Pipeline track positioning method and system

Abstract

The invention discloses a pipeline track positioning method, which is executed by a pipeline track positioning system, the pipeline track positioning system comprises a signal transmitter and a sensing device, and the method comprises the following steps of: arranging at least one signal transmitter on the ground surface; moving the sensing device in the pipeline, generating magnetic intensity data through a magnetic sensor on the sensing device according to a received magnetic signal of the at least one signal transmitter, and generating acceleration data and angular velocity data through a three-axis accelerometer and a three-axis gyroscope on the sensing device; generating linear trajectory data according to the acceleration data and the angular velocity data; calculating a relative coordinate of the at least one signal transmitter and the sensing device according to the magnetic intensity data; calculating a pipeline predicted coordinate and a pipeline predicted elevation according to an absolute coordinate, an elevation and the relative coordinate of the at least one signal transmitter; and correcting the linear trajectory data according to the pipeline predicted coordinate and the pipeline predicted elevation.

Description

Technical Field

[0001] The invention relates to a pipeline track positioning method, in particular to a method for positioning an underground pipeline track. Background Art

[0002] In the early days, pipeline construction companies had no concept of industrial safety or precision mapping. Therefore, during construction, they simply buried pipelines underground without precise measurement data on their trajectory. Instead, they had only a rough outline of their route. For example, they knew a gas pipe ran along a highway, but not its exact location. However, with urban development and dense populations, underground excavation has become increasingly common, both for new pipelines and for construction projects. Consequently, the existing underground pipeline maps, which were subject to significant errors, no longer met public safety requirements.

[0003] Therefore, the development of 3D pipeline maps is a top priority to ensure that management and construction units can accurately determine the exact location and depth of underground pipelines. The hope is that these three-dimensional pipeline maps will allow construction personnel to more quickly and clearly understand the height and depth of underground pipelines. This will also allow them to immediately assist firefighters and environmental protection personnel on the front lines in the event of an abnormal operation of underground pipelines, thereby preventing loss of life and property from gas explosions. However, because underground pipelines are buried underground, invisible to the naked eye and lack GPS signals, measurement is extremely difficult. Current methods for locating underground pipelines also suffer from low accuracy, resulting in extremely slow progress in locating existing underground pipelines.

[0004] In view of this, the present invention provides a pipeline trajectory positioning method and system to solve the above-mentioned problems. Summary of the Invention

[0005] One of the objects of the present invention is to provide a pipeline trajectory positioning method, which is performed by a pipeline trajectory positioning system, the pipeline trajectory positioning system including a signal transmitter and a sensor device, wherein the method includes the steps of: setting at least one signal transmitter on the ground surface; moving the sensor device in the pipeline, generating magnetic intensity data based on a magnetic signal received from the at least one signal transmitter through a magnetic sensor on the sensor device, and generating acceleration data and angular velocity data through a three-axis accelerometer and a three-axis gyroscope on the sensor device; generating a linear trajectory data based on the acceleration data and the angular velocity data; calculating a relative coordinate of the at least one signal transmitter and the sensor device based on the magnetic intensity data; calculating a pipeline predicted coordinate and a pipeline predicted elevation based on an absolute coordinate, an elevation and the relative coordinate of the at least one signal transmitter; and correcting the linear trajectory data using the pipeline predicted coordinate and the pipeline predicted elevation.

[0006] In one embodiment, the pipeline trajectory positioning method further includes a step of pre-determining the correlation between magnetic strength and pipeline distance.

[0007] In one embodiment, at least one signal transmitter in the pipeline trajectory positioning system transmits a periodic signal.

[0008] Another object of the present invention is to provide a pipeline trajectory positioning system, comprising: at least one signal transmitter; a sensing device, comprising: a three-axis gyroscope for measuring angular velocity data of the sensing device when it moves; a three-axis accelerometer for measuring acceleration data of the sensing device when it moves; and a three-axis magnetic sensor for receiving the magnetic signal of the at least one signal transmitter to generate magnetic intensity data; and a computing device for generating a linear trajectory data based on the acceleration data and the angular velocity data, and calculating the relative coordinates of the at least one signal transmitter and the sensing device based on the magnetic intensity data; wherein the computing device calculates a pipeline predicted coordinate and a pipeline predicted elevation based on an absolute coordinate, an elevation and the relative coordinate of the at least one signal transmitter, and corrects the linear trajectory data based on the pipeline predicted coordinate and the pipeline predicted elevation. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a flow chart of a pipeline trajectory positioning method of the present invention;

[0010] Figure 2 is a schematic diagram of a pipeline trajectory positioning system according to an embodiment of the present invention;

[0011] Figure 3 is a structural diagram of a signal transmitter according to an embodiment of the present invention;

[0012] Figure 4 is a schematic structural diagram of a sensing device according to an embodiment of the present invention;

[0013] Figure 5 is a schematic diagram of a pipeline trajectory positioning method according to an embodiment of the present invention; and

[0014] Figure 6 yes Figure 1 FIG. 1 is a schematic diagram of a detailed flow chart of step S4. FIG.

[0015] Description of reference numerals:

[0016] 10-Pipeline trajectory positioning system;

[0017] 11a, 11b, 11c-signal transmitter;

[0018] 12-sensing device;

[0019] 13- Underground pipelines;

[0020] 14- Computing device;

[0021] 31-base;

[0022] 32-Power supply and outdoor power supply;

[0023] 33-Metal coil;

[0024] 34-Boost converter;

[0025] 35-output relay;

[0026] 36- microcontroller;

[0027] 41-battery;

[0028] 42-processor;

[0029] 43-three-axis gyroscope;

[0030] 44-three-axis accelerometer;

[0031] 45-magnetic sensor;

[0032] 46-storage unit;

[0033] S1 to S6 - steps;

[0034] S41~S44-steps. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. Now, many possible applications and variations of the present invention will be described with reference to the accompanying drawings. The drawings are not necessarily drawn to scale and, in some cases, have been simplified for reference only. The pipeline trajectory positioning method of the present invention is achieved by a pipeline trajectory positioning system (such as Figure 2 The pipeline trajectory positioning system 10 includes at least one signal transmitter 11a, 11b, 11c, a sensor device 12 and a computing device 14. Figure 1 , Figure 1 This is a flow chart of a pipeline trajectory positioning method of the present invention, such as Figure 1 As shown, the pipeline trajectory positioning method includes steps S1 to S6. First, in step S1, at least one signal transmitter 11a, 11b, 11c is set on the ground surface. The signal transmitter 11a, 11b, 11c generates a magnetic signal through electricity; then in step S2, the sensor device 12 is moved in the pipeline, and a magnetic sensor 45 (such as Figure 4 As shown), a magnetic intensity data is generated according to a magnetic signal received from at least one signal transmitter 11a, 11b, 11c, and a three-axis accelerometer 44 and a three-axis gyroscope 43 (as shown) on the sensor device 12. Figure 4As shown), an acceleration data and an angular velocity data are generated. The sensing device 12 moves in the pipeline 13; followed by step S3, through the calculation device 14, a linear trajectory data is generated according to the acceleration data and the angular velocity data; followed by step S4, through the calculation device 14, a relative coordinate of the at least one signal transmitter 11a, 11b, 11c and the sensing device 12 is calculated according to the magnetic strength data; followed by step S5, through the calculation device 14, based on an absolute coordinate, an elevation and the relative coordinate of the at least one signal transmitter 11a, 11b, 11c, a pipeline predicted coordinate and a pipeline predicted elevation are calculated; finally, step S6, through the calculation device 14, the linear trajectory data is corrected according to the pipeline predicted coordinate and the pipeline predicted elevation. In one embodiment, in order to achieve the step of calculating the relative coordinate target according to the magnetic strength data, the pipeline trajectory positioning method also includes a step of pre-determining the correlation between the magnetic strength and the distance to the pipeline 13 (to be Figure 6 illustrate). Figure 2 Schematic diagram of a pipeline trajectory positioning system according to an embodiment of the present invention; Figure 2 As shown, the pipeline trajectory positioning system 10 includes at least one signal transmitter, three of which are shown in the figure (11a, 11b, and 11c), a sensor device 12, and a computing device 14. The sensor device 12 can move in the underground pipeline 13 and receive magnetic signals emitted by the signal transmitter. The computing device 14 can be, for example, a processor or an electronic device with a processor, which can be installed in the sensor device 12, the signal transmitters 11a, 11b, 11c, or elsewhere, such as a cloud server. Thus, when the sensor device 12 moves in the underground pipeline 13, the sensor device 12 can receive magnetic signals from the signal transmitters 11a, 11b, and 11c. Multiple signals are transferred to the computing device 14, and the computing device 14 can perform calculations based on the signals provided by the sensor device, ultimately providing the corrected linear trajectory data. In one embodiment, the computing device 14 can implement its calculation function by executing an algorithm. Figure 3The figure is a schematic diagram of the structure of a signal transmitter 11a, 11b, or 11c according to an embodiment of the present invention. The signal transmitter 11a, 11b, or 11c may include a base 31, a power supply and an outdoor power source 32 for providing power; a metal coil 33 for emitting a magnetic signal; a boost converter 34 connected to the power supply and the metal coil for converting the power; an output relay 35 connected to the boost converter 34 and the metal coil 33 for providing a periodic signal; and a microcontroller 36 for controlling the boost converter 34 and the output relay 35. In one embodiment, the signal strength of the signal transmitters 11a, 11b, or 11c is positively correlated with the output strength of the power supply 32. In one embodiment, the signal strength of the signal transmitters 11a, 11b, or 11c is positively correlated with the coil radius and number of turns of the metal coil 33. When underground pipelines are located at greater depths, the power output can be increased or a larger radius metal coil 33 can be used to generate a stronger signal. This allows the sensor device 12 to achieve a better signal-to-noise ratio. In one embodiment, the signal transmitters 11a, 11b, and 11c emit periodic signals. Because the signals received by the sensor device 12 contain background magnetic signals, such as geomagnetic signals, the signal transmitters 11a, 11b, and 11c are configured to emit periodic signals. This allows the sensor device 12 to receive the periodic signals and then analyze them to obtain a signal free of geomagnetic interference. In one embodiment, the metal coil 33 emits a magnetic signal at a frequency of 2 Hz. In one embodiment, the sensor device 12 is allowed to continuously receive magnetic signals for five minutes to ensure that the obtained magnetic intensity data has a sufficient signal-to-noise ratio. In one embodiment, the step of calculating the relative position of the at least one signal transmitter 11a, 11b, and 11c to the sensor device 12 based on the magnetic intensity data utilizes a triangulation positioning algorithm. In one embodiment, the step of calculating the predicted pipeline coordinates and predicted pipeline elevation based on the coordinates and elevation of the at least one signal transmitter 11a, 11b, 11c and the relative coordinates may utilize a fast Fourier transform algorithm. In one embodiment, the step of generating linear trajectory data based on the acceleration data and the angular velocity data may utilize an inertial navigation method to generate the linear data. Figure 4 1 is a schematic structural diagram of a sensing device 12 according to an embodiment of the present invention; the sensing device 12 may include: a three-axis gyroscope 43 for measuring angular velocity in the x-, y-, and z-axis directions; a three-axis accelerometer 44 for measuring acceleration in the x-, y-, and z-axis directions; a three-axis magnetic sensor 45 for measuring magnetic field strength in the x-, y-, and z-axis directions; a battery 41 for providing power; a storage unit (such as a memory card) 46 for storing data from the three-axis gyroscope 43, the three-axis accelerometer 44, and the magnetic sensor 45; and a processor 42 for controlling the operation of the three-axis gyroscope 43, the three-axis accelerometer 44, and the three-axis magnetic sensor 45. Figure 6 yes Figure 1 Detailed flowchart of the pipeline trajectory positioning method, wherein step S43 may correspond to step S2, step S44 may correspond to step S4, and the remaining steps are not limited to being executed by the computing device 14.

[0036] First, step S41 is executed to measure the correlation between distance and magnetic intensity to obtain a distance-magnetic intensity relationship. Next, step S42 is executed to move the sensing device 12 to the closest point to the coil of each signal transmitter 11a, 11b, and 11c (finding the closest point in pipeline 13 to each signal transmitter 11a, 11b, and 11c). Next, step S43 is executed to measure at different coil positions to obtain multiple sets of distances R and magnetic intensity M. Next, step S44 is executed to calculate the relative coordinates of the sensing device 12 on pipeline 13 and each signal transmitter. In step S41, since pipeline 13 may be made of different materials, it is necessary to first experimentally observe the magnetic intensity corresponding to different distances between pipeline 13 and one of the signal transmitters based on the material properties of the pipeline 13 to be located. This allows the correlation between the distance between the pipeline 13 and the signal transmitter and the magnetic intensity to be determined, thereby obtaining a distance-magnetic intensity relationship. For example, the pipeline 13 can be placed at different distances from the signal transmitter, and the magnetic sensor can be located at the position closest to the signal transmitter in the pipeline. The axis of the signal transmitter's coil is parallel to the direction of the pipeline 13 (the pipe axis). At this time, the magnetic sensor is located on the coil plane. The magnetic strength corresponding to the pipeline 13 at different distances is then measured, and the relationship between various distances and magnetic strength is obtained. This can be used to determine the correlation between various distances and the magnetic strength of the magnetic sensor. In one embodiment, the relationship between the distance between the pipeline 13 and the signal transmitter and the magnetic strength can be found by the computing device 14 or other means: M = f(R). If it is in power form, it can be M = aR b , where M is the magnetic intensity, R is the distance, and a and b are regression coefficients. In step S42, the closer the magnetic sensor is to the coil of the signal transmitter, the observed magnetic intensity will increase, and vice versa. Therefore, the nearest point of the pipeline 13 relative to the coil of the signal transmitter can be found. In step S43, the sensing device 12 can measure the magnetic signal at the nearest point to each signal transmitter, thereby obtaining multiple sets of distances and magnetic intensities. In more detail, in step S43, the magnetic sensor is fixed to the nearest point in the pipeline 13, and the coils are placed in different positions, for example, at intervals of 0.5m, and the coils at different positions are measured. Please refer to Figure 5 , Figure 5is a schematic diagram of a pipeline trajectory positioning method according to an embodiment of the present invention. The magnetic sensor measures the magnetic strength corresponding to the coil at different positions. The coil is placed in a direction perpendicular to the direction of the pipeline, that is, the direction of the measuring line. The distance between the coil and the reference position on the measuring line is yi. In step S43, multiple sets of coils (such as Figure 5 Coil 1 to coil n) are provided, and the magnetic intensity is measured to obtain multiple sets of distance R and corresponding magnetic intensity M data. In one embodiment, the number of coil settings can be adjusted according to the depth of the pipeline. In step S44, the calculation device 14 can substitute the multiple sets of distances and magnetic intensities obtained in step S43 into the relationship between the distance and magnetic intensity between the pipeline 13 and the signal transmitter obtained in step S41 M=f(R) for calculation to find multiple sets of relative coordinates. In more detail, in step S44, the relative coordinates (Z0, y0) of the underground pipeline relative to the surface reference point (reference station) are solved, where Z0 is the depth of the pipeline and y0 is the distance of the pipeline from the reference point on the horizontal plane. The measured data of the multiple sets of distances yi and magnetic intensity Mi are substituted into the relationship between the distance and magnetic intensity M obtained in step S41, in combination with the coil radius Rc. For example, if it is in power form (M=aR b ), then it can be written as M′ i =a×((y i -y0) 2 +(z0+R c ) 2 ) b / 2 , where (Z0, y0) is the unknown number to be solved. In one embodiment, any numerical method (such as Monte Carlo method, genetic algorithm, etc.) can be used in conjunction with the least square error method to find the best solution for (Z0, y0) so that the residual has the minimum value, that is, M i -M′ i ≈0, thereby obtaining relative coordinates. After obtaining the relative elevation difference Z0 of pipeline 13 relative to the surface reference point and the distance y0 of pipeline 13 from the reference point on the horizontal plane using this method (i.e., obtaining relative coordinates), and then using EGNSS or horizontal surveying to measure the world coordinates (e.g., Taiwan's two-degree zone coordinates or longitude and latitude) and horizontal elevation of the surface reference point, the world coordinates and horizontal elevation of the point closest to pipeline 13 from the reference point can be inferred.

[0037] After step S44 is completed, the coordinates (world coordinates or actual coordinates), elevation, and relative coordinates corresponding to each signal transmitter on pipeline 13 are obtained. Next, computing device 14 uses these coordinates, elevations, and relative coordinates to correct the linear trajectory data obtained in step S3. This correction may be performed, for example, by forcibly adjusting the predicted coordinates of the closest point on pipeline 13 to the reference point in the linear trajectory data obtained in step S3 to the corrected coordinates obtained in step S44. Furthermore, because step S44 can be performed on different sections of a pipeline, the positions closest to the reference point in the linear trajectory data obtained in step S3 can be forcibly adjusted to the corrected coordinates obtained in each step S44, while the trajectory between each reference point still uses the original linear trajectory obtained in step S3. In one embodiment, the sensor device is configured in conjunction with a pipeline cleaning head, which propels the sensor device forward as the pipeline cleaning head advances.

[0038] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A pipeline trajectory positioning method, performed by a pipeline trajectory positioning system, wherein the pipeline trajectory positioning system includes a signal transmitter, a sensor device, and a computing device, wherein the method comprises the steps of: At least one signal transmitter is installed on the ground surface; The sensing device is moved to generate magnetic intensity data based on a magnetic signal received from the at least one signal transmitter by a three-axis magnetic sensor on the sensing device, and acceleration data and angular velocity data by a three-axis accelerometer and a three-axis gyroscope on the sensing device; generating a linear trajectory data according to the acceleration data and the angular velocity data; Calculating a relative coordinate between the at least one signal transmitter and the sensor device according to the magnetic intensity data; Calculating a pipeline predicted coordinate and a pipeline predicted elevation according to an absolute coordinate, an elevation, and the relative coordinate of the at least one signal transmitter; The linear trajectory data is corrected according to the pipeline predicted coordinates and the pipeline predicted elevation.

2. The pipeline trajectory positioning method according to claim 1 further includes a step of pre-determining the correlation between magnetic strength and pipeline distance. 3 . The pipeline trajectory positioning method according to claim 1 , wherein the at least one signal transmitter transmits a periodic signal. 4 . The pipeline trajectory positioning method according to claim 3 , wherein the metal coil emits a magnetic signal between 1 Hz and 8 Hz. 5 . The pipeline trajectory positioning method according to claim 1 , wherein the sensing device is allowed to continuously receive magnetic force for 4 to 6 minutes to ensure that the obtained magnetic strength data has a sufficient signal-to-noise ratio.

6. The pipeline trajectory positioning method according to claim 1, wherein the step of calculating the relative position of the at least one signal transmitter and the sensor device according to the magnetic intensity data uses a triangulation positioning algorithm.

7. The pipeline trajectory positioning method according to claim 1, wherein the step of calculating the pipeline predicted coordinates and the pipeline predicted elevation according to the absolute coordinates, the elevation and the relative coordinates of the at least one signal transmitter uses a fast Fourier transform algorithm. 8 . The pipeline trajectory positioning method according to claim 1 , wherein the step of generating the linear trajectory data according to the acceleration data and the angular velocity data uses an inertial navigation method. 9 . The pipeline trajectory positioning method according to claim 1 , wherein the sensing device is configured to be combined with a pipeline cleaning head, and the sensing device is propelled to move when the pipeline cleaning head advances.

10. A pipeline trajectory positioning system comprising: at least one signal transmitter; A sensing device comprising: a three-axis gyroscope, used to measure angular velocity data when the sensing device moves; a three-axis accelerometer for measuring acceleration data when the sensing device moves; and a three-axis magnetic sensor for receiving the magnetic signal from the at least one signal transmitter to generate magnetic intensity data; and a calculation device for generating linear trajectory data based on the acceleration data and the angular velocity data, and calculating relative coordinates of the at least one signal transmitter and the sensor device based on the magnetic intensity data; in, The calculation device calculates a pipeline prediction coordinate and a pipeline prediction elevation according to an absolute coordinate, an elevation and the relative coordinate of the at least one signal transmitter, and corrects the linear trajectory data according to the pipeline prediction coordinate and the pipeline prediction elevation.

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