Nonmetal buried pipeline positioning method based on time domain superposition and recursive segmentation

Abstract

The invention discloses a non-metal buried pipeline positioning method based on time domain superposition and recursive segmentation, and belongs to the technical field of pipeline positioning, and the technical scheme is that a plurality of detectors are arranged along the same horizontal line, any one of the detectors is used as a reference detector, and a vibration source is arranged close to the reference detector; sound waves are emitted to the stratum through the vibration source, and reflected wave signals are obtained at all the detectors; m times of repeated acquisition are carried out on the same measuring point of each detector, and superposition is carried out in a time domain to obtain a superposed receiving signal; determining the reflected wave arrival time of each detector through a recursive segmentation method; the distance between each detector and the vertex of the cross section of the pipeline is determined based on the propagation speed of sound waves in the stratum; and drawing a circle by taking at least two detectors as circle centers and respective propagation distances as radiuses to calculate an intersection point, and determining the position of the target pipeline. The non-metal buried pipeline positioning method based on time domain superposition and recursive segmentation has the beneficial effect that the non-metal buried pipeline positioning method based on time domain superposition and recursive segmentation is provided.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pipeline positioning, and particularly relates to a non-metallic buried pipeline positioning method based on time domain superposition and recursive segmentation. BACKGROUND

[0002] Non-metallic pipelines have excellent performances such as corrosion resistance, light weight and low cost, and therefore become one of the mainstream choices in buried pipelines. However, the traditional detection technology is difficult to clearly identify the accurate position of the non-metallic pipeline due to the similar conductivity of the non-metallic pipeline and the soil, so that the non-metallic pipeline is easily damaged in earthmoving operation, thereby causing safety accidents or economic losses.

[0003] In comparison, the acoustic wave detection technology has good adaptability to the non-metallic pipeline, and can determine the exact position of the pipeline by receiving the reflection signal of the soil-pipeline interface and then processing the signal. However, the intensity of the acoustic wave gradually attenuates when propagating in the soil, and the interference is large. The current acoustic wave detection technology mostly adopts complex processing such as fine filtering and multi-dimensional transformation to reduce the interference, but these methods not only reduce the data processing speed, but also easily introduce signal distortion. SUMMARY

[0004] The purpose of the present application is to provide a non-metallic buried pipeline positioning method based on time domain superposition and recursive segmentation.

[0005] The present application is realized by the following measures: a non-metallic buried pipeline positioning method based on time domain superposition and recursive segmentation, characterized by comprising: arranging a plurality of detectors along the same horizontal line, taking any one of the detectors as a reference detector and setting a vibration source close to the reference detector; emitting acoustic waves to the stratum through the vibration source, and acquiring reflection wave signals at each detector; performing M times of repeated collection at the same measuring point of each detector and superimposing in the time domain to obtain superimposed received signals; determining the reflection wave arrival time of each detector by the recursive segmentation method; based on the propagation speed of the acoustic wave in the stratum and the distance between each detector and the top point of the pipeline cross section; taking at least two detectors as the centers and the respective propagation distances as the radii to make circles to find the intersection points, and determining the position of the target pipeline.

[0006] Further, the reflection wave arrival time of each detector is determined by the recursive segmentation method, comprising: taking the received signal of the reference detector as a reference signal; taking the effective time length of the reference signal as the time window of the recursive segmentation method; For a sliding window, the time domain of the signal received by the detector [ , Perform initial segmentation, calculate the correlation coefficient with the reference signal segment by segment, and select the time segment with the largest correlation coefficient; Expanding the scope of the time domain The time domain is segmented, and the correlation coefficient is calculated sequentially with the reference signal. The time domain with the highest historical correlation coefficient is then recursively segmented again. until The arrival time of the reflected wave from the corresponding detector is determined by setting the step size ξ for frame-by-frame scanning and using the highest historical correlation coefficient.

[0007] Furthermore, the number of detectors is at least three, and the spacing between adjacent detectors is equal.

[0008] Furthermore, the formula for calculating the correlation coefficient is:

[0009] It is the superimposed signal received by the i-th detector. It is a reference signal. The signal received by the i-th detector is in [τ, τ+]. The mean of ] The reference signal is in [0, The mean of ] The signal received by the i-th detector is in [τ, τ+]. The standard deviation on ] The reference signal is in [0, The standard deviation on ] The duration of the reference signal.

[0010] Furthermore, after determining the location of the target pipe, the distance between two adjacent detectors and the line connecting the two detectors to the intersection point form a triangle. The depth of the pipe can be obtained by using the law of cosines.

[0011] Furthermore, the detector is a detector with low-pass characteristics.

[0012] Furthermore, the formula for the propagation distance of the detector is:

[0013] In the formula, To obtain the arrival time of the reflected wave received by the reference detector using a recursive segmentation method; This indicates the arrival time of the reflected waves received by each of the other detectors; This represents the speed at which sound waves propagate through the earth's strata.

[0014] This embodiment provides a non-metallic buried pipeline positioning system, characterized in that it includes: A detector module includes several detectors arranged along the same horizontal line, wherein any one of the detectors is a reference detector; A vibration source, positioned close to the reference detector, is used to emit sound waves into the formation. The superposition processing module performs M repeated acquisitions at the same measuring point of each detector and superimposes them in the time domain to obtain the superimposed received signal; the time search module determines the arrival time of the reflected wave of each detector through a recursive segmentation method; the calculation module is used to calculate the distance between each detector and the vertex of the pipe cross-section based on the propagation speed of sound waves in the stratum; the positioning module is used to find the intersection point of circles with at least two detectors as centers and their respective propagation distances as radii to determine the location of the target pipe.

[0015] This embodiment provides an electronic device, characterized in that it includes a processor and a memory, wherein the processor is used to execute a program stored in the memory for a non-metallic buried pipeline positioning method based on time-domain superposition and recursive segmentation, so as to implement the non-metallic buried pipeline positioning method based on time-domain superposition and recursive segmentation.

[0016] This embodiment provides a storage medium, characterized in that the storage medium stores one or more programs, which can be executed by one or more processors to implement the non-metallic buried pipeline positioning method based on time-domain superposition and recursive segmentation.

[0017] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows: by exciting sound waves on the ground and detecting reflected waves, the search range is gradually narrowed by using time-domain superposition combined with recursive segmentation method, thereby improving positioning accuracy and efficiency, while enhancing anti-interference ability, and realizing the positioning of non-metallic buried pipelines. Attached Figure Description

[0018] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings listed 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.

[0019] Figure 1 This is a flowchart of a non-metallic buried pipeline positioning method based on temporal superposition and recursive segmentation in an embodiment of the present invention; Figure 2 This is an arrangement diagram of the detector and vibration source in an embodiment of the present invention; Figure 3 This is a simulation of the signal after superposition and noise reduction, showing a schematic diagram of the separation of noise (yellow) and signal (blue). Figure 4 In the diagram, (a) shows the noise map when no signal is received, and (b) shows the signal received between 0.15s and 0.35s (i.e., the signal is superimposed between 0.15s and 0.35s). Figure 5 This is a schematic diagram of steps (1)-(4) in the correlation calculation in Example 3; Figure 6 This is a schematic diagram of a detector; Figure 7 This is a schematic diagram of finding the intersection point of circles drawn with the detectors as the centers and their respective propagation distances as the radii. Figure 8 This is a diagram showing the pipeline location. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. Of course, the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] Example 1: See Figure 1 , Figure 2 and Figure 6 A method for locating non-metallic buried pipelines based on temporal overlay and recursive segmentation, characterized by comprising: Step S1: Arrange 5 detectors along the same horizontal line, use any one of the detectors as a reference detector and set up a vibration source close to the reference detector. The spacing between adjacent detectors is equal, and 2m can be selected.

[0022] Step S2: Emit sound waves into the stratum through the vibration source and acquire reflected wave signals at each detector; Step S3: Perform M repeated acquisitions at the same measurement point of each detector and superimpose them in the time domain to obtain the superimposed received signal; The signal received by the detector includes not only the effective signal emitted by the vibration source, but also noise signals. Therefore, the directly received signal needs to be processed. The expression for the received signal is as follows:

[0023] In the formula, δ represents the attenuation coefficient. The time it takes for different detectors to receive the signal is represented by , k represents the number of receptions, r(t) is the reference signal, and n(t) is Gaussian white noise.

[0024] The time-domain superposition method effectively overcomes the limitations of single-signal detection, providing more comprehensive and accurate information for detection. By superimposing M repeated measurements, Gaussian white noise can be significantly suppressed; its calculation expression is as follows:

[0025] The more times the measurement is repeated (M), the smaller the superposition of Gaussian white noise becomes. When M approaches positive infinity, the superposition value of Gaussian white noise approaches 0. In this way, the signal-to-noise ratio of the signals obtained by each detector is greatly improved.

[0026] Step S4: Determine the arrival time of the reflected waves from each detector using a recursive segmentation method; including: S401. Use the received signal of the reference detector as a reference signal; S402, The effective time interval of the reference signal is [0, ... The time domain of the signal received by the detector is [ , [, in effective duration] The sliding window is initially divided into continuous segments in the time domain of the signal received by the detector. ]、[ ]……[ [n+1 consecutive and mutually exclusive time domains; calculate the correlation coefficient between each of the n+1 time domains and the reference signal, and set the time domain with the highest correlation coefficient as []. The formula for calculating the correlation coefficient is:

[0027] It is the superimposed signal received by the i-th detector. It is a reference signal. The signal received by the i-th detector is in [τ, τ+]. The mean of ] The reference signal is in [0, The mean of ] The signal received by the i-th detector is in [τ, τ+]. The standard deviation on ] The reference signal is in [0, The standard deviation on ] The effective duration of the reference signal.

[0028] S403. Expand the scope of the time domain. The time domain is divided into segments, with n initially set to 1. Each recursive iteration increments the number of segments by n+1, and the correlation coefficient is calculated sequentially with the reference signal. The time domain with the highest historical correlation coefficient is then recursively divided again. S404, until The arrival time of the reflected wave from the corresponding detector is determined by setting the step size ξ for frame-by-frame scanning and using the highest historical correlation coefficient.

[0029] After obtaining the signal through time-domain superposition, the reference signal needs to be compared with the signals obtained by each detector. The sound wave emitted by the vibration source is located by comparing frames one by one and calculating the correlation coefficients individually. This method is simple and direct, but computationally intensive and has a long response time. To solve this problem, a recursive segmentation method is introduced. Each time, the search area is divided into several equal parts. By comparing the correlation coefficients of these parts with the reference signal, the areas surrounding the parts with high correlation coefficients are further segmented and calculated. This process is repeated continuously to gradually approach the target position and thus quickly determine the target location.

[0030] Step S5: Based on the propagation speed of sound waves in the stratum and the distance between each detector and the apex of the pipe cross-section; the formula for the propagation distance of the detector is:

[0031] In the formula, To obtain the arrival time of the reflected wave received by the reference detector using a recursive segmentation method; This indicates the arrival time of the reflected waves received by each of the other detectors; This represents the speed at which sound waves propagate through the earth's strata.

[0032] Step S6: Draw circles with at least two detectors as centers and their respective propagation distances as radii, find the intersection point, and determine the location of the target pipe.

[0033] After determining the location of the target pipe, the distance between two adjacent detectors and the line connecting the two detectors to the intersection point form a triangle. The depth of the pipe can be obtained by using the law of cosines.

[0034] The detector is a detector with low-pass characteristics.

[0035] Example 2: See Figure 3 Based on Example 1, white noise was applied to the sinusoidal signal using MATLAB, and the simulation results are as follows. Figure 3 As shown in Figure a. For ease of comparison, the signal and noise are represented separately as follows: Figure 3 As shown in b, however, the signal received during actual detection is the superposition of the two, i.e. Figure 3 The signal shown in a. The time-domain superposition method is used to... Figure 3 The signal in 'a' is superimposed 100 times, and the specific algorithm is as follows:

[0036] The result is as follows Figure 3As shown in c, the signal becomes noticeably clearer, and the following steps are taken: Figure 3 Method b Figure 3 c performs signal and noise separation, obtaining the separation result as follows: Figure 3 As shown in d. (Through) Figure 3 b and Figure 4 The comparison of d shows that after 100 superpositions using the time-domain superposition method, the signal-to-noise ratio of the received signal is significantly improved, and the signal is clearer.

[0037] Example 3: See Figure 5 and Figure 8 Building upon Example 1, after noise reduction, the path length of the signal propagation needs to be deduced from the received signal time. This requires locating the position of the signal emitted by the vibration source in the time domain within the received signal. Although the influence of white noise on the test can be significantly reduced by the time-domain superposition method, in actual testing, there are still many other noise interference signals that are difficult to remove. Therefore, a pure noise map without received signal was simulated using MATLAB, and the signal was superimposed between 0.15s and 0.35s. A recursive segmentation method was then used to quickly locate the selected position to verify the feasibility of the method.

[0038] The correlation is calculated using the `corrcoef` function in MATLAB. (1) Since the effective duration of the reference signal emitted by the vibration source is 0.2s, and the time domain of the signal received by the detector is [0,1], the 1s of the received signal is divided into 5 parts, namely [0s,0.2s], [0.2s,0.4s]……[0.8s,1.0s], and the correlation coefficients between these intervals and the reference signal are calculated in sequence. The correlation coefficients are 0.0253, 0.3560, 0.0133, 0.0511 and 0.0425, respectively. The interval with the highest correlation coefficient is [0.2s,0.4s].

[0039] (2) The distance between each interval was 0.2s in the last segmentation. According to the recursive segmentation method mentioned above, the interval found in the last segmentation is expanded by 0.1s to the left and right respectively. The correlation coefficients are calculated for the time domain respectively. The correlation coefficients of [0.1s, 0.3s] and [0.3s, 0.5s] are 0.3577 and 0.0394 respectively. Therefore, the interval with the highest correlation coefficient is [0.1s, 0.3s].

[0040] (3) The distance between each interval was 0.1s in the last segmentation. Therefore, this segmentation expands the interval [0.1s, 0.3s] by 0.05s on both sides and calculates the correlation coefficients for the time domain. The correlation coefficients for [0.05s, 0.25s] and [0.15s, 0.35s] are 0.1040 and 0.5592, respectively. Therefore, the interval with the highest correlation coefficient is currently [0.15s, 0.35s].

[0041] (4) The distance between each interval was 0.05s in the last segmentation. Therefore, this segmentation expands the interval [0.15s, 0.35s] by 0.025s on both sides. The correlation coefficients of the 0.2s time domains on both sides are calculated. The correlation coefficients of [0.125s, 0.325s] and [0.175s, 0.375s] are 0.1755 and 0.1571, respectively. Therefore, the interval with the highest correlation coefficient is still [0.15s, 0.35s].

[0042] (5) The distance between each interval was 0.025s in the last segmentation. Therefore, this segmentation expands the interval [0.15s, 0.35s] by 0.012s on both sides. The correlation coefficients of the 0.2s time domains on both sides are calculated. The correlation coefficients of [0.138s, 0.338s] and [0.162s, 0.362s] are 0.4726 and 0.4152, respectively. Therefore, the interval with the highest correlation coefficient is still [0.15s, 0.35s].

[0043] (6) The distance between each interval was 0.012s in the last segmentation. Therefore, this segmentation expands the interval [0.15s, 0.35s] by 0.006s on both sides. The correlation coefficients of the 0.2s time domains on both sides are calculated. The correlation coefficients of [0.144s, 0.344s] and [0.156s, 0.356s] are 0.5416 and 0.5063, respectively. Therefore, the interval with the highest correlation coefficient is still [0.15s, 0.35s].

[0044] (7) The distance between each interval was 0.006s in the last segmentation. Therefore, this segmentation expands the interval [0.15s, 0.35s] by 0.003s on both sides. The correlation coefficients of the 0.2s time domains on both sides are calculated. The correlation coefficients of [0.147s, 0.347s] and [0.153s, 0.353s] are 0.5519 and 0.5420, respectively. Therefore, the interval with the highest correlation coefficient is still [0.15s, 0.35s].

[0045] (8) The distance between each interval was 0.003s in the last segmentation. Therefore, this segmentation expands the interval [0.15s, 0.35s] by 0.001s on both sides. The correlation coefficients of the 0.2s time domains on both sides are calculated. The correlation coefficients of [0.149s, 0.349s] and [0.151s, 0.351s] are 0.5569 and 0.5519, respectively. Therefore, the interval with the highest correlation coefficient is still [0.15s, 0.35s].

[0046] This embodiment demonstrates that the location can be determined in just 3 steps, with the detector receiving the signal at 0.15s. The subsequent 5 steps verify the accuracy of the 3rd step, significantly reducing calculation time and improving detection efficiency compared to traditional signal location calculations.

[0047] The timing of the signals received by other detectors can be referred to steps (1)-(8).

[0048] Example 4: Based on Example 3, the pipeline positioning was simulated and calculated, and the moment when the detector one received the signal was obtained through recursive segmentation. =0.015s, the time when detector two receives the signal =0.016s, the time when the reference detector receives the signal. =0.02s, the speed of sound propagation in the stratum was found to be v=2000m / s, and the distance between detector 1 and detector 2 was 2m.

[0049] The distance between detector one and the vertex of the pipe cross-section is: ; Similarly, the distance between detector two and the vertex of the pipe cross-section is: .

[0050] At this point, using the detector as the center and the calculated distance as the radius, the intersection of the circles drawn indicates the location of the pipe. (See also...) ​ If specific data on relative positions is needed, the distances of 10m and 12m between the two detectors and the vertex of the pipe cross-section, along with the 2m spacing between the two detectors, form a triangle. The depth of the pipe can then be obtained using the law of cosines, as detailed below:

[0051] Where C is the angle between the line connecting detector one and the vertex of the pipe cross-section and the ground. The depth of the pipe is calculated using this angle. .

[0052] Example 5: This embodiment provides a non-metallic buried pipeline positioning system, characterized in that it includes: A detector module includes several detectors arranged along the same horizontal line, wherein any one of the detectors is a reference detector; A vibration source, positioned close to the reference detector, is used to emit sound waves into the formation. The superposition processing module performs M repeated acquisitions at the same measuring point of each detector and superimposes them in the time domain to obtain the superimposed received signal; the time search module determines the arrival time of the reflected wave of each detector through a recursive segmentation method; the calculation module is used to calculate the distance between each detector and the vertex of the pipe cross-section based on the propagation speed of sound waves in the stratum; the positioning module is used to find the intersection point of circles with at least two detectors as centers and their respective propagation distances as radii to determine the location of the target pipe.

[0053] For detailed descriptions of the functions of each module, please refer to the relevant descriptions in the above method embodiments, which will not be repeated here.

[0054] Example 6: This embodiment provides an electronic device, characterized in that it includes a processor and a memory, wherein the processor is used to execute a program stored in the memory for a non-metallic buried pipeline positioning method based on time-domain superposition and recursive segmentation, so as to implement the non-metallic buried pipeline positioning method based on time-domain superposition and recursive segmentation.

[0055] The electronic device includes at least one processor, memory, at least one network interface, and other user interfaces. The various components within the electronic device are coupled together via a bus system. It is understood that the bus system is used to enable communication and connection between these components. In addition to a data bus, the bus system also includes a power bus, a control bus, and a status signal bus.

[0056] The user interface may include a display, keyboard, or clicking device (e.g., mouse, trackball, touchpad, or touchscreen). It is understood that the memory in this embodiment may be volatile memory or non-volatile memory, or may include both.

[0057] In this embodiment of the invention, the processor executes the method steps provided in each method embodiment by calling a program or instruction stored in the memory, specifically a program or instruction stored in an application program.

[0058] In some implementations, the memory stores elements such as executable units or data structures, or subsets thereof, or extended sets thereof: operating systems and applications.

[0059] The operating system includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application programs include various applications, such as media players and browsers, used to implement various application functions. The program implementing the method of this invention can be included in the application programs.

[0060] Example 7: This embodiment provides a storage medium, characterized in that the storage medium stores one or more programs, which can be executed by one or more processors to implement the non-metallic buried pipeline positioning method based on time-domain superposition and recursive segmentation.

[0061] The method steps described in conjunction with Embodiment 1 disclosed herein can be implemented using hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0062] The above description is only a preferred embodiment of the present invention and is 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 within the protection scope of the present invention.

Claims

1. A method for locating a non-metallic buried pipeline based on time domain superposition and recursive partitioning, characterized in that, The method comprises the following steps: arranging a plurality of detectors along the same horizontal line, taking any one of the detectors as a reference detector and arranging a vibration source close to the reference detector; emitting acoustic waves to the stratum through the vibration source and acquiring reflected wave signals at each detector; performing M times of repeated acquisition for the same measuring point of each detector and stacking in the time domain to obtain stacked received signals; determining the arrival time of the reflected waves of each detector by using a recursive segmentation method; based on the propagation speed of acoustic waves in the stratum and the distance between each detector and the vertex of the pipeline cross section; determining the position of the target pipeline by finding the intersection point of the circles with at least two detectors as the center and the respective propagation distance as the radius.

2. The method for non-metallic buried pipeline positioning based on time domain superposition and recursive segmentation according to claim 1, characterized in that, The method for determining the arrival time of the reflected waves of each detector by using a recursive segmentation method comprises the following steps: taking the received signal of the reference detector as a reference signal; With the effective duration of the reference signal For a sliding window, the time domain of the signal received by the detector [ , Perform initial segmentation, calculate the correlation coefficient with the reference signal segment by segment, and select the time segment with the largest correlation coefficient; Extending the range of time domain The time domain is segmented and the correlation coefficient is calculated with the reference signal in sequence, and the time domain with the largest historical correlation coefficient is segmented recursively again; Until The step setting value ξ of the frame-by-frame scanning and the highest correlation coefficient history determine the arrival time of the reflected wave corresponding to the detector.

3. The method for non-metallic buried pipeline positioning based on time domain superposition and recursive segmentation according to claim 1, characterized in that, wherein the number of detectors is at least 3, and the spacing between adjacent detectors is equal.

4. The method for non-metallic buried pipeline positioning based on time domain superposition and recursive segmentation according to claim 1, characterized in that, The calculation formula of the correlation coefficient is: It is the superimposed signal received by the i-th detector. It is a reference signal. The signal received by the i-th detector is in [τ, τ+]. The mean of ] The reference signal is in [0, The mean of ] The signal received by the i-th detector is in [τ, τ+]. The standard deviation on ] The reference signal is in [0, The standard deviation on ] The effective duration of the reference signal.

5. The method for non-metallic buried pipeline positioning based on time domain superposition and recursive segmentation according to claim 1, characterized in that, After determining the position of the target pipeline, the spacing between adjacent detectors and the connecting line between the two detectors and the intersection point form a triangle, and the depth of the pipeline can be obtained by using the cosine theorem.

6. The method for non-metallic buried pipeline positioning based on time domain superposition and recursive segmentation according to claim 1, characterized in that, The detector uses a detector with low-pass characteristics.

7. The method for non-metallic buried pipeline positioning based on time domain superposition and recursive segmentation according to claim 1, characterized in that, The propagation distance formula of the detector is: In the formula, is the arrival time of the reflected wave received by the reference geophone obtained by the recursive partitioning method; represents the arrival time of the reflected wave received by each of the other geophones; is the propagation speed of the sound wave in the stratum.

8. A non-metallic buried pipeline location system characterized by, The method comprises the following steps: a detector module comprising a plurality of detectors arranged along the same horizontal line, any one of which is a reference detector; a vibration source arranged close to the reference detector for emitting acoustic waves to the stratum; a stacking processing module for performing M times of repeated acquisition for the same measuring point of each detector and stacking in the time domain to obtain stacked received signals; a time searching module for determining the arrival time of the reflected waves of each detector by using a recursive segmentation method; a calculation module for determining the position of the target pipeline based on the propagation speed of acoustic waves in the stratum and the distance between each detector and the vertex of the pipeline cross section; and a positioning module for determining the position of the target pipeline by finding the intersection point of the circles with at least two detectors as the center and the respective propagation distance as the radius.

9. An electronic device, comprising: The method comprises the following steps: a processor and a memory, wherein the processor is configured to execute a program of a time-domain stacking and recursive segmentation based non-metallic buried pipeline positioning method stored in the memory to implement the time-domain stacking and recursive segmentation based non-metallic buried pipeline positioning method according to any one of claims 1-7.

10. A storage medium, characterized by The storage medium stores one or more programs, which can be executed by one or more processors to implement the time-domain stacking and recursive segmentation based non-metallic buried pipeline positioning method according to any one of claims 1-7.

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