipeline survey system integrating RTK equipment and pipeline detector according to claim 2 is characterized in that: When collecting high-precision coordinate data, small RTK equipment is used to: When it is detected that the pipeline detector is positioned at the pipeline detection data, current position data is acquired as pipeline coordinate data; Data association is performed based on the pipeline detection data and the pipeline coordinate data to obtain a pipeline data association relationship, and the pipeline data association relationship is sent to the integrated pipeline survey platform.

4. The underground pipeline survey system integrating RTK equipment and pipeline detector according to claim 1, characterized in that: Pipeline detectors are also used for: Acquire sensing signals of underground pipelines in real time, perform damage point detection based on the sensing signals, determine damage detection results, and send the damage detection results to the integrated pipeline survey platform; When the damage detection result indicates that damage exists, the preliminary damage point position in the damage detection result is sent to the underground pipeline inspection robot, so that the underground pipeline inspection robot can perform multi-dimensional detection on the damage point.

5. The underground pipeline survey system integrating RTK equipment and pipeline detector according to claim 4 is characterized in that: Also includes: An underground pipeline inspection robot is used to autonomously navigate based on the location of the preliminary damage point until it reaches the damage point; When it is detected that the pipeline reaches the position of the preliminary damage point, the multi-functional probe carried is used to perform multi-dimensional detection on the damage point of the pipeline to obtain multi-dimensional detection data, wherein the multi-dimensional detection includes: ultrasonic flaw detection, infrared thermal imaging detection, and gas concentration detection; A fault point analysis is performed based on the multi-dimensional detection data, the fault point data is determined, and the fault point data is sent to the integrated pipeline survey platform.

6. The underground pipeline survey system integrating RTK equipment and pipeline detector according to claim 5, characterized in that: When the integrated pipeline survey platform performs pipeline drawing based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map, it is used to: Performing preliminary pipeline drawing based on the pipeline detection data and the pipeline coordinate data to determine a pipeline sketch; Based on the pipeline information to be detected and the underground environment information, pipeline attributes are added to the pipeline sketch to obtain a pipeline attribute map; Based on the fault point data, the pipeline attribute map is marked with fault points to obtain an underground pipeline map.

7. An underground pipeline survey method integrating RTK equipment and pipeline detector, characterized in that: include: Acquire small RTK equipment information and pipeline detector information, and perform integrated configuration based on the small RTK equipment information and the pipeline detector information to obtain an integrated pipeline detection device; Acquire pipeline information to be detected and underground environment information, perform pipeline detection analysis based on the pipeline information to be detected and the underground environment information, and determine detector working information; Pipeline detection data and pipeline coordinate data are obtained, and pipeline drawing is performed based on the pipeline detection data and the pipeline coordinate data to obtain an underground pipeline map.

8. An electronic device, characterized in that: include: at least one processor; Memory; At least one application, wherein at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the underground pipeline survey method integrating an RTK device and a pipeline detector as described in claim 7.

9. A computer program product, characterized in that The method comprises a computer program, wherein the computer program is executed by a processor to implement the underground pipeline surveying method integrating the RTK device and the pipeline detector as claimed in claim 7.

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