Pipeline three-dimensional positioning method, device, equipment and computer storage medium

Abstract

This invention relates to a method, apparatus, equipment, and computer storage medium for three-dimensional pipeline positioning, belonging to the field of underground pipeline detection technology. The three-dimensional pipeline positioning method includes: acquiring multiple real acoustic wave reflection signals reflected by the pipeline to be located; determining the extension direction of the pipeline based on the signal intensity of the multiple real acoustic wave reflection signals; constructing a three-dimensional soil-pipeline model including the depth of the pipeline to be located; and acquiring simulated acoustic wave reflection signals from simulated acoustic wave acquisition points in the three-dimensional soil-pipeline model when the pipeline is at different depths; the simulated acoustic wave acquisition points correspond to the acquisition points of the real acoustic wave reflection signals; and determining the depth of the pipeline to be located based on the correlation between the simulated acoustic wave reflection signals and the real acoustic wave reflection signals. This invention can accurately locate underground pipelines.

Description

Technical Field

[0001] This invention relates to the field of underground pipeline detection technology, and in particular to a method, apparatus, equipment, and computer storage medium for three-dimensional pipeline positioning. Background Technology

[0002] In recent years, with the rapid pace of urbanization, accidents involving the accidental rupture or bursting of gas pipelines during third-party construction have become increasingly common, posing a significant threat to public safety and property and causing extremely negative social repercussions. Therefore, the accurate detection of non-metallic gas pipelines has become a key research topic urgently needing to be addressed by many geophysical exploration technicians.

[0003] In existing technologies, the main methods used for detecting and locating underground gas pipelines include ground-penetrating radar (GPR), tracer line method, magnetic gradient method, and inertial gyroscope method. GPR is susceptible to interference from external electromagnetic fields, leading to inaccurate pipeline location. The tracer line method is limited to gas pipelines equipped with complete tracer lines; however, due to factors such as on-site management and long construction periods, the tracer line installation for most pipelines often does not meet requirements, and some tracer lines are even missing. While the magnetic gradient method and inertial gyroscope method offer high accuracy in locating pipelines, their preliminary preparation is cumbersome and complex, with long construction periods and high costs. They are typically used only as verification methods to evaluate the effectiveness of other detection methods.

[0004] It is evident that existing three-dimensional positioning methods for underground pipelines suffer from technical problems such as susceptibility to interference, inaccurate positioning, and high costs. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, device, equipment and computer storage medium for three-dimensional positioning of pipelines to solve the problems of existing three-dimensional positioning methods for underground pipelines being easily interfered with, having inaccurate positioning and high cost.

[0006] To address the aforementioned problems, in a first aspect, the present invention provides a three-dimensional positioning method for pipelines, comprising:

[0007] Multiple real acoustic wave reflection signals from the pipe to be located are collected, and the extension direction of the pipe to be located is determined based on the signal intensity of the multiple real acoustic wave reflection signals.

[0008] A three-dimensional soil-pipe model containing the depth of the pipeline to be located is constructed, and simulated acoustic wave reflection signals of simulated acoustic wave acquisition points in the three-dimensional soil-pipe model are obtained when the pipeline to be located is at different depths; the simulated acoustic wave acquisition points correspond to the acquisition points of the real acoustic wave reflection signals.

[0009] The depth of the pipe to be located is determined by the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal.

[0010] In some possible embodiments of the present invention, acquiring multiple real acoustic wave reflection signals reflected by the pipe to be located, and determining the extension direction of the pipe to be located based on the signal strength of the multiple real acoustic wave reflection signals, includes:

[0011] Acquire multiple real acoustic wave reflection signals from multiple signal acquisition points of the pipeline to be located;

[0012] Based on the signal strength of multiple real sound wave reflection signals, the signal acquisition point with lower signal strength is moved to the signal acquisition point with higher signal strength until the target acquisition point with the highest signal strength is determined.

[0013] The line connecting the locations of each target collection point is used to determine the extension direction of the pipeline to be located.

[0014] In some possible embodiments of the present invention, the difference scheme of the three-dimensional soil-pipe model is as follows:

[0015]

[0016]

[0017]

[0018]

[0019] in, P To simulate the wave field of sound waves in the three-dimensional soil-pipe model, , l, m, n, k All are preset coefficients, and G is the order of the central difference of the second-order partial derivative. These are the difference coefficients. , as well as In three-dimensional space x, y, z Spatial step size in direction, For time step, K Bulk modulus The speed at which sound waves propagate in a three-dimensional soil-pipe model. , , For the particles in the three-dimensional soil-pipe model in three-dimensional space x, y, z Vibration velocity in the direction, j This is the counting parameter.

[0020] In some possible embodiments of the present invention, obtaining simulated acoustic wave reflection signals from simulated acoustic wave acquisition points in a three-dimensional soil-pipe model when the pipeline to be located is at different depths includes:

[0021] Using the Rayleigh wavelet as input to the three-dimensional soil-pipe model, the pipe depth in the three-dimensional soil-pipe model is adjusted within the preset pipe depth range according to the preset depth adjustment step size.

[0022] Simulated acoustic wave reflection signals were obtained from simulated acoustic wave acquisition points in a three-dimensional soil-pipe model at different pipe depths.

[0023] In some possible embodiments of the present invention, determining the depth of the pipe to be located based on the correlation between simulated acoustic wave reflection signals and real acoustic wave reflection signals includes:

[0024] The correlation between simulated acoustic wave reflection signals and real acoustic wave reflection signals at simulated acoustic wave acquisition points in a 3D soil-pipe model at different pipe depths is calculated using a correlation calculation function. The correlation calculation function is as follows:

[0025]

[0026] in, The correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal at the simulated acoustic wave acquisition point in the 3D soil-pipe model is given when the pipe depth is the s-th depth value. For the first i The actual sound wave reflection signals at each collection point, The pipe depth in the three-dimensional soil-pipe model is the first... s The first depth value at the time i The simulated acoustic wave reflection signals from each simulated acoustic wave acquisition point, where T is the total calculation time;

[0027] Calculate the absolute value of the difference between the correlation and the preset objective function at different pipe depths. Determine the pipe depth corresponding to the correlation with the smallest absolute value of the difference as the pipe depth to be located. The preset objective function is:

[0028]

[0029] in, For the preset objective function, The sound wave signal at the acquisition point with the highest signal strength, where n is... The number of times data was collected.

[0030] In some possible embodiments of the present invention, after determining the depth of the pipe to be located based on the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal, the process includes:

[0031] A target three-dimensional soil-pipe model of the pipeline to be located is constructed based on the depth and extension direction of the pipeline to be located.

[0032] Using the Ricker wavelet as input to the target 3D soil-pipe model, the forward wave field of the target 3D soil-pipe model is obtained. Using multiple real acoustic wave reflection signals as input to the target 3D soil-pipe model, the reconstructed wave field of the target 3D soil-pipe model is obtained.

[0033] Based on the correlation between the forward wavefield and the reconstructed wavefield, the three-dimensional coordinates of the pipeline to be located are determined.

[0034] In some possible embodiments of the present invention, the three-dimensional coordinates of the pipeline to be located are determined based on the correlation between the forward wavefield and the reconstructed wavefield, including:

[0035] The three-dimensional coordinates of the pipe to be located are calculated using a three-dimensional coordinate calculation formula. The three-dimensional coordinate calculation formula is as follows:

[0036]

[0037] in, The three-dimensional coordinates of the pipe to be located are: For a forward-modeling wave field, To reconstruct the wave field.

[0038] Secondly, the present invention also provides a pipe positioning method, comprising:

[0039] The direction determination module is used to collect multiple real acoustic wave reflection signals reflected by the pipe to be located, and determine the extension direction of the pipe to be located based on the signal strength of the multiple real acoustic wave reflection signals.

[0040] The model simulation module is used to construct a three-dimensional soil-pipe model containing the depth of the pipeline to be located, and to obtain the simulated acoustic wave reflection signals of the simulated acoustic wave acquisition points in the three-dimensional soil-pipe model when the pipeline to be located is at different depths; the simulated acoustic wave acquisition points correspond to the acquisition points of the real acoustic wave reflection signals.

[0041] The depth determination module is used to determine the depth of the pipe to be located based on the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal.

[0042] Thirdly, the present invention also provides a three-dimensional positioning device for pipelines, comprising a signal transmitter, a signal receiver, a memory, and a processor, wherein...

[0043] The signal transmitter is used to send an acoustic signal to the pipe to be located;

[0044] The signal receiver is used to receive the actual acoustic reflection signal reflected by the pipe to be located;

[0045] Memory, used to store programs;

[0046] The processor, coupled to the memory, is used to execute a program stored in the memory to implement the steps in the pipeline three-dimensional positioning method in any of the above embodiments.

[0047] Fourthly, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps in the pipeline three-dimensional positioning method of any of the above embodiments.

[0048] The beneficial effects of this invention are as follows: The three-dimensional pipeline positioning method provided by this invention collects multiple real acoustic wave reflection signals reflected by the pipeline to be positioned, and determines the extension direction of the pipeline to be positioned based on the signal strength of the multiple real acoustic wave reflection signals. Based on acoustic wave detection technology, it is less affected by environmental interference factors, and the multiple real acoustic wave reflection signals can accurately locate the extension direction of the pipeline to be positioned. By constructing a three-dimensional soil-pipeline model containing the depth of the pipeline to be positioned, and obtaining the simulated acoustic wave reflection signals of the simulated acoustic wave acquisition points corresponding to the acquisition points of the three-dimensional soil-pipeline model and the real acoustic wave reflection signals, the depth of the pipeline to be positioned is determined by simulating the correlation between the acoustic wave reflection signals and the real acoustic wave reflection signals. By determining the depth of the pipeline to be positioned through model simulation, it is less affected by environmental factors and equipment limitations, ensuring the accuracy of the depth positioning of the pipeline to be positioned. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A schematic flowchart of a three-dimensional positioning method for a pipeline provided in an embodiment of the present invention;

[0051] Figure 2 A flowchart illustrating a direction determination method provided in an embodiment of the present invention;

[0052] Figure 3 A schematic diagram of an apparatus arrangement provided in an embodiment of the present invention;

[0053] Figure 4 This is a flowchart illustrating a method for acquiring simulated sound wave reflection signals according to an embodiment of the present invention.

[0054] Figure 5 This is a flowchart illustrating a three-dimensional coordinate determination method provided in an embodiment of the present invention;

[0055] Figure 6This is a schematic diagram of the structure of a three-dimensional positioning device for a pipeline provided in an embodiment of the present invention;

[0056] Figure 7 This is a structural schematic diagram of a pipeline three-dimensional positioning device provided in an embodiment of the present invention. Detailed Implementation

[0057] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0058] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0059] A specific embodiment of the present invention, such as Figure 1 As shown, a three-dimensional positioning method for pipelines is disclosed, including:

[0060] S101, Collect multiple real acoustic wave reflection signals reflected by the pipe to be located, and determine the extension direction of the pipe to be located based on the signal strength of the multiple real acoustic wave reflection signals.

[0061] In this embodiment of the invention, by exciting a sound signal in the pipe to be located, the actual sound wave reflection signal reflected by the pipe to be located can be received. For example, in the valve well of the pipe to be located, a sound signal generating device is installed at the valve of the pipe to be located. According to the direction of the pipe near the valve of the pipe to be located in the valve well, the initial direction of the pipe to be located is determined. Multiple sound signal acquisition devices are set on the soil layer of the initial direction. The actual sound wave reflection signal reflected by the pipe to be located is collected by the multiple sound signal acquisition devices. Then, the extension direction of the pipe to be located is determined based on the signal strength of the multiple actual sound wave reflection signals and the position of each sound signal acquisition device. The specific method for determining the extension direction will be described in detail later in this invention.

[0062] S102, construct a three-dimensional soil-pipe model containing the depth of the pipe to be located, and obtain the simulated acoustic wave reflection signals of the simulated acoustic wave acquisition points in the three-dimensional soil-pipe model when the pipe to be located is at different depths; the simulated acoustic wave acquisition points correspond to the acquisition points of the real acoustic wave reflection signals.

[0063] In this embodiment of the invention, a three-dimensional soil-pipe model can numerically simulate the propagation of sound waves in the pipe and soil. The variable in the three-dimensional soil-pipe model is the depth of the pipe. When the pipe is at different depths, the path of sound wave propagation in the pipe and soil is different. By continuously adjusting the depth of the pipe in the three-dimensional soil-pipe model and collecting simulated sound wave reflection signals at simulated sound wave acquisition points corresponding to the acquisition points of real sound wave reflection signals in the three-dimensional soil-pipe model, it can be ensured that the difference between the simulated sound wave reflection signals and the real sound wave reflection signals is the difference in pipe depth. By comparing the simulated sound wave reflection signals and the real sound wave reflection signals, the pipe depth can be determined.

[0064] S103, determine the depth of the pipe to be located based on the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal.

[0065] In this embodiment of the invention, the depth of the pipe to be located can be determined by calculating the correlation between the simulated sound wave reflection signal and the real sound wave reflection signal. The specific correlation calculation method and the method for determining the depth of the pipe to be located will be described in detail later in this invention.

[0066] The three-dimensional pipeline positioning method provided by this invention collects multiple real acoustic wave reflection signals reflected by the pipeline to be positioned, and determines the extension direction of the pipeline based on the signal strength of the multiple real acoustic wave reflection signals. Based on acoustic wave detection technology, it is less affected by environmental interference factors, and multiple real acoustic wave reflection signals can accurately locate the extension direction of the pipeline to be positioned. By constructing a three-dimensional soil-pipeline model containing the depth of the pipeline to be positioned, and obtaining the simulated acoustic wave reflection signals of the simulated acoustic wave acquisition points corresponding to the acquisition points of the three-dimensional soil-pipeline model and the real acoustic wave reflection signals, the depth of the pipeline to be positioned is determined by simulating the correlation between the acoustic wave reflection signals and the real acoustic wave reflection signals. The depth of the pipeline to be positioned is determined by model simulation, which is less affected by environmental factors and equipment limitations, and ensures the accuracy of the pipeline depth positioning.

[0067] In some possible embodiments of the present invention, such as Figure 2 As shown, multiple real acoustic wave reflection signals from the pipe to be located are acquired, and the extension direction of the pipe to be located is determined based on the signal intensity of the multiple real acoustic wave reflection signals, including:

[0068] S201, acquire multiple real acoustic wave reflection signals from multiple signal acquisition points of the pipeline to be located;

[0069] S202, based on the signal strength of multiple real acoustic wave reflection signals, move the signal acquisition point with lower signal strength to the signal acquisition point with higher signal strength until the target acquisition point with the highest signal strength is determined.

[0070] S203, the line connecting the locations of each target collection point is determined as the extension direction of the pipeline to be located.

[0071] In embodiments of the present invention, such as Figure 3 As shown, multiple acoustic signal acquisition devices can be used to collect the actual acoustic reflection signals reflected by the pipeline to be located at different acquisition points. For example, after determining the initial direction of the pipeline to be located in the valve well, three acoustic signal acquisition devices are set up at a certain distance from the valve on the ground surface to collect the actual acoustic wave reflection signals at the three acquisition points. These three acquisition points are located on the same cross-section of the pipeline to be located, and acquisition points 0, 1, and 2 are all within a certain range above the pipeline. The actual acoustic wave reflection signals collected by the three acquisition points are as follows: , , By comparing the amplitudes of the three real acoustic wave reflection signals, the real acoustic wave reflection signal with the largest amplitude is determined. The acquisition points corresponding to the other two real acoustic wave reflection signals are then moved closer to the acquisition point with the largest amplitude. The steps of signal acquisition, amplitude comparison, and acquisition point movement are repeated, generally more than three times, until the final target acquisition point with the largest amplitude is determined. This target acquisition point is recorded as the location of a cross-section of the pipeline to be located. Based on the position of this target acquisition point and the pipeline valve, the initial extension direction of the pipeline to be located is determined. In this initial extension direction, the above steps for determining the target acquisition point are executed sequentially according to a preset step size to obtain multiple target acquisition points. The line connecting these multiple target acquisition points is taken as the extension direction of the pipeline to be located.

[0072] The present invention uses the amplitude intensity of real sound wave reflection signals collected from multiple acquisition points to accurately locate the center position of each cross-section of the pipe to be located, and based on this, the extension direction of the pipe to be located can be determined.

[0073] In some possible embodiments of the present invention, the three-dimensional soil-pipe model can be numerically simulated based on the acoustic wave equation to obtain the numerical simulation equation:

[0074] (1)

[0075] (2)

[0076] (3)

[0077] (4)

[0078] in, P To simulate the wave field of sound waves in the three-dimensional soil-pipe model, t is time. x, y, z These represent the three directions of spatial coordinates. , , For the particles in the three-dimensional soil-pipe model in three-dimensional space x, y, z Vibration velocity in the direction, The speed at which sound waves propagate in a three-dimensional soil-pipe model. K This is the bulk modulus.

[0079] Taking wave field P as an example, the staggered grid difference scheme is established as follows:

[0080] (5)

[0081] The above equation (5) can be expanded using Taylor series and the remainder term can be ignored to obtain:

[0082] (6)

[0083] Similarly, the difference scheme for the three-dimensional soil-pipe model can be obtained as follows:

[0084] (7)

[0085] (8)

[0086] (9)

[0087] (10)

[0088] in, , l, m, n, k All are preset coefficients, and G is the order of the central difference of the second-order partial derivative. These are the difference coefficients. , as well as In three-dimensional space x, y, z Spatial step size in direction, For time step, j This is the counting parameter.

[0089] The embodiments of the present invention provide a differential format for a three-dimensional soil-pipe model, which can digitally simulate the depth of the pipe to be located, unaffected by environmental factors, and ensure the accuracy of the determination of the depth of the pipe to be located.

[0090] In some possible embodiments of the present invention, such as Figure 4 As shown, simulated acoustic wave reflection signals are obtained from simulated acoustic wave acquisition points in a 3D soil-pipe model when the pipeline to be located is at different depths, including:

[0091] S401, using the Reich wavelet as input to the three-dimensional soil-pipe model, adjusts the pipe depth in the three-dimensional soil-pipe model within the preset pipe depth range according to the preset depth adjustment step size.

[0092] S402, acquire simulated acoustic wave reflection signals from simulated acoustic wave acquisition points in a three-dimensional soil-pipe model at different pipe depths.

[0093] In this embodiment of the invention, based on the constructed three-dimensional soil-pipe model, the Ricker wavelet is used as the input to the three-dimensional soil-pipe model, wherein the Ricker wavelet is represented as follows:

[0094]

[0095] Where f is the frequency and t is the time.

[0096] Based on the target acquisition point and the locations of the other two acquisition points on the ground as determined in the aforementioned embodiments, three simulated acoustic wave acquisition points are set at the same locations on the ground in the three-dimensional soil-pipe model. The acquired simulated acoustic wave reflection signals are denoted as... , , Within a preset pipe depth range [0, H] (where H is the maximum possible pipe depth), the depth of the pipe in the three-dimensional soil-pipe model is adjusted according to a preset step size, and multiple sets of simulated acoustic wave reflection signals can be obtained.

[0097] In some possible embodiments of the present invention, determining the depth of the pipe to be located based on the correlation between simulated acoustic wave reflection signals and real acoustic wave reflection signals includes:

[0098] The correlation between simulated acoustic wave reflection signals and real acoustic wave reflection signals at simulated acoustic wave acquisition points in a 3D soil-pipe model at different pipe depths is calculated using a correlation calculation function. The correlation calculation function is as follows:

[0099]

[0100] in, The correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal at the simulated acoustic wave acquisition point in the 3D soil-pipe model is given when the pipe depth is the s-th depth value. For the first i The actual sound wave reflection signals at each collection point, The pipe depth in the three-dimensional soil-pipe model is the first... s The first depth value at the time i The simulated acoustic wave reflection signals from each simulated acoustic wave acquisition point, where T is the total calculation time;

[0101] Calculate the absolute value of the difference between the correlation and the preset objective function at different pipe depths. Determine the pipe depth corresponding to the correlation with the smallest absolute value of the difference as the pipe depth to be located. The preset objective function is:

[0102]

[0103] in, For the preset objective function, The sound wave signal at the acquisition point with the highest signal strength, where n is... The number of times data was collected.

[0104] In this embodiment of the invention, for each pipe depth in the three-dimensional soil-pipe model, the collected simulated acoustic wave reflection signal and the real acoustic wave reflection signal are correlated using the aforementioned correlation calculation function, and then the correlation is calculated. The value when When the depth is minimized, the pipe depth in the corresponding three-dimensional soil-pipe model is the depth of the pipe to be located at the target acquisition point. For each target acquisition point, the depth is determined using the above method, thus determining all the depth data of the pipe to be located.

[0105] This invention determines the pipe depth in a three-dimensional soil-pipe model by comparing the correlation between the simulated acoustic wave reflection signal and the actual acoustic wave reflection signal, thereby determining the depth of the pipe to be located, resulting in more accurate pipe depth positioning.

[0106] In some possible embodiments of the present invention, such as Figure 5 As shown, after determining the depth of the pipe to be located based on the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal, the process includes:

[0107] S501, construct a target three-dimensional soil-pipe model of the pipeline to be located based on the depth and extension direction of the pipeline to be located;

[0108] S502, using the Ricker wavelet as input to the target 3D soil-pipe model, the forward wave field of the target 3D soil-pipe model is obtained; using multiple real acoustic wave reflection signals as input to the target 3D soil-pipe model, the reconstructed wave field of the target 3D soil-pipe model is obtained.

[0109] S503, based on the correlation between the forward wave field and the reconstructed wave field, determines the three-dimensional coordinates of the pipeline to be located.

[0110] In this embodiment of the invention, in the previous embodiment, all depth data of the pipeline to be located can be determined. Based on the extension direction of the pipeline to be located and all depth data, a target three-dimensional soil-pipeline model of the pipeline to be located is established. The Ricker wavelet is used as the input to the target three-dimensional soil-pipeline model to obtain the forward wavefield of the target three-dimensional soil-pipeline model. Simultaneously, multiple real acoustic wave reflection signals are used as inputs to the target 3D soil-pipe model to obtain the reconstructed wavefield of the target 3D soil-pipe model. Then, the three-dimensional coordinates of the pipe to be located are calculated using the three-dimensional coordinate calculation formula, which is as follows:

[0111]

[0112] in, The three-dimensional coordinates of the pipe to be located are: For a forward-modeling wave field, To reconstruct the wave field.

[0113] Based on this, a three-dimensional image of the pipeline to be located can be obtained, thus enabling the location of underground pipelines.

[0114] The embodiments of the present invention can achieve rapid, non-destructive, and accurate positioning of non-metallic gas pipelines. By using three spatially distributed high-sensitivity microphone arrays, the direction of the gas pipeline can be quickly determined, data acquisition is efficient and non-destructive, and the accuracy of gas pipeline burial depth detection is improved by using a three-dimensional soil-pipeline model.

[0115] To better implement the pipeline three-dimensional positioning method in the embodiments of the present invention, based on the pipeline three-dimensional positioning method, correspondingly, as follows: Figure 6 As shown, this embodiment of the invention also provides a three-dimensional positioning device for pipelines. The three-dimensional positioning device 600 for pipelines includes:

[0116] The direction determination module 601 is used to collect multiple real sound wave reflection signals reflected by the pipe to be located, and determine the extension direction of the pipe to be located based on the signal intensity of the multiple real sound wave reflection signals.

[0117] The model simulation module 602 is used to construct a three-dimensional soil-pipe model containing the depth of the pipe to be located, and to obtain the simulated acoustic wave reflection signals of the simulated acoustic wave acquisition points in the three-dimensional soil-pipe model when the pipe to be located is at different depths; the simulated acoustic wave acquisition points correspond to the acquisition points of the real acoustic wave reflection signals.

[0118] The depth determination module 603 is used to determine the depth of the pipe to be located based on the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal.

[0119] The pipeline three-dimensional positioning device 600 provided in the above embodiments can realize the technical solutions described in the above pipeline three-dimensional positioning method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above pipeline three-dimensional positioning method embodiments, and will not be repeated here.

[0120] like Figure 7 As shown, the present invention also provides a pipeline three-dimensional positioning device 700. The pipeline three-dimensional positioning device 700 includes a processor 701, a memory 702, a display 703, a signal transmitter 704, and a signal receiver 705. Figure 7Only some components of the pipeline three-dimensional positioning device 700 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0121] In some embodiments, processor 701 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in memory 702 or process data, such as the pipeline three-dimensional positioning method of the present invention.

[0122] In some embodiments, processor 701 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 701 may be local or remote. In some embodiments, processor 701 may be implemented on a cloud platform. In some embodiments, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, or any combination thereof.

[0123] In some embodiments, memory 702 may be an internal storage unit of the pipeline 3D positioning device 700, such as a hard disk or memory of the pipeline 3D positioning device 700. In other embodiments, memory 702 may also be an external storage device of the pipeline 3D positioning device 700, such as a pluggable hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the pipeline 3D positioning device 700.

[0124] Furthermore, the memory 702 may include both internal storage units of the pipeline 3D positioning device 700 and external storage devices. The memory 702 is used to store application software and various types of data for installing the pipeline 3D positioning device 700.

[0125] In some embodiments, display 703 may be an LED display, a liquid crystal display, a touch-screen liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 703 is used to display information from the pipeline 3D positioning device 700 and to display a visual user interface. Components 701-703 of the pipeline 3D positioning device 700 communicate with each other via a system bus.

[0126] In some embodiments, when processor 701 executes the pipe positioning program in memory 702, the following steps may be performed:

[0127] Multiple real acoustic wave reflection signals from the pipe to be located are collected, and the extension direction of the pipe to be located is determined based on the signal intensity of the multiple real acoustic wave reflection signals.

[0128] A three-dimensional soil-pipe model containing the depth of the pipeline to be located is constructed, and simulated acoustic wave reflection signals of simulated acoustic wave acquisition points in the three-dimensional soil-pipe model are obtained when the pipeline to be located is at different depths; the simulated acoustic wave acquisition points correspond to the acquisition points of the real acoustic wave reflection signals.

[0129] The depth of the pipe to be located is determined by the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal.

[0130] It should be understood that when the processor 701 executes the pipeline positioning program in the memory 702, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0131] Accordingly, embodiments of the present invention also provide a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the pipeline three-dimensional positioning method provided in the above-described method embodiments.

[0132] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0133] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for three-dimensional positioning of a pipeline, characterized in that, include: Multiple real acoustic wave reflection signals reflected by the pipe to be located are collected, and the extension direction of the pipe to be located is determined based on the signal intensity of the multiple real acoustic wave reflection signals. A three-dimensional soil-pipe model containing the depth of the pipe to be located is constructed, and simulated acoustic wave reflection signals of simulated acoustic wave acquisition points in the three-dimensional soil-pipe model are obtained when the pipe to be located is at different depths; the simulated acoustic wave acquisition points correspond to the acquisition points of the real acoustic wave reflection signals. The depth of the pipe to be located is determined based on the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal. The difference scheme for the three-dimensional soil-pipe model is as follows: in, P To simulate the wave field of sound waves in the three-dimensional soil-pipe model, , l、m、 n, k All are preset coefficients, and G is the order of the central difference of the second-order partial derivative. These are the difference coefficients. , as well as In three-dimensional space x, y, z Spatial step size in direction, For time step, K Bulk modulus The speed at which sound waves propagate in a three-dimensional soil-pipe model. , , For the particles in the three-dimensional soil-pipe model in three-dimensional space x, y, z Vibration velocity in the direction, j For counting parameters; The step of obtaining simulated acoustic wave reflection signals from simulated acoustic wave acquisition points in the three-dimensional soil-pipe model when the pipeline to be located is at different depths includes: Using the Rayleigh wavelet as input to the three-dimensional soil-pipe model, the pipe depth in the three-dimensional soil-pipe model is adjusted within a preset pipe depth range according to a preset depth adjustment step size. Obtain simulated acoustic wave reflection signals from simulated acoustic wave acquisition points in a three-dimensional soil-pipe model at different pipe depths; Determining the depth of the pipe to be located based on the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal includes: The correlation between simulated acoustic wave reflection signals and actual acoustic wave reflection signals at simulated acoustic wave acquisition points in a three-dimensional soil-pipe model at different pipe depths is calculated using a correlation calculation function. The correlation calculation function is as follows: in, The correlation between the simulated acoustic wave reflection signal and the actual acoustic wave reflection signal at the simulated acoustic wave acquisition point in the 3D soil-pipe model when the pipe depth is the s-th depth value is given. For the first i The actual sound wave reflection signals at each collection point, The pipe depth in the three-dimensional soil-pipe model is the first... s The first depth value at the time i The simulated acoustic wave reflection signals from each simulated acoustic wave acquisition point, where T is the total calculation time; Calculate the absolute value of the difference between the correlation and the preset objective function at different pipe depths, and determine the pipe depth corresponding to the correlation with the smallest absolute value of the difference as the pipe depth to be located. The preset objective function is: in, For the preset objective function, The sound wave signal at the acquisition point with the highest signal strength, where n is... The number of times data was collected.

2. The three-dimensional positioning method for pipelines according to claim 1, characterized in that, The step of acquiring multiple real acoustic wave reflection signals from the pipe to be located, and determining the extension direction of the pipe to be located based on the signal intensity of the multiple real acoustic wave reflection signals, includes: Acquire multiple real acoustic wave reflection signals from multiple signal acquisition points of the pipeline to be located; Based on the signal strength of the multiple real acoustic wave reflection signals, the signal acquisition point with lower signal strength is moved to the signal acquisition point with higher signal strength until the target acquisition point with the highest signal strength is determined. The line connecting the locations of each target collection point is used to determine the extension direction of the pipeline to be located.

3. The three-dimensional positioning method for pipelines according to claim 1, characterized in that, After determining the depth of the pipe to be located based on the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal, the process includes: A target three-dimensional soil-pipe model of the pipeline to be located is constructed based on the depth and extension direction of the pipeline to be located. Using the Ricker wavelet as input to the target three-dimensional soil-pipe model, the forward wave field of the target three-dimensional soil-pipe model is obtained. Using the multiple real acoustic wave reflection signals as input to the target three-dimensional soil-pipe model, the reconstructed wave field of the target three-dimensional soil-pipe model is obtained. Based on the correlation between the forward wave field and the reconstructed wave field, the three-dimensional coordinates of the pipeline to be located are determined.

4. The pipeline three-dimensional positioning method according to claim 3, characterized in that, Determining the three-dimensional coordinates of the pipeline to be located based on the correlation between the forward wavefield and the reconstructed wavefield includes: The three-dimensional coordinates of the pipe to be located are calculated using a three-dimensional coordinate calculation formula, which is as follows: in, The three-dimensional coordinates of the pipe to be located are: For a forward-modeling wave field, To reconstruct the wave field.

5. A three-dimensional positioning device for pipelines, characterized in that, The pipeline three-dimensional positioning method applicable to any one of claims 1 to 4 includes: The direction determination module is used to collect multiple real acoustic wave reflection signals reflected by the pipe to be located, and determine the extension direction of the pipe to be located based on the signal intensity of the multiple real acoustic wave reflection signals. The model simulation module is used to construct a three-dimensional soil-pipe model containing the depth of the pipeline to be located, and to obtain simulated acoustic wave reflection signals from simulated acoustic wave acquisition points in the three-dimensional soil-pipe model when the pipeline to be located is at different depths; the simulated acoustic wave acquisition points correspond to the acquisition points of the actual acoustic wave reflection signals. The depth determination module is used to determine the depth of the pipe to be located based on the correlation between the simulated acoustic wave reflection signal and the real acoustic wave reflection signal.

6. A three-dimensional positioning device for pipelines, characterized in that, The pipeline three-dimensional positioning method applicable to any one of claims 1 to 4 includes a signal transmitter, a signal receiver, a memory, and a processor, wherein, The signal transmitter is used to send an acoustic signal to the pipe to be located. The signal receiver is used to receive the actual acoustic reflection signal reflected by the pipe to be located; The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the pipeline three-dimensional positioning method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the pipeline three-dimensional positioning method according to any one of claims 1 to 4.

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