Underground pipeline measuring system and method

Abstract

The invention discloses an underground pipeline measurement system and method, and belongs to the technical field of underground pipeline measurement. Comprising a measurement controller, a whole-course pipeline data access unit, a calibration data access unit, a correction data calculation unit, a whole-course pipeline data correction unit and an external calibration terminal, the calibration data access unit accesses pipeline positioning calibration data and actual measurement data, and when the positioning calibration data are acquired, probing data of a certain point position or a certain section of pipeline axis of the pipeline are acquired through a probing instrument; according to the underground pipeline measuring system and method, the burial depth and the plane position of the underground pipeline can be measured in a high-precision mode, the trend dip angle of the underground pipeline can be fed back in a high-precision mode, the precision of a follow-up generated graph is guaranteed, and automatic calibration of the mark position of the pipeline can be achieved.

Description

Technical Field

[0001] The present invention specifically relates to an underground pipeline measurement system and method, and belongs to the technical field of underground pipeline measurement. Background Art

[0002] As an important infrastructure for the transmission of materials and information required by the city, such as water, electricity, gas, and communication signals, urban underground pipelines are of great significance to the normal operation of the city. In order to strengthen the construction and management of urban underground pipelines, provinces and cities across the country are actively carrying out the construction of urban underground pipeline systems. Existing underground pipeline measurement systems, such as China Patent Publication No.: CN115046924A, disclose an underground pipeline measurement device and an underground pipeline fault measurement and detection system. By selecting underground pipelines in different sections, data is measured, and the measurement data is input into the controller through the data entry module, and the collected data is calculated and analyzed. When the absolute value of the calculated error is greater than the threshold value, the system determines that there is a fault in the underground pipeline in this section. In the event of a fault, for example, Chinese patent authorization announcement number: CN114167426B discloses a drone-based underground pipeline measurement and three-dimensional modeling analysis method, device and medium, which obtains the current position information of the drone, combines the distance information and the position information to generate the underground pipeline three-dimensional model image information; controls the display of the underground pipeline three-dimensional model image information; has the effect of improving the measurement efficiency of underground pipeline measurement; but the measurement accuracy of the above-mentioned measurement system is affected by factors such as the surrounding environment and the buried depth of the pipeline, and the measurement accuracy is general, especially in the integrated wiring area where the pipelines are relatively concentrated, which easily leads to interference between the pipelines of the measured integrated pipelines, and the pipeline fluctuation position cannot be automatically marked. Summary of the invention

[0003] To solve the above problems, the present invention proposes an underground pipeline measurement system and method, which can measure the buried depth and plane position of underground pipelines with high precision, and can provide high-precision feedback on the direction and inclination of the underground pipelines themselves, thereby ensuring the accuracy of subsequent generated graphics, and can realize automatic calibration of pipeline marking positions.

[0004] The underground pipeline measurement system of the present invention comprises: The measurement controller of the whole machine control, as the data processing unit of pipeline measurement, can coordinate various units to complete the processing of the accessed data and generate high-precision single ground line pipeline and comprehensive underground pipeline routing diagram; The whole pipeline data access unit is used to access the whole pipeline data of the underground pipeline obtained by the exploration instrument. , the exploration instrument follows the direction of the underground pipeline to measure the ground pipeline data; obtain the whole pipeline data ; and the measured full pipeline data sent to the controller; Calibration data access unit, the calibration data access unit accesses pipeline positioning calibration data and measured data, when the positioning calibration data is acquired, the exploration data of a certain point of the pipeline or a certain section of the pipeline axis is acquired through the exploration instrument ; and mark the actual location where the exploration is completed, and finally obtain the actual data through actual drilling or excavation ; Indicates a certain measuring point or a certain section of pipeline; the exploration instrument is used to measure the data of the entire pipeline. During measurement, the calibration data access unit synchronously obtains the pipeline data of a selected point, and then obtains the actual data of the point or a section of the pipeline through drilling or excavation; the calibration data is obtained, and the calibration data access unit sends the calibration data to the controller; The correction data calculation unit works as follows: obtaining the exploration data and actual data , calculate the single point error value ; ; Then calculate the fitting error correlation curve, and then the single point error value As the dependent variable, the actual data As the independent variable, the fitting error correlation curve is obtained; Indicates a certain measurement point or a certain section of pipeline; when the correction data calculation unit works, if the pipeline depth data and / or the block geological data are used as independent variables, the error value of the point As the dependent variable, the fitted error correlation curve is obtained; The whole pipeline data correction unit, the whole pipeline data correction unit works as follows: obtain the whole pipeline data , and the whole pipeline data Establish pipeline curve, which is a single data curve, such as a certain point of pipeline corresponding to pipeline depth data; and a certain point of pipeline corresponding to pipeline plane position data; or use composite data curve, such as a certain point corresponding to pipeline depth data and pipeline plane position data; the whole pipeline data Draw the pipeline curve, then set the step length value for the pipeline curve, divide the pipeline curve into multiple step segments by the step length value, calculate the curvature of each step segment, and group the multiple step segments according to the curvature similarity, and separate the pipeline curve into multiple groups, each group contains at least one curve data ,in, The pipeline curve Step the line segment by segment; correct each group of curve data by fitting the error correlation curve, and finally restore the corrected full-process pipeline data; that is, correct the exploration data by fitting the error correlation curve Establish correction values ​​and use them to correct pipeline curves; The external calibration terminal calibrates the external surface data of the pipeline; the pipeline exposed outside the surface is calibrated through the external calibration terminal, and the corresponding fluctuation points of the pipeline are calibrated synchronously.

[0005] Furthermore, the external calibration terminal includes a pipeline fixed-point feature selection unit and a pipeline data acquisition unit; the feature of the marker position is selected by the pipeline fixed-point feature selection unit, and the pipeline data of the point or line segment is acquired by the pipeline data acquisition unit.

[0006] Furthermore, the whole pipeline data Includes pipeline plane location data and pipeline burial depth data of underground pipelines.

[0007] Furthermore, the fitting error correlation curve corrects each set of curve data as follows: First, the calculated curvature is obtained. The calculated curvature is the group curvature of a group of curve data, or the average curvature of all curve data in the group is obtained. Since the curvature of the pipeline curve is associated with the exploration data, the average exploration data of each group of curve data is obtained by reverse calculation according to the calculated curvature. The average exploration data is used as an independent variable and input into the fitting error correlation curve to output the correction value of each group of curve data. Then, each section of the curve data of each group of curve data is summed with the correction value to obtain a corrected curve data group. The working process of restoring the corrected full-process pipeline data is as follows: according to the first The segment numbers are sorted and all the correction curve data groups are restored to the corrected full-process pipeline data.

[0008] Furthermore, when a certain step line segment is allocated to multiple groups, the difference between the curvature of the step line segment and the average curvature of the corresponding group is calculated, and finally the step line segment is included in the corresponding group with the lowest curvature difference.

[0009] Furthermore, the whole pipeline data It is composed of discrete data packets, each set of data in the discrete data packets includes single-point discrete data of underground pipelines and height data of the single point measured by a total station; a pipeline surface topographic curve is established through the height data of the entire pipeline data; and the pipeline surface topographic curve is differenced with the pipeline curve constructed by the pipeline burial depth data to obtain the entire pipeline baseline curve; finally, the entire pipeline fluctuation point is marked according to the fluctuation value position of the single-point discrete data and the fluctuation position of the entire pipeline baseline curve, and a comprehensive pipeline map of a certain area or a routing map of a certain underground pipeline is obtained through a data graphic conversion unit.

[0010] Furthermore, the data graphic conversion unit is connected to the fluctuation point scanning unit, and the fluctuation point scanning unit is connected to the fluctuation point threshold storage unit; after the data graphic conversion unit obtains the corrected full-length pipeline data, the fluctuation point scanning unit scans the corrected full-length pipeline data, and when it is monitored that a certain point in the full-length pipeline data reaches the fluctuation point threshold of the fluctuation point threshold storage unit, the point is marked as a certain type of fluctuation point.

[0011] Furthermore, the fluctuation points include the starting and ending points, diameter change points, material change points, slope change points, multi-pass points, turning points and eccentric points of the pipeline.

[0012] A method for measuring underground pipelines, using an underground pipeline measurement system, the method is specifically as follows: The first step is to obtain the entire pipeline data , the pipeline is measured throughout the entire process through the exploration instrument to obtain the entire pipeline data ; and sent to the whole pipeline data access unit; The second step is pipeline sampling and marking. During the measurement process, multiple pipeline points and pipeline axis lines with different pipeline burial depths are selected, and the pipeline points and pipeline axis lines are marked on the spot; The third step is to calibrate the data measurement, drill or excavate the marked location to obtain the actual data of the underground pipeline. ; The fourth step is to obtain calibration data. The calibration data access unit is used to obtain the whole pipeline data. During the measurement process, the detection data of the marked points are automatically obtained , and obtain the actual data of underground pipelines by actively uploading ; Step 5: Obtain the correction reference curve, and calculate the fitting error correlation curve through the correction data calculation unit; The sixth step is to obtain and correct the full pipeline data. The full pipeline data correction unit obtains the fitting error correlation curve and the full pipeline data. and corrected by the whole pipeline data correction unit to obtain corrected whole pipeline data; The seventh step is to generate an underground pipeline map, and generate pipelines using the corrected full-course pipeline data obtained in the previous step; thus obtaining an underground pipeline map.

[0013] Furthermore, when the underground pipeline map is generated, a certain area is used as a reference position, and the underground pipelines are grouped into the area.

[0014] Compared with the prior art, the underground pipeline measurement system and method of the present invention collects the entire underground pipeline routing in a discrete manner to obtain the entire pipeline data, and divides the entire pipeline data into segments and groups based on curvature to obtain corrected independent variables, and performs sampling measurements on different pipeline buried depths or different blocks to obtain a fitting error correlation curve, and obtains a corrected deviation by correcting the independent variable and the fitting error correlation curve, and corrects the grouped segments with the corrected deviation. After the correction is completed, it is restored to the corrected entire pipeline data according to the segment label, thereby realizing high-precision measurement of the buried depth and plane position of the underground pipeline, and measuring the height data through single-point discrete data, so that the underground pipeline's own strike inclination can be fed back with high precision, ensuring the accuracy of subsequent generated graphics, and can realize automatic calibration of pipeline marking positions, so that underground pipelines can be marked more accurately and the workload can be greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the underground pipeline measurement system of the present invention.

[0016] Figure 2 It is a schematic diagram of the working process of the underground pipeline measurement system of the present invention.

[0017] Figure 3 It is a schematic diagram of the curve data correction and data restoration process of the present invention.

[0018] Figure 4 It is a schematic structural diagram of another embodiment of the underground pipeline measurement system of the present invention.

[0019] Figure 5 It is a schematic diagram of the process of the underground pipeline measurement method of the present invention.

[0020] Figure 6 This is a schematic diagram of the first solid three-dimensional model effect of the underground pipeline generated by the present invention.

[0021] Figure 7 This is a schematic diagram of the second solid three-dimensional model effect of the underground pipeline generated by the present invention.

[0022] Figure 8 This is a schematic diagram of the third solid three-dimensional model effect of the underground pipeline generated by the present invention.

[0023] Fig. 9 This is a schematic diagram of the fourth solid three-dimensional model effect of underground pipelines generated by the present invention. DETAILED DESCRIPTION

[0024] Example: like Figures 1 to 9 The underground pipeline measurement system shown includes: The measurement controller of the whole machine control, as the data processing unit of pipeline measurement, can coordinate various units to complete the processing of the accessed data and generate high-precision single ground line pipeline and comprehensive underground pipeline routing diagram; The whole pipeline data access unit is used to access the whole pipeline data of the underground pipeline obtained by the exploration instrument. , the exploration instrument follows the direction of the underground pipeline to measure the ground pipeline data; obtain the whole pipeline data ; and the measured full pipeline data sent to the controller; When the detection instrument detects underground pipelines, the corresponding detection method is selected according to the pipeline object, such as electromagnetic induction method, electromagnetic wave method, direct current method, magnetic measurement method, seismic wave method, etc.; the selected detection method needs to meet the requirements that there is an obvious physical difference between the target underground pipeline and its surrounding medium; and the abnormal field generated by the target underground pipeline has sufficient strength to be detected by the instrument on the ground, and the abnormality generated by the pipeline under inspection can be clearly distinguished from the interference background field. The specific detection is as follows: When detecting metal pipelines and cables, the selection of geophysical exploration methods should comply with the following provisions: 1. For metal pipe and cable detection, the electromagnetic induction method, clamp method, direct method or ground penetrating radar method should be used first; For the exploration of deeply buried metal pipelines, comprehensive geophysical exploration methods can be selected; 2. For metal pipelines with high impedance, high-frequency electromagnetic induction method or ground penetrating radar method should be used. For pipelines with ferromagnetism and less interference, magnetic method can be used. 3. When the diameter of the metal pipeline is large and the buried depth is shallow, the direct method and induction method of electromagnetic induction method can be selected, or the ground penetrating radar method, DC resistivity method, magnetic method or shallow seismic method can be selected; when the metal pipeline is buried deep and the diameter is small, it is advisable to choose high-power low-frequency electromagnetic induction method; 4. For the inspection of thermal metal pipelines or high-temperature oil pipelines, electromagnetic induction method or infrared radiation temperature measurement method can be selected; 5. For power cables, the power frequency method should be used for searching first. After preliminary positioning, the electromagnetic induction method should be used for accurate positioning and depth determination. When the cable has an exposed end, the clamp method of the electromagnetic induction method should be used. For communication cable detection, the active source electromagnetic induction method should be selected. 6. When detecting metal pipelines in blind spots, it is advisable to first use the electromagnetic induction method or the industrial frequency method to search. The search can adopt the parallel search method or the circular search method. After the abnormality is found, the electromagnetic induction method should be used for tracking, precise positioning, and depth determination.

[0025] When investigating non-metallic pipelines, ground penetrating radar, DC resistivity or shallow seismic methods may be used, or other methods may be used: for non-metallic pipelines with inlets and outlets, tracer electromagnetic methods may be used; for reinforced concrete or pipelines with metal frames, magnetic dipole induction methods may be used; for non-metallic pipelines with larger diameters, in addition to ground penetrating radar, DC resistivity or shallow seismic methods may be used according to working conditions; for underwater pipelines, side-by-side sonar methods are appropriate, and for underwater pipelines, seismic imaging methods, high-precision magnetic methods or shallow profile methods are appropriate; Calibration data access unit, the calibration data access unit accesses pipeline positioning calibration data and measured data, when the positioning calibration data is acquired, the exploration data of a certain point of the pipeline or a certain section of the pipeline axis is acquired through the exploration instrument ; and mark the actual location where the exploration is completed, and finally obtain the actual data through actual drilling or excavation ; Indicates a certain measuring point or a certain section of pipeline; the exploration instrument is used to measure the data of the entire pipeline. During measurement, the calibration data access unit synchronously obtains the pipeline data of a selected point, and then obtains the actual data of the point or a section of the pipeline through drilling or excavation; the calibration data is obtained, and the calibration data access unit sends the calibration data to the controller; The correction data calculation unit works as follows: obtaining the exploration data and actual data , calculate the single point error value ; ; Then calculate the fitting error correlation curve, and then the single point error value As the dependent variable, the actual data As the independent variable, the fitting error correlation curve is obtained; Indicates a certain measurement point or a certain section of pipeline; when the correction data calculation unit works, if the pipeline depth data and / or the block geological data are used as independent variables, the error value of the point As the dependent variable, the fitted error correlation curve is obtained; The whole pipeline data correction unit, the whole pipeline data correction unit works as follows: obtain the whole pipeline data , and the whole pipeline data Establish pipeline curve, which is a single data curve, such as a certain point of pipeline corresponding to pipeline depth data; and a certain point of pipeline corresponding to pipeline plane position data; or use composite data curve, such as a certain point corresponding to pipeline depth data and pipeline plane position data; the whole pipeline data Draw the pipeline curve, then set the step length value for the pipeline curve, divide the pipeline curve into multiple step segments by the step length value, calculate the curvature of each step segment, and group the multiple step segments according to the curvature similarity, and separate the pipeline curve into multiple groups, each group contains at least one curve data ,in, The pipeline curve Step the line segment by segment; correct each group of curve data by fitting the error correlation curve, and finally restore the corrected full-process pipeline data; that is, correct the exploration data by fitting the error correlation curve Establish correction values ​​and use them to correct pipeline curves; The external calibration terminal calibrates the external surface data of the pipeline; the pipeline exposed outside the surface is calibrated through the external calibration terminal, and the corresponding fluctuation points of the pipeline are calibrated synchronously.

[0026] The external calibration terminal includes a pipeline fixed-point feature selection unit and a pipeline data acquisition unit; the feature of the marking position is selected by the pipeline fixed-point feature selection unit, and the pipeline data of the point or line segment is acquired by the pipeline data acquisition unit.

[0027] The whole pipeline data Includes pipeline plane location data and pipeline burial depth data of underground pipelines.

[0028] The process of correcting each group of curve data by fitting the error correlation curve is as follows: First, the calculated curvature is obtained. The calculated curvature is the group curvature of a group of curve data, or the average curvature of all curve data in the group is obtained. Since the curvature of the pipeline curve is associated with the exploration data, the average exploration data of each group of curve data is obtained by reverse calculation according to the calculated curvature. The average exploration data is used as an independent variable and input into the fitting error correlation curve to output the correction value of each group of curve data. Then, each section of the curve data of each group of curve data is summed with the correction value to obtain a corrected curve data group. The working process of restoring the corrected full-process pipeline data is as follows: according to the first The segment numbers are sorted and all the correction curve data groups are restored to the corrected full-process pipeline data.

[0029] When a certain step line segment is allocated to multiple groups, the difference between the curvature of the step line segment and the average curvature of the corresponding group is calculated, and finally the step line segment is included in the corresponding group with the lowest curvature difference.

[0030] The whole pipeline data It is composed of discrete data packets, each set of data in the discrete data packets includes single-point discrete data of underground pipelines and height data of the single point measured by a total station; a pipeline surface topographic curve is established through the height data of the entire pipeline data; and the pipeline surface topographic curve is differenced with the pipeline curve constructed by the pipeline burial depth data to obtain the entire pipeline baseline curve; finally, the entire pipeline fluctuation point is marked according to the fluctuation value position of the single-point discrete data and the fluctuation position of the entire pipeline baseline curve, and a comprehensive pipeline map of a certain area or a routing map of a certain underground pipeline is obtained through a data graphic conversion unit.

[0031] The data graphic conversion unit is connected to the fluctuation point scanning unit, and the fluctuation point scanning unit is connected to the fluctuation point threshold storage unit; after the data graphic conversion unit obtains the corrected full-length pipeline data, the fluctuation point scanning unit scans the corrected full-length pipeline data, and when it is monitored that a certain point in the full-length pipeline data reaches the fluctuation point threshold of the fluctuation point threshold storage unit, the point is marked as a certain type of fluctuation point.

[0032] The fluctuation points include the starting and ending points, diameter change points, material change points, slope change points, multi-pass points, turning points and eccentric points of the pipeline.

[0033] Fluctuation points are characteristic points. Fluctuation points outside the ground surface can be calibrated by external calibration terminals, such as starting and ending points, exit points, overhead points, entry points, contour points, tracer points and wellside points; Fluctuation points inside the ground can be calibrated by fluctuation point scanning units, such as diameter change points, material change points, slope change points, multi-pass points, turning points, straight line points, eccentric points and well points; the data of the corrected full-course pipeline is scanned by the fluctuation point scanning unit; and the signal strength of each point on the corrected full-course pipeline, the curvature of each section of the corrected full-course pipeline, etc. are used to determine whether the point is a fluctuation point, and the characteristics of the fluctuation point; such as fluctuation points outside the ground surface or exposed to the outside: Start and end points: located at the boundary of the measurement area, the pipeline point where the pipeline is connected to the edge of the building (structure) of its origin and end point (pressure regulating station, pumping station, substation, water source, river, ocean, etc.) and the pipeline point formed by pipeline construction and natural conditions. After the point is determined, it can be directly input through the external calibration terminal; Exit point: The intersection of the underground section and the exit section of the pipeline. After the point is determined, it can be directly input through the external calibration terminal; Overhead point: The intersection of two pipelines out of the ground. After the point is measured, it can be directly input through the external calibration terminal; Contour points: The characteristic points that constitute various manhole chambers and underground structure chambers can be directly input through the external calibration terminal; Well edge point: The intersection of various underground pipelines entering the well chamber and the well chamber contour line, which can be directly input through the external calibration terminal; Well point: A pipeline point inside the well chamber that expresses the actual direction of the pipeline, which can be directly input through the external calibration terminal; Entry point: The point where internal pipelines in courtyards of residential areas, enterprises, institutions, etc. enter buildings. It can be directly input through an external calibration terminal.

[0034] Another example is the fluctuation point of underground pipelines: Multi-pass point: a pipeline point with more than three connection directions; when the detection instrument detects the pipeline, the pipeline strength can be detected in the corresponding direction of the multi-pass point. When the fluctuation point scanning unit scans, if the characteristic feature of a certain point is consistent with the characteristic of the fluctuation point threshold storage unit, the point will be calibrated as a multi-pass point (such as calibrated as a three-pass point); Variable diameter point: a pipeline point where the inner diameter or cross-sectional dimensions of the pipeline change when two pipeline points are connected; due to the continuity of the ground line pipeline, when the difference in detection intensity between adjacent continuous measuring points of the pipeline is within a certain set value interval stored in the fluctuation point threshold storage unit, the point is marked as a variable diameter point; Material change point: When the difference in detection strength of a pipe section between two adjacent curve sections is greater than the material change setting value of the fluctuation point threshold storage unit, the point is marked as a material change point; Slope change point: The pipeline point where the projections of two pipeline sections on the vertical plane form an angle; when the curvature of a certain section of the pipeline curve is greater than the set value of the slope change point, the starting point of the section corresponding to the curve is marked as the slope change point; Turning point: The point on the pipeline where the projections of two pipeline sections on the horizontal plane form an angle; when the signal between the output end of a curve pipeline section and the input end of the adjacent curve pipeline section is lost, the lost point is marked as a turning point; Straight line points: pipeline points with unequal distances on the straight line segment of the pipeline, which are not marked separately; Eccentric point: A pipeline point set according to the projection position of the pipeline on the ground; when a section of pipeline deviates from the axis line of the adjacent pipeline section at the front end, the starting point of the pipeline section is marked as the eccentric point.

[0035] As shown in Tables 1 and 2 below, the entire pipeline is scanned by the fluctuation point scanning unit to obtain the fluctuation point (feature point) type, and the coordinates corresponding to the fluctuation point are obtained synchronously, thereby generating list data. The feature points can be directly fed back to the pipeline diagram; the codes of the feature point number, feature point starting point number and feature point end point number at the end of Tables 1 and 2 all represent a fluctuation point type.

[0036] Table 1: List of endpoint feature fluctuation points generated by the fluctuation point scanning unit:

[0037] Table 2: List of starting characteristic fluctuation points generated by the fluctuation point scanning unit:

[0038] A method for measuring underground pipelines, using an underground pipeline measurement system, the method is specifically as follows: The first step is to obtain the entire pipeline data , the pipeline is measured throughout the entire process through the exploration instrument to obtain the entire pipeline data ; and sent to the whole pipeline data access unit; The second step is pipeline sampling and marking. During the measurement process, multiple pipeline points and pipeline axis lines with different pipeline burial depths are selected, and the pipeline points and pipeline axis lines are marked on the spot; The third step is to calibrate the data measurement, drill or excavate the marked location to obtain the actual data of the underground pipeline. ; The fourth step is to obtain calibration data. The calibration data access unit is used to obtain the whole pipeline data. During the measurement process, the detection data of the marked points are automatically obtained , and obtain the actual data of underground pipelines by actively uploading ; Step 5: Obtain the correction reference curve, and calculate the fitting error correlation curve through the correction data calculation unit; The sixth step is to obtain and correct the full pipeline data. The full pipeline data correction unit obtains the fitting error correlation curve and the full pipeline data. and corrected by the whole pipeline data correction unit to obtain corrected whole pipeline data; The seventh step is to generate an underground pipeline map, and generate pipelines using the corrected full-course pipeline data obtained in the previous step; thus obtaining an underground pipeline map.

[0039] When the underground pipeline map is generated, a certain area is used as a reference position, and the underground pipelines are gathered in the area.

[0040] The above embodiments are only preferred implementations of the present invention, so any equivalent changes or modifications made according to the structures, features and principles described in the scope of application of the present invention are included in the scope of application of the present invention.

Claims

1. An underground pipeline measurement system, characterized in that: include: Measurement controller for whole machine control; The whole pipeline data access unit is used to access the whole pipeline data of the underground pipeline obtained by the exploration instrument. ; Calibration data access unit, the calibration data access unit accesses pipeline positioning calibration data and measured data, when the positioning calibration data is acquired, the exploration data of a certain point of the pipeline or a certain section of the pipeline axis is acquired through the exploration instrument ; and mark the actual location where the exploration is completed, and finally obtain actual data through actual drilling or excavation ; The correction data calculation unit works as follows: obtaining the exploration data and actual data , calculate the single point error value ; ; Then calculate the fitting error correlation curve, and then the single point error value As the dependent variable, the actual data As the independent variable, the fitting error correlation curve is obtained; The whole pipeline data correction unit, the whole pipeline data correction unit works as follows: obtain the whole pipeline data , and the whole pipeline data Create a pipeline curve, then set the step length value for the pipeline curve, divide the pipeline curve into multiple step segments by the step length value, calculate the curvature of each step segment, and group the multiple step segments according to the curvature similarity, and separate the pipeline curve into multiple groups, each group contains at least one curve data ,in, The pipeline curve Segment step line segment; Each group of curve data is corrected by fitting the error correlation curve, and finally the corrected full-process pipeline data is restored; External calibration terminal: The external calibration terminal calibrates the external surface data of the pipeline.

2. The underground pipeline measurement system according to claim 1, characterized in that: The external calibration terminal includes a pipeline fixed-point feature selection unit and a pipeline data acquisition unit; the feature of the marking position is selected by the pipeline fixed-point feature selection unit, and the pipeline data of the point or line segment is acquired by the pipeline data acquisition unit.

3. The underground pipeline measurement system according to claim 1, characterized in that: The whole pipeline data Includes pipeline plane location data and pipeline burial depth data of underground pipelines.

4. The underground pipeline measurement system according to claim 1, characterized in that: The process of correcting each group of curve data by fitting the error correlation curve is as follows: First, the calculated curvature is obtained. The calculated curvature is the group curvature of a group of curve data, or the average curvature of all curve data in the group is obtained. Since the curvature of the pipeline curve is associated with the exploration data, the average exploration data of each group of curve data is obtained by reverse calculation according to the calculated curvature. The average exploration data is used as an independent variable and input into the fitting error correlation curve to output the correction value of each group of curve data. Then, each section of the curve data of each group of curve data is summed with the correction value to obtain a corrected curve data group. The working process of restoring the corrected full-process pipeline data is as follows: according to the first The segment numbers are sorted and all the correction curve data groups are restored to the corrected full-process pipeline data.

5. The underground pipeline measurement system according to claim 1, characterized in that: When a certain step line segment is allocated to multiple groups, the difference between the curvature of the step line segment and the average curvature of the corresponding group is calculated, and finally the step line segment is included in the corresponding group with the lowest curvature difference.

6. The underground pipeline measurement system according to claim 1, characterized in that: The whole pipeline data It is composed of discrete data packets, each set of data in the discrete data packets includes single-point discrete data of underground pipelines and height data of the single point measured by a total station; a pipeline surface topographic curve is established through the height data of the entire pipeline data; and the pipeline surface topographic curve is differenced with the pipeline curve constructed by the pipeline burial depth data to obtain the entire pipeline baseline curve; finally, the entire pipeline fluctuation point is marked according to the fluctuation value position of the single-point discrete data and the fluctuation position of the entire pipeline baseline curve, and a comprehensive pipeline map of a certain area or a routing map of a certain underground pipeline is obtained through a data graphic conversion unit.

7. The underground pipeline measurement system according to claim 6, characterized in that: The data graph conversion unit is connected to the fluctuation point scanning unit, and the fluctuation point scanning unit is connected to the fluctuation point threshold storage unit; After the data graphic conversion unit obtains the corrected full-length pipeline data, the fluctuation point scanning unit scans the corrected full-length pipeline data. When it is monitored that a certain point of the full-length pipeline data reaches the fluctuation point threshold of the fluctuation point threshold storage unit, the point is marked as a certain type of fluctuation point.

8. The underground pipeline measurement system according to claim 6 or 7, characterized in that: The fluctuation points include the starting and ending points, diameter change points, material change points, slope change points, multi-pass points, turning points and eccentric points of the pipeline.

9. An underground pipeline measurement method, using the underground pipeline measurement system according to claim 1, characterized in that: The method is specifically as follows: The first step is to obtain the entire pipeline data , the pipeline is measured throughout the entire process through the exploration instrument to obtain the entire pipeline data ; and sent to the whole pipeline data access unit; The second step is pipeline sampling and marking. During the measurement process, multiple pipeline points and pipeline axis lines with different pipeline burial depths are selected, and the pipeline points and pipeline axis lines are marked on the spot; The third step is to calibrate the data measurement, drill or excavate the marked location to obtain the actual data of the underground pipeline. ; The fourth step is to obtain calibration data. The calibration data access unit is used to obtain the whole pipeline data. During the measurement process, the detection data of the marked points are automatically obtained , and obtain the actual data of underground pipelines by actively uploading ; Step 5: Obtain the correction reference curve, and calculate the fitting error correlation curve through the correction data calculation unit; The sixth step is to obtain and correct the full pipeline data. The full pipeline data correction unit obtains the fitting error correlation curve and the full pipeline data. and corrected by the whole pipeline data correction unit to obtain corrected whole pipeline data; Step 7: Generate underground pipeline map, and generate pipelines using the corrected full-course pipeline data obtained in the previous step; Get an underground pipeline map.

10. The underground pipeline measurement method according to claim 9, characterized in that: When the underground pipeline map is generated, a certain area is used as a reference position, and the underground pipelines are gathered in the area.

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