An underground pipeline measurement system and method

Abstract

The present invention discloses an underground pipeline measurement system and method, belonging to the technical field of underground pipeline measurement. It includes a measurement controller, a whole-process pipeline data access unit, a calibration data access unit, a correction data calculation unit, a whole-process pipeline data correction unit, and an external calibration terminal. The whole-process pipeline data access unit accesses the whole-process pipeline data of the underground pipeline obtained by the exploration instrument. The calibration data access unit accesses the pipeline positioning calibration data and the measured data. When obtaining the positioning calibration data, the exploration data of a certain point or a certain section of the pipeline axis of the pipeline is obtained through the exploration instrument; and the actual position where the exploration is completed is marked. The underground pipeline measurement system and method of the present invention can measure the burial depth and plane position of the underground pipeline with high precision, can feedback the inclination angle of the underground pipeline itself with high precision, ensure the accuracy of the subsequent generated graphics, and can realize the automatic calibration of the pipeline marking position.

Description

Technical Field

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

[0002] Urban underground pipelines, as important infrastructure for transmitting materials and information such as water, electricity, gas, and communication signals required by cities, are of great significance to the normal operation of cities. To strengthen the construction management of urban underground pipelines, all provinces and cities across the country have actively carried out the construction work of urban underground pipeline systems. Existing underground pipeline measurement systems, such as an underground pipeline measurement device and an underground pipeline fault measurement and detection system disclosed in Chinese Patent Publication No.: CN115046924A, measure data by selecting underground pipelines in different sections, input the measurement data into the controller through the data entry module, calculate and analyze the collected data. When the absolute value of the calculated error is greater than the threshold, the system determines that there is a fault in that section of the underground pipeline. Another example is the underground pipeline measurement, three-dimensional modeling analysis method, device, and medium based on an unmanned aerial vehicle disclosed in Chinese Patent Authorization Publication No.: CN114167426B, which obtains the current position information of the unmanned aerial vehicle, generates underground pipeline three-dimensional model image information by combining the distance information and the position information; controls the display of the underground pipeline three-dimensional model image information; and has the effect of improving the measurement efficiency of underground pipeline measurement. However, the measurement accuracy of the above measurement systems is interfered by factors such as the surrounding environment and the burial depth of pipelines, and the measurement accuracy is generally average. Especially in the comprehensive wiring area where pipelines are relatively concentrated, it is easy to cause interference between the pipelines of the measured comprehensive pipelines, and the pipeline fluctuation positions 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 burial depth and planar position of underground pipelines with high precision, can feedback the dip angle of the underground pipeline itself with high precision, ensure the accuracy of the subsequent generated graphics, and can realize the automatic calibration of the pipeline marking positions.

[0004] The underground pipeline measurement system of the present invention includes:

[0005] A measurement controller for overall machine control, where the controller serves as the data processing unit for pipeline measurement and can coordinate each unit to complete the processing of the accessed data and generate high-precision single underground pipeline and comprehensive underground pipeline routing diagrams;

[0006] A whole-process pipeline data access unit, and the whole-process pipeline data access unit accesses the whole-process pipeline data of the underground pipeline obtained by the exploration instrument , and the exploration instrument measures the underground pipeline data along the trend of the underground pipeline; obtains the whole-process pipeline data ; and the whole-process pipeline data obtained by the measurement Sent to the controller;

[0007] Calibration data access unit, which accesses pipeline positioning calibration data and measured data. When obtaining the positioning calibration data, exploration data of a certain point or the axis line of a certain section of the pipeline is obtained through an exploration instrument ; And mark the actual position where the exploration is completed. Finally, actual data is obtained through actual drilling or excavation ; Represents a certain measurement point or a certain section of the pipeline; When the exploration instrument measures the whole pipeline data , the calibration data access unit synchronously obtains the pipeline data of a selected point. Then, actual data of this point or a certain section of the pipeline is obtained through drilling or excavation; Calibration data is obtained, and the calibration data access unit sends the calibration data to the controller;

[0008] Correction data calculation unit, and the working process of the correction data calculation unit is as follows: Obtain exploration data and actual data , calculate the single-point error value ; ; Then calculate the fitting error correlation curve, and then use the single-point error value as the dependent variable and the actual data as the independent variable; Obtain the fitting error correlation curve; Represents a certain measurement point or a certain section of the pipeline; When the correction data calculation unit works, if pipeline burial depth data and / or block geological data are used as independent variables and the error value of this point is used as the dependent variable, a fitting error correlation curve is obtained;

[0009] Whole pipeline data correction unit, and the working process of the whole pipeline data correction unit is as follows: Obtain the whole pipeline data , and establish a pipeline curve for the whole pipeline data . The pipeline curve is a single-data curve, such as a certain point of the pipeline corresponding to the pipeline burial depth data; And a certain point of the pipeline corresponding to the pipeline plane position data; Or a composite data curve is adopted, such as a certain point corresponding to the pipeline burial depth data and the pipeline plane position data; Plot the whole pipeline data to obtain a pipeline curve. Then, set a step length value for the pipeline curve, divide the pipeline curve into multiple step line segments through the step length value, calculate the curvature of each step line segment, and group the multiple step line segments according to the curvature similarity, and separate the pipeline curve into multiple groups, with each group containing at least one curve data , where is the Segment step line segment; the curve data of each group is corrected through the fitting error correlation curve, and finally the corrected full-process pipeline data is restored; that is, the exploration data is corrected through the fitting error correlation curve A correction amount is established, and the pipeline curve is corrected through the correction amount;

[0010] External calibration terminal, the external calibration terminal calibrates the external data of the pipeline on the ground surface; the pipeline exposed on the ground surface is calibrated through the external calibration terminal, and the corresponding fluctuation points of the pipeline are calibrated synchronously.

[0011] Further, the external calibration terminal includes a pipeline fixed-point feature selection unit and a pipeline data acquisition unit; the features of the marker position are selected through the pipeline fixed-point feature selection unit, and the pipeline data of this point or line segment is acquired through the pipeline data acquisition unit.

[0012] Further, the full-process pipeline data includes the pipeline plane position data and the pipeline burial depth data of the underground pipeline.

[0013] Further, the process of correcting each group of curve data by the fitting error correlation curve is as follows:

[0014] First, calculate the curvature. The calculated curvature is the grouped curvature of a certain group of curve data, or the average curvature of all the curve data in this group. Since the curvature of the pipeline curve is related to the exploration data, the average exploration data of each group of curve data is calculated inversely according to the calculated curvature. The average exploration data is used as the independent variable and input into the fitting error correlation curve to output the correction value of each group of curve data; then, each segment of curve data in each group of curve data is summed with the correction value to obtain a corrected curve data group; the process of restoring the corrected full-process pipeline data is as follows: according to the segment label corresponding to the corrected curve data group Sorting is carried out, and all the corrected curve data groups are restored to the corrected full-process pipeline data.

[0015] Further, when a certain step line segment is assigned to multiple groups, calculate the difference between the curvature of the step line segment and the average curvature of the corresponding group, and finally include the step line segment in the corresponding group with the lowest curvature difference.

[0016] Further, the full-process pipeline data It is composed of discrete data packets, and each set of data in the discrete data packets includes the single-point discrete data of the underground pipeline and the height data of measuring this single point by a total station; a pipeline surface terrain curve is established through the height data of the whole pipeline data; and a difference operation is performed between the pipeline surface terrain curve and the pipeline curve constructed by the pipeline burial depth data to obtain the whole pipeline reference curve; finally, the whole pipeline fluctuation points are marked according to the positions of the single-point discrete data fluctuation values and the fluctuation positions of the whole pipeline reference curve, and a comprehensive pipeline map of a certain area or a routing map of a certain ground pipeline is obtained through a data graphics conversion unit.

[0017] Further, the data graphics conversion unit is connected to a fluctuation point scanning unit, and the fluctuation point scanning unit is connected to a fluctuation point threshold storage unit; after the data graphics conversion unit obtains the corrected whole pipeline data, the fluctuation point scanning unit scans the corrected whole pipeline data, and when it monitors that the data at a certain point of the whole pipeline data reaches the fluctuation point threshold of the fluctuation point threshold storage unit, this point is marked as a certain type of fluctuation point.

[0018] Further, the fluctuation points include the starting and ending points, diameter-changing points, material-changing points, slope-changing points, multi-way points, turning points and eccentric points of the pipeline.

[0019] An underground pipeline measurement method uses an underground pipeline measurement system, and the method is as follows:

[0020] The first step is to obtain the whole pipeline data , the pipeline is measured throughout by a detection instrument to obtain the whole pipeline data ; and it is sent to the whole pipeline data access unit;

[0021] The second step is pipeline sampling and marking. During the measurement of the whole pipeline data , 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;

[0022] The third step is calibration data measurement. Drilling or excavation is carried out on the positions marked on the spot to obtain the actual data of the underground pipeline ;

[0023] The fourth step is calibration data acquisition. The calibration data access unit automatically acquires the detection data of the marked points during the measurement of the whole pipeline data , and obtains the actual data of the underground pipeline through active upload ; ;

[0024] The fifth step is to obtain the corrected reference curve. A fitting error correlation curve is calculated through a correction data calculation unit;

[0025] Step 6: Obtain the corrected whole-process pipeline data. The whole-process pipeline data correction unit obtains the fitting error correlation curve and the whole-process pipeline data , and corrects them through the whole-process pipeline data correction unit to obtain the corrected whole-process pipeline data;

[0026] Step 7: Generate the underground pipeline map. Generate the pipeline from the corrected whole-process pipeline data obtained in the previous step; obtain the underground pipeline map.

[0027] Further, when generating the underground pipeline map, a certain area is used as the reference position, and the underground pipelines are gathered into the area.

[0028] Compared with the prior art, the underground pipeline measurement system and method of the present invention perform discrete acquisition on the entire route of the underground pipeline to obtain the whole-process pipeline data, divide the line segments and group them based on the curvature of the whole-process pipeline data to obtain the corrected independent variables, conduct sampling and actual measurement on different pipeline burial depths or different blocks to obtain the fitting error correlation curve, obtain the correction deviation through the corrected independent variables and the fitting error correlation curve, correct the grouped line segments with the correction deviation, and restore them to the corrected whole-process pipeline data according to the line segment numbers after completion of the correction, realizing high-precision measurement of the underground pipeline burial depth and planar position, and measuring the height data through single-point discrete data, so as to be able to feedback the inclination angle of the underground pipeline's own route with high precision, ensure the accuracy of the subsequent generated graphics, and be able to realize automatic calibration of the pipeline marking positions, make the underground pipelines more accurately marked, and greatly reduce the workload. Brief Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the overall structure of the underground pipeline measurement system of the present invention.

[0030] Figure 2 It is a schematic diagram of the working process of the underground pipeline measurement system of the present invention.

[0031] Figure 3 It is a schematic diagram of the curve data correction and data restoration process of the present invention.

[0032] Figure 4 It is a schematic diagram of the structure of another embodiment of the underground pipeline measurement system of the present invention.

[0033] Figure 5 It is a schematic diagram of the process of the underground pipeline measurement method of the present invention.

[0034] Figure 6 It is a schematic diagram of the effect of the first solid three-dimensional model of the underground pipeline generated by the present invention.

[0035] Figure 7 It is a schematic diagram of the effect of the second solid three-dimensional model of the underground pipeline generated by the present invention.

[0036] Figure 8 The third schematic diagram of the entity 3D model effect of the underground pipeline generated by the present invention.

[0037] Figure 9 The fourth schematic diagram of the entity 3D model effect of the underground pipeline generated by the present invention. Detailed implementation manners

[0038] Embodiment:

[0039] As Figures 1 to 9 shown in the underground pipeline measurement system, including:

[0040] A measurement controller for overall machine control. The controller serves as the data processing unit for pipeline measurement, and is capable of coordinating each unit to complete the processing of the accessed data and generating high-precision single underground pipeline and comprehensive underground pipeline routing diagrams;

[0041] A whole-process pipeline data access unit, and the whole-process pipeline data access unit accesses the whole-process pipeline data of the underground pipeline obtained by the exploration instrument , and the exploration instrument follows the trend of the underground pipeline to measure the underground pipeline data; the whole-process pipeline data is obtained ; and the measured whole-process pipeline data is sent to the controller;

[0042] When the exploration instrument explores the underground pipeline, the corresponding exploration 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 exploration method needs to meet that there are obvious physical property differences between the target underground pipeline and its surrounding medium; and the abnormal field generated by the target underground pipeline has sufficient intensity to be detected by the instrument on the ground and can clearly distinguish the anomaly generated by the pipeline to be detected from the interference background field. The specific exploration is as follows:

[0043] When exploring metal pipelines and cables, the selection of geophysical exploration methods should comply with the following regulations:

[0044] 1. For the exploration of metal pipelines and cables, it is advisable to give priority to the induction method, clamp method, direct method or ground penetrating radar method of the electromagnetic induction method;

[0045] For the exploration of deeply buried metal pipelines, comprehensive geophysical exploration methods can be selected;

[0046] 2. For the exploration of metal pipelines with high impedance, it is advisable to use the high-frequency electromagnetic induction method or ground penetrating radar method. When the pipeline has ferromagnetic properties and the interference is small, the magnetic method can be selected;

[0047] 3. When the diameter of a metal pipeline is large and the burial depth is shallow, the direct method or induction method of electromagnetic induction can be selected, or the ground penetrating radar method, direct current resistivity method, magnetic method or shallow seismic method can also be used; when the metal pipeline has a deep burial depth and a small diameter, the high-power low-frequency electromagnetic induction method is preferably selected.

[0048] 4. For the exploration of thermal metal pipelines or high-temperature oil pipelines, the electromagnetic induction method or infrared radiation temperature measurement method can be selected.

[0049] 5. For power cables, the power frequency method should be used first for search, and after preliminary positioning, the electromagnetic induction method should be used for precise positioning and depth determination. When the cable has an exposed end, the clamp method of the electromagnetic induction method should be used; for the exploration of communication cables, the active source electromagnetic induction method is preferably selected.

[0050] 6. When exploring metal pipelines in blind areas, the electromagnetic induction method or power frequency method should be used first for search. The search can adopt the parallel search method or circular search method. After discovering anomalies, the electromagnetic induction method should be used for tracking, precise positioning and depth determination.

[0051] When exploring non-metallic pipelines, the ground penetrating radar method, direct current resistivity method or shallow seismic method, etc. can be used, or other methods can be adopted: for the exploration of non-metallic pipelines with entrances and exits, the tracer electromagnetic method is used; for the exploration of reinforced concrete or pipelines with metal skeletons, the magnetic dipole induction method can be used; for the exploration of non-metallic pipelines with a large diameter, in addition to the ground penetrating radar method, the direct current resistivity method or shallow seismic method, etc. can also be used according to working conditions; for the exploration of underwater pipelines, the side-scan sonar method is preferably selected, and for the exploration of pipelines under the water bottom, the seismic reflection method, high-precision magnetic method or shallow profile method can be used.

[0052] Calibration data access unit, the calibration data access unit accesses pipeline positioning calibration data and measured data. When obtaining the positioning calibration data, exploration data of a certain point or the axis line of a certain section of the pipeline is obtained through an exploration instrument ; and mark the actual position where the exploration is completed. Finally, actual data is obtained through actual drilling or excavation ; represents a certain measurement point or a certain section of the pipeline; when the exploration instrument measures the whole pipeline data , the calibration data access unit synchronously obtains the pipeline data of a selected point. Then, the actual data of this point or a certain section of the pipeline is obtained through drilling or excavation; calibration data is obtained, and the calibration data access unit sends the calibration data to the controller.

[0053] Correction data calculation unit, the working process of the correction data calculation unit is as follows: obtain exploration data and actual data , calculate the single-point error value ; ; Then calculate the fitting error correlation curve, and then use the single-point error value as the dependent variable and the actual data as the independent variable; obtain the fitting error correlation curve; represents a certain measurement point or a certain section of pipeline; when the correction data calculation unit works, if the pipeline burial depth data and / or the block geological data are used as the independent variable and the error value of this point is used as the dependent variable, a fitting error correlation curve is obtained;

[0054] Full pipeline data correction unit, the working process of the full pipeline data correction unit is as follows: Obtain the full pipeline data , and establish a pipeline curve for the full pipeline data . The pipeline curve is a single data curve, such as the pipeline burial depth data corresponding to a certain point of the pipeline; and the pipeline plane position data corresponding to a certain point of the pipeline; or a composite data curve is used, such as the pipeline burial depth data and the pipeline plane position data corresponding to a certain point; Plot the full pipeline data to obtain the pipeline curve. Then, set a step length value for the pipeline curve, divide the pipeline curve into multiple step line segments through the step length value, calculate the curvature for each step line segment, and group the multiple step line segments according to the curvature similarity to separate the pipeline curve into multiple groups, with each group containing at least one curve data , where is the rd step line segment of the pipeline curve; correct each group of curve data through the fitting error correlation curve, and finally restore to obtain the corrected full pipeline data; that is, establish a correction amount for the exploration data through the fitting error correlation curve, and correct the pipeline curve through the correction amount;

[0055] External calibration terminal, the external calibration terminal calibrates the external data on the surface of the pipeline; calibrate the pipeline exposed on the surface of the ground through the external calibration terminal, and synchronously calibrate the corresponding fluctuation points of the pipeline.

[0056] The external calibration terminal includes a pipeline fixed-point feature selection unit and a pipeline data acquisition unit; select the features of the marking position through the pipeline fixed-point feature selection unit, and obtain the pipeline data of this point or line segment through the pipeline data acquisition unit.

[0057] The full pipeline data includes the pipeline plane position data and the pipeline burial depth data of the underground pipeline.

[0058] The process of correcting each group of curve data by the fitting error correlation curve is as follows:

[0059] First, obtain the calculated curvature. The calculated curvature is the grouped curvature of a set of curve data or the average curvature of all curve data within the set. Since the curvature of the pipeline curve is associated with the exploration data, the average exploration data for each set of curve data is calculated by reverse calculation based on the calculated curvature. Taking the average exploration data as the independent variable, it is input into the fitting error correlation curve, and the correction value for each set of curve data is output. Next, the sum of each segment of curve data in each set of curve data and the correction value is calculated to obtain the corrected curve data set. The process of restoring the corrected full - length pipeline data is as follows: Sort according to the segment label corresponding to the corrected curve data set, and restore all corrected curve data sets to the corrected full - length pipeline data. The segments are sorted, and all corrected curve data sets are restored to the corrected full - length pipeline data.

[0060] When a certain step segment is assigned to multiple groups, calculate the difference between the curvature of the step segment and the average curvature of the corresponding group, and finally include the step segment in the corresponding group with the lowest curvature difference.

[0061] The full - length pipeline data consists of discrete data packets. Each set of data in the discrete data packets includes the single - point discrete data of the underground pipeline and the height data of measuring this single point by total station. The surface terrain curve of the pipeline is established through the height data of the full - length pipeline data. Then, a difference operation is performed between the surface terrain curve of the pipeline and the pipeline curve constructed from the pipeline burial depth data to obtain the full - length pipeline reference curve. Finally, the full - length pipeline fluctuation points are marked according to the fluctuation positions of the single - point discrete data and the full - length pipeline reference curve, and a comprehensive pipeline map of a certain area or the routing map of a certain underground pipeline is obtained through the data graph conversion unit.

[0062] 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 graph conversion unit obtains the corrected full - length pipeline data, the fluctuation point scanning unit scans the corrected full - length pipeline data. When it is detected that the data at a certain point in the full - length pipeline data reaches the fluctuation point threshold of the fluctuation point threshold storage unit, this point is marked as a certain type of fluctuation point.

[0063] The fluctuation points include the starting and ending points, diameter - changing points, material - changing points, slope - changing points, multi - connection points, turning points, and eccentric points of the pipeline.

[0064] 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:

[0065] 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;

[0066] 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;

[0067] 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;

[0068] Contour points: The characteristic points that constitute various manhole chambers and underground structure chambers can be directly input through the external calibration terminal;

[0069] 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;

[0070] 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;

[0071] 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.

[0072] Another example is the fluctuation point of underground pipelines:

[0073] 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);

[0074] Variable diameter point: When two pipeline points are connected, it is the pipeline point where the inner diameter or cross-sectional dimension of the pipeline changes; due to the continuity of the underground pipeline, when the detection intensity difference between adjacent continuous measurement points of the pipeline is within a certain set value range stored in the fluctuation point threshold storage unit, then this point is marked as a variable diameter point;

[0075] Variable material point: When the detection intensity difference of a certain pipe section between two adjacent curve segments is greater than the variable material setting value of the fluctuation point threshold storage unit, then this point is marked as a variable material point;

[0076] Variable slope point: It is the pipeline point where the projections of two pipeline segments form an angle on the vertical plane; when the curve curvature of a certain pipe section of the pipeline is greater than the variable slope point setting value, the starting point of the pipe section corresponding to this curve is marked as a variable slope point;

[0077] Turning point: It is the pipeline point where the projections of two pipeline segments form an angle on the horizontal plane; when the signal is lost at the output end of a certain curved pipe section and the input end of the adjacent curved pipe section, the lost point is marked as a turning point;

[0078] Straight line point: Pipeline points at unequal distances on the straight line segment of the pipeline, not marked separately;

[0079] Eccentric point: Pipeline point set according to the projection position of the pipeline on the ground; when the axis line of a pipeline segment deviates from the axis line of the adjacent pipeline segment at the front end, the starting point of this pipeline segment is marked as an eccentric point.

[0080] As shown in Table 1 and Table 2 below, the whole pipeline is scanned by the fluctuation point scanning unit to obtain the types of fluctuation points (characteristic points), and the coordinates corresponding to the fluctuation points are obtained synchronously, so as to generate list data. The characteristic points can be directly fed back to the pipeline diagram; the codes of the characteristic point numbers, characteristic point starting numbers, and characteristic point ending numbers in Table 1 and Table 2 all represent a type of fluctuation point.

[0081] Table 1: List of endpoint characteristic fluctuation points generated by the fluctuation point scanning unit:

[0082]

[0083] Table 2: List of starting characteristic fluctuation points generated by the fluctuation point scanning unit:

[0084]

[0085] A method for measuring underground pipelines, using an underground pipeline measurement system, the method is as follows:

[0086] The first step is to obtain the whole pipeline data , the whole pipeline is measured by a detection instrument to obtain the whole pipeline data ; and it is sent to the whole pipeline data access unit;

[0087] Step 2: Pipeline Sampling and Marking. During the entire pipeline data measurement process, select multiple pipeline points and pipeline center lines at different pipeline burial depths, and conduct on-site marking of the pipeline points and pipeline center lines;

[0088] Step 3: Calibration Data Measurement. Drill or excavate at the on-site marked positions to obtain the actual data of the underground pipelines ;

[0089] Step 4: Calibration Data Acquisition. During the entire pipeline data measurement process, the calibration data access unit automatically acquires the exploration data of the marked points , and obtains the actual data of the underground pipelines through active upload ;

[0090] Step 5: Obtain the Correction Reference Curve. Calculate the fitting error correlation curve through the correction data calculation unit;

[0091] Step 6: Obtain the Corrected Entire Pipeline Data. The entire pipeline data correction unit obtains the fitting error correlation curve and the entire pipeline data , and conducts correction through the entire pipeline data correction unit to obtain the corrected entire pipeline data;

[0092] Step 7: Generate the Underground Pipeline Map. Generate the pipeline based on the corrected entire pipeline data obtained in the previous step; obtain the underground pipeline map.

[0093] When generating the underground pipeline map, use a certain area as the reference position and gather the underground pipelines within the area.

[0094] The above embodiments are only the preferred embodiments of the present invention. Therefore, all equivalent changes or modifications made according to the structures, features, and principles described in the scope of the present invention application are included in the scope of the present invention application.

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; 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.

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: 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.

5. 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.

6. The underground pipeline measurement system according to claim 5, 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.

7. The underground pipeline measurement system according to claim 5 or 6, 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.

8. 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.

9. The underground pipeline measurement method according to claim 8, 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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