Efficient buried pipeline position and depth searching device and searching method
By using vibration wave detection and geological data correction, the problem of difficult underground pipeline location in traditional methods has been solved, achieving efficient, accurate, and low-cost pipeline location measurement, which is suitable for widespread application.
Patent Information
- Application Number
- CN202511824604.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2022-02-09
- Publication Date
- 2026-02-13
AI Technical Summary
Traditional methods are difficult to accurately locate buried pipelines, especially non-metallic pipelines. They are also complex to operate, require large equipment, and have high technical requirements. They cannot effectively address gas pipeline leak detection and pose safety hazards.
The device, consisting of a vibration transmitter and a vibration receiver, detects buried pipelines by using vibration waves, uses multiple sensor components to detect the location of the vibration source, and combines geological data to correct errors, thus achieving accurate positioning.
It enables efficient and accurate measurement of the location of buried pipelines, is easy to operate, low in cost, requires minimal operator skills, is suitable for widespread adoption, and is supported by a highly automated virtual system.
Smart Images
Figure CN121522576A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of buried pipeline tracing technology, and in particular to an efficient device and method for locating and measuring the location and depth of buried pipelines. Background Technology
[0002] Traditional methods for locating underground pipelines rely on construction drawings, metal detectors, and ultrasonic echo detection. However, due to non-standard drawings, damage caused by rodents and insects, and loss due to mismanagement and relocation, maintenance of many old pipelines becomes extremely difficult, especially for detecting gas pipeline leaks, posing a significant safety hazard to people's lives and property. Furthermore, traditional metal detection methods cannot detect non-metallic materials, nor can they utilize their own magnetic fields like power lines. Ultrasonic echo detection is greatly affected by geological conditions, requires large equipment, and demands highly skilled operators, hindering its widespread adoption. Summary of the Invention
[0003] The purpose of this invention is to provide an efficient device and method for locating and determining the depth of buried pipelines, thereby solving the aforementioned problems in the prior art.
[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This invention discloses a highly efficient device for locating and determining the depth of buried pipelines, comprising a host, a client, a vibration transmitter, and a vibration receiver. The client is wirelessly connected to both the host and the vibration receiver. The vibration transmitter is electrically connected to the host. The host can control the power of the vibration transmitter and process the detection information from the vibration receiver. The vibration transmitter is connected to the pipeline under test via a quick-release connector. The vibration waves generated by the transmitter are transmitted through the pipeline under test to the target underground pipeline, making the target underground pipeline a specific vibration source. The vibration receiver includes five adjustment frames, four of which form a rectangular array and are connected sequentially by a steel frame. One adjustment frame is located in the middle of the four adjustment frames and is connected to two diagonally opposite adjustment frames via... A steel frame is connected, and sensor assemblies are installed inside any four of the adjustment frames via slide rails. The sensor assemblies can move up and down inside the adjustment frames. Limit grooves are formed on the surface of the adjustment frames, and slidable adjustment rods are set in the limit grooves. One end of the adjustment rod is connected to the sensor assembly via a bearing, and the other end passes through the limit groove and extends outward. The adjustment rod can be limited in the limit groove to fix the height of the sensor assembly. Any three of the sensor assemblies obtain the distance from the vibration source to each sensor by using the attenuation coefficient of the vibration due to the geological conditions, thus obtaining the theoretical position of the vibration source. The theoretical distance is called the pseudo-distance. The fourth sensor assembly, by introducing a common uncertainty, corrects the pseudo-distance caused by the inhomogeneity of the geological conditions and the difference in attenuation rate, thereby obtaining the accurate position of the vibration source.
[0005] Furthermore, the sensor assembly includes a base, a housing, a pressure spring, a tension sensor, and a connecting plate. A vibration probe is provided at the bottom of the base, the housing is provided on the surface of the base, a control component and a sensor are provided inside the housing, a transmission antenna and a pressure spring are provided at the top of the housing, the tension sensor is provided at the top of the pressure spring, and the connecting plate is provided on the upper surface of the tension sensor.
[0006] Furthermore, the vibration transmitter includes a generating cylinder, a generating cover, and a sound wave horn. The generating cover is bolted to the generating cylinder, and the sound wave horn is located at the bottom of the generating cover. The upper surface of the generating cover is provided with a vent valve, a pipe interface, and a power connection port. The power connection port is connected to the sound wave horn, and a power cord is plugged into the power connection port to connect to the main unit. The main unit supplies power and controls the vibration transmitter.
[0007] Furthermore, the host includes a carrying case, an integrated circuit board, and a battery. A display panel is provided on the lid of the carrying case, and the integrated circuit board and the battery are disposed inside the carrying case. The integrated circuit board includes a communication module and a power amplifier module. The battery is electrically connected to the display panel and the integrated circuit board. The power amplifier module can process the detection information of the vibration receiver.
[0008] Furthermore, the sensor assembly is installed in each of the five adjustment frames, and the sensor assembly of any four adjustment frames can obtain the accurate vibration point position, which can be obtained by fitting the pipe position and direction through computer software.
[0009] This invention also provides an efficient method for locating and determining the depth of buried pipelines, employing the aforementioned efficient buried pipeline location and depth locating device, comprising the following steps: Vibration receivers are distributed around the perimeter, and the main unit is wirelessly connected to the receivers. The main unit is also connected to the vibration transmitter via a power cord. The transmitter is connected to the pipe being tested via a pipe interface and emits sound waves through a horn. The frequency of the horn can be adjusted by the main unit to create a specific vibration source on the pipe being tested, which can then be detected by the vibration receiver. Multiple sensor components detect the specific vibration source, and the main unit's power amplifier module processes the detection information from the multiple sensor components and calculates the accurate location. Specifically, the distance from the vibration source to each sensor is obtained by any three sensor components using the attenuation coefficient of the vibration due to the geological conditions, thus obtaining the theoretical location of the vibration source, which is called the pseudo-range. The fourth sensor component introduces a common uncertainty to correct the pseudo-range caused by the heterogeneity of the geological conditions and the difference in attenuation rate, thereby obtaining the accurate location of the vibration source.
[0010] Compared with the prior art, the present invention has the following beneficial effects: The efficient buried pipeline location and depth locating device and method of the present invention can accurately locate the pipeline by using four or more vibration receivers. The overall structure is reasonably designed and easy to operate. At the same time, the measurement method of the present invention is efficient, accurate, simple to operate, low in cost, and requires little operator skill, which is conducive to promotion. Moreover, it has strong scalability and a high degree of automation. It can use a virtual system to generate a pipeline network model, and the data can be connected to a smart city to form a visual model. Attached Figure Description
[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the 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.
[0012] Figure 1 This is a schematic diagram of the structure of the efficient buried pipeline location and depth locating device according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the main unit in the efficient buried pipeline location and depth locating device of Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the vibration transmitter in the efficient buried pipeline location and depth locating device of Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the vibration receiver in the efficient buried pipeline location and depth locating device of Embodiment 1 of the present invention; Figure 5 This is a side sectional view of the vibration receiver in the efficient buried pipeline location and depth locating device of Embodiment 1 of the present invention. Figure 6 This is a schematic diagram of the sensor assembly in the efficient buried pipeline location and depth locating device according to Embodiment 1 of the present invention. Figure 7 This is a schematic diagram of the sensor assembly in the efficient buried pipeline location and depth locating device according to Embodiment 1 of the present invention. Figure 8 This is a schematic diagram of the vibration receiver algorithm in the efficient buried pipeline location and depth locating device of Embodiment 1 of the present invention.
[0013] Explanation of reference numerals in the attached diagram: 1. Main unit; 11. Handbag; 12. Display panel; 13. Integrated circuit board; 14. Battery; 15. Communication module; 16. Power amplifier module; 2. Client; 3. Vibration transmitter; 31. Generator cylinder; 32. Generator cover; 33. Sound wave horn; 34. Vent valve; 35. Pipe interface; 36. Power connection port; 4. Vibration receiver; 41. Adjustment frame; 42. Limiting groove; 43. Adjustment rod; 5. Sensor assembly; 51. Base; 52. Vibration probe; 53. Control assembly; 54. Sensor; 55. Housing; 56. Transmission antenna; 57. Compression spring; 58. Tension sensor; 59. Connecting plate. Detailed Implementation
[0014] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.
[0015] In the description of this invention, it should be understood that the terms "length," "width," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.
[0016] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0017] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0018] Example 1 like Figures 1 to 8 As shown, the efficient buried pipeline location and depth locating device of this embodiment includes a host 1, a client 2, a vibration transmitter 3 and a vibration receiver 4. The client 2 is wirelessly connected to the host 1 and the vibration receiver 4 respectively. The vibration transmitter 3 is electrically connected to the host 1 and is connected to the pipeline being measured.
[0019] The efficient buried pipeline location and depth locating device of this embodiment mainly includes four parts. The client 2 is a program that can be installed on a mobile phone or tablet for convenient outdoor use. The client 2 is connected to the host 1 wirelessly, using Bluetooth or LoRa connection modules. The client 2 is also wirelessly connected to the vibration receiver 4, which can be connected via Bluetooth or other methods. The vibration transmitter 3 is directly connected to the host 1 via a power line, and then the pipe interface 35 of the vibration transmitter 3 is connected to the pipeline being measured.
[0020] Specifically, the vibration receiver 4 includes five adjustment frames 41, four of which form a rectangular array and are connected sequentially by a steel frame. One adjustment frame 41 is located in the middle of the four adjustment frames 41 and is connected to the two diagonally opposite adjustment frames 41 by a steel frame. Sensor assemblies 5 are installed inside the adjustment frames 41 via slide rails. Each of the five adjustment frames 41 of the vibration receiver 4 can be equipped with one sensor assembly 5, or none can be installed. The number of sensor assemblies 5 installed is selected according to actual needs, with 3-5 being preferred.
[0021] Furthermore, a limiting groove 42 is formed on the surface of the adjusting frame 41, and a slidable adjusting rod 43 is provided in the limiting groove 42. One end of the adjusting rod 43 is connected to the sensor assembly 5 through a bearing, and the other end of the adjusting rod 43 passes through the limiting groove 42 and extends outward. At this time, the sensor assembly 5 can move up and down inside the adjusting frame 41, and the height can be adjusted by the adjusting rod 43. The adjusting rod 43 can be limited in the limiting groove 42 to fix the height of the sensor assembly 5. When the adjusting rod 43 is located in the upper groove of the limiting groove 42, the sensor assembly 5 is retracted in the adjusting frame 41. When the adjusting rod 43 is located in the lower groove of the limiting groove 42, the sensor assembly 5 can extend from the bottom of the adjusting frame 41, so that the sensor assembly 5 contacts the ground and performs detection.
[0022] In this system, sensor assemblies 5 are installed in any three adjustment frames 41 on the vibration receiver 4, which can determine the position coordinates and obtain the pseudorange. When there are three sensor assemblies 5 on the vibration receiver 4, due to the heterogeneity of the geological soil, the attenuation of the vibration wave is different in all directions, and its attenuation coefficient is not a constant value. At this time, the distance obtained by the three vibration receivers 4 is called the pseudorange, and the obtained position coordinates will be affected by the different geological soil layers, resulting in errors.
[0023] Preferably, sensor assemblies 5 are installed in any four adjustment frames 41 on the vibration receiver 4, which can correct pseudoranges and obtain the correct position coordinates. When there are four sensor assemblies 5 on the vibration receiver 4, four uncertain distances ν are obtained through the attenuation rate. Four equations are constructed using the four uncertain distances and the four accurate distances. The results can correct pseudoranges and obtain the accurate position of the vibration source.
[0024] It should be noted that when there is only one vibration receiver 4, based on the geological attenuation coefficient, the distance between the vibration source and the vibration receiver 4, I1=I0, is obtained, which is an ideal hemisphere. This allows measurement of any direction on the spherical surface of the vibration source and the distance between the vibration source and the vibration receiver 4. For a target pipeline with a loaded vibration transmitter 3, each point can be considered a vibration source. For vibration at any location, the signal strength received by a single vibration receiver 4 and the geological vibration attenuation coefficient c can yield the ideal distance d between the vibration source and the vibration receiver 4, which determines the vibration source in a hemisphere on the ground (or in other words, determines the vibration source anywhere on this sphere). A single vibration receiver 4 can only determine the direction, not the location. When there are two vibration receivers 4, a semi-circular vibration source can be measured, and the distance between the vibration source and the vibration receiver 4 can be obtained. Based on the geological attenuation coefficient, the distances between the vibration source and the vibration receivers (4-1 / 4-2), I1=I0 and I2=I0, are obtained, which is an ideal semicircle.
[0025] Specifically, the sensor assembly 5 includes a base 51, a vibration probe 52 is provided at the bottom of the base 51, a housing 55 is provided on the surface of the base 51, a control assembly 53 and a sensor 54 are provided inside the housing 55, a transmission antenna 56 and a pressure spring 57 are provided at the top of the housing 55, a tension sensor 58 is provided at the top of the pressure spring 57, and a connecting plate 59 is provided on the upper surface of the tension sensor 58.
[0026] At this time, the base 51 and housing 55 of sensor assembly 5 protect the control assembly 53 and sensor 54 inside. Sensor 54 is a vibration sensor, and control assembly 53 is an integrated circuit board with various circuits, including signal processing circuits, wireless communication circuits, and a battery. The pressure spring 57 and tension sensor 58 can detect whether sensor assembly 5 is grounded. When the adjusting rod 43 is in the lower groove of the limiting groove 42, sensor assembly 5 extends out of the adjusting bracket 41, and pressure is applied to the connecting plate 59. Then, tension sensor 58 will detect the pressure. The client 2 can check whether tension sensor 58 has changed, thus determining whether sensor assembly 5 is in contact with the ground.
[0027] In this first embodiment, the vibration transmitter 3 includes a generating cylinder 31, a generating cover 32 bolted to the generating cylinder 31, a sound wave horn 33 at the bottom of the generating cover 32, and a vent valve 34, a pipe interface 35, and a power connection port 36 on the upper surface of the generating cover 32. The power connection port 36 is connected to the sound wave horn 33. Preferably, the generating cylinder 31 and the generating cover 32 are made of metal. The generating cylinder 31 has multiple threaded holes, and multiple bolts pass through the generating cover 32 and connect to the generating cylinder 31, thus fixing the generating cylinder 31 and the generating cover 32 together. The sound wave horn 33 is installed at the bottom of the generating cover 32. After the generating cylinder 31 and the generating cover 32 are connected, the sound wave horn 33 is inside the generating cylinder 31. The generating cover 32 also has a vent valve 34, a pipe interface 35, and a power connection port 36. The vent valve 34 mainly releases gas from the pipe, which can prevent air from entering the gas pipe.
[0028] At this time, the pipe interface 35 can be directly connected to the pipe under test, and the pipe interface 35 is a quick-release interface. The power connection port 36 can be connected to the host 1, so that the host 1 can supply power and control the vibration transmitter 3. The vibration wave generated by the vibration transmitter 3 is transmitted to the target underground pipe through the pipe interface 35 and the pipe under test in the manhole, so that the target pipe becomes a specific vibration source.
[0029] The main unit 1 includes a carrying case 11 with a display panel 12 on its lid. Inside the carrying case 11 are an integrated circuit board 13 and a battery 14. The integrated circuit board 13 includes a communication module 15 and a power amplifier module 16. The battery 14 is electrically connected to the integrated circuit board 13. All electrical components of the main unit 1 are housed in the carrying case 11, which can be opened for use. The carrying case 11 protects the electrical components and facilitates movement and use. The battery 14 provides power to the integrated circuit board 13 and the display panel 12. The display panel 12 uses a touchscreen for easy operation. The communication module 15 integrates common communication technologies such as Bluetooth, network, and LoRa connectivity. The power amplifier module 16 includes a processor, indicator lights, a network interface, multiple USB ports, a power interface, and a reset switch. The power amplifier module 16 processes data from the detection information of multiple vibration receivers 4. The main unit 1 can also control the power of the vibration transmitter 3 to adjust the sound wave frequency and select the optimal frequency for different situations.
[0030] In this embodiment, the efficient buried pipeline location and depth locating device involves distributing multiple vibration receivers 4 around the perimeter and wirelessly connecting the main unit 1 to the multiple vibration receivers 4. The main unit 1 is connected to the vibration transmitter 3 via a power cord, and the vibration transmitter 3 is connected to the pipeline under test via a pipe interface 35. The vibration transmitter 3 emits sound waves through a sound wave horn 33. The frequency of the sound wave horn 33 can be adjusted by the main unit 1 according to the actual situation to make the pipeline under test form a specific vibration source, which can be detected by the vibration receivers 4. Then, multiple sensor components 5 detect the specific vibration source and calculate the accurate location.
[0031] Example 2 The difference between the efficient buried pipeline location and depth locating device in Embodiment 2 and Embodiment 1 is that sensor components 5 are installed in any five adjusting frames 41 on the vibration receiver 4, and any four sensor components 5 can obtain an accurate position coordinate. When the number of sensor components 5 on the vibration receiver 4 is five or more, any four sensor components 5 can obtain an accurate vibration point location, which can be virtually synthesized into the pipeline location and direction by software. This eliminates the need for manual movement and multiple measurements and resynthesis, improving work efficiency and accuracy, and facilitating data transmission, storage, and grid connection.
[0032] Example 3 The efficient method for locating and determining the depth of buried pipelines in this embodiment three, employing the aforementioned efficient buried pipeline location and depth locating device, includes the following steps: Vibration receivers 4 are distributed around the perimeter, and the host 1 is wirelessly connected to the vibration receivers 4. The host 1 is also connected to the vibration transmitter 3 via a power cord. The vibration transmitter 3 is connected to the pipe under test via a pipe interface 35. The vibration transmitter 3 emits sound waves through a sound wave horn 33. The frequency of the sound wave horn 33 can be adjusted by the host 1 according to the actual situation to make the pipe under test form a specific vibration source, which can be detected by the vibration receiver 4. Then, multiple sensor components 5 detect the specific vibration source. The power amplifier module 16 of the host 1 can process the detection information of multiple sensor components 5 and calculate the accurate position. Among them, any three sensor components 5 can obtain the distance from the vibration source to each sensor through the attenuation coefficient of the vibration by the geology, and thus obtain the theoretical position of the vibration source. The theoretical distance is called the pseudo-range. The fourth sensor component 5 introduces a common uncertainty to correct the pseudo-range caused by the heterogeneity of the geology and the difference in attenuation rate, thereby obtaining the accurate position of the vibration source.
[0033] The efficient buried pipeline location and depth locating device and method of the present invention can accurately locate the pipeline by using four or more vibration receivers. The overall structure is reasonably designed and easy to operate. At the same time, the measurement method of the present invention is efficient, accurate, simple to operate, low in cost, and requires little operator skill, which is conducive to promotion. Moreover, it has strong scalability and a high degree of automation. It can use a virtual system to generate a pipeline network model, and the data can be connected to a smart city to form a visual model.
[0034] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims
1. A highly efficient device for locating and determining the depth of buried pipelines, characterized in that, The system includes a host (1), a client (2), a vibration transmitter (3), and a vibration receiver (4). The client (2) is wirelessly connected to the host (1) and the vibration receiver (4), respectively. The vibration transmitter (3) is electrically connected to the host (1). The host (1) can control the power of the vibration transmitter (3) and process the detection information of the vibration receiver (4). The vibration transmitter (3) is connected to the pipe under test via a quick-release connector. The vibration wave generated by the vibration transmitter (3) is transmitted to the target underground pipe through the pipe under test, making the target underground pipe a specific vibration source. The vibration receiver (4) includes five adjustment frames (41), of which four adjustment frames (41) form a rectangular array and are connected sequentially by a steel frame. One adjustment frame (41) is located in the middle of the four adjustment frames (41) and is connected to the two diagonally opposite adjustment frames (41) by a steel frame. Sensor assemblies (5) are installed inside the four adjustment frames (41) via slide rails. The sensor assemblies (5) can move up and down inside the adjustment frames (41). Limiting grooves (42) are opened on the surface of the adjustment frames (41). A sliding adjustment rod (43) is provided in the limiting groove (42). One end of the adjustment rod (43) is connected to the sensor assembly (5) through a bearing, and the other end passes through the limiting groove (42) and extends outward. The adjustment rod (43) can be limited in the limiting groove (42) to fix the height of the sensor assembly (5). The distance from the vibration source to each sensor can be obtained by any three sensor assemblies (5) through the attenuation coefficient of the vibration by the geology. The theoretical position of the vibration source can be obtained. The theoretical distance is called the pseudo distance. The fourth sensor assembly (5) introduces a common uncertainty to correct the pseudo distance caused by the inhomogeneity of the geology and the difference in attenuation rate, thereby obtaining the accurate position of the vibration source.
2. The efficient buried pipeline location and depth locating device according to claim 1, characterized in that, The sensor assembly (5) includes a base (51), a housing (55), a pressure spring (57), a tension sensor (58), and a connecting plate (59). A vibration probe (52) is provided at the bottom of the base (51). The housing (55) is provided on the surface of the base (51). A control assembly (53) and a sensor (54) are provided inside the housing (55). A transmission antenna (56) and a pressure spring (57) are provided at the top of the housing (55). The tension sensor (58) is provided at the top of the pressure spring (57). The connecting plate (59) is provided on the upper surface of the tension sensor (58).
3. The efficient buried pipeline location and depth locating device according to claim 1, characterized in that, The vibration transmitter (3) includes a generating cylinder (31), a generating cover (32), and a sound wave horn (33). The generating cover (32) is bolted to the generating cylinder (31). The sound wave horn (33) is located at the bottom of the generating cover (32). The upper surface of the generating cover (32) is provided with a vent valve (34), a pipe interface (35), and a power connection port (36). The power connection port (36) is connected to the sound wave horn (33), and a power cord is plugged into the power connection port (36) to connect to the host (1). The host (1) supplies power and controls the vibration transmitter (3).
4. The efficient buried pipeline location and depth locating device according to claim 1, characterized in that, The host (1) includes a suitcase (11), an integrated circuit board (13) and a battery (14). The suitcase (11) has a display panel (12) on its lid. The integrated circuit board (13) and the battery (14) are located inside the suitcase (11). The integrated circuit board (13) includes a communication module (15) and a power amplifier module (16). The battery (14) is electrically connected to the display panel (12) and the integrated circuit board (13). The power amplifier module (16) can process the detection information of the vibration receiver (4).
5. The efficient device for locating and determining the depth of buried pipelines according to any one of claims 1-4, characterized in that, The sensor assembly (5) is installed in each of the five adjustment frames (41). The sensor assembly (5) of any four adjustment frames (41) can obtain the accurate vibration point position, and the pipe position and direction can be obtained by fitting through computer software.
6. A highly efficient method for locating and determining the depth of buried pipelines, characterized in that, The efficient underground pipeline location and depth locating device according to any one of claims 1-5 includes the following steps: The vibration receivers (4) are distributed around the perimeter, and the host (1) is wirelessly connected to the vibration receivers (4). The host (1) is connected to the vibration transmitter (3) via a power cord. The vibration transmitter (3) is connected to the pipe under test via a pipe interface (35). The vibration transmitter (3) emits sound waves through a sound wave horn (33). The frequency of the sound wave horn (33) can be adjusted by the host (1) according to the actual situation, so that the pipe under test forms a specific vibration source, which can be detected by the vibration receiver (4). Then, multiple sensor components (5) detect the specific vibration source. The power amplifier module (16) of the host (1) can process the detection information of multiple sensor components (5) and obtain the accurate position through calculation. Among them, any three sensor components (5) can obtain the distance between the vibration source and each sensor through the attenuation coefficient of the vibration by the geology, and thus obtain the theoretical position of the vibration source. The theoretical distance is called the pseudo distance. The fourth sensor component (5) introduces a common uncertainty to correct the pseudo distance caused by the heterogeneity of the geology and the difference in attenuation rate, thereby obtaining the accurate position of the vibration source.