Surveying and mapping method and system for topographic map and underground pipeline

Abstract

The invention provides a topographic map and underground pipeline surveying and mapping method and system, and relates to the technical field of surveying and mapping, and the method comprises the steps: collecting a pipeline surveying and mapping map and a topographic map of a surveying area, determining a surveying area range and a surveying and mapping scale, formulating a pipeline exploration and topographic surveying and mapping cooperation scheme, and determining a pipeline point layout principle and a topographic element collection range; pipeline points are arranged on the feature points and the pipeline sections without the feature points, pipeline point identifiers are marked, a probing sketch is drawn, and a pipeline probing set is output; collecting topographic elements, measuring topographic fragment point elevation, recording topographic element attributes, marking a topographic special area, and outputting a topographic set; position and attribute edge matching is carried out on pipeline data of a non-public area and a general survey result of a surveyed and mapped area, two data sets are converted, deviation is corrected, a surveying and mapping result is generated after editing and quality inspection, and a final surveying and mapping result is output after confirmation, so that accurate connection of pipelines and topographic data is achieved, the missed measurement and error measurement risks of hidden pipelines are reduced, and the measurement accuracy of the hidden pipelines is improved. And the achievement integration efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of surveying and mapping technology, and in particular to a method and system for surveying and mapping topographic maps and underground pipelines. Background Technology

[0002] As a core component of urban infrastructure, the accuracy of information regarding the distribution, attributes, and topographical relationships of underground pipelines directly impacts the efficiency of urban planning, construction, and management.

[0003] In existing technologies, underground pipeline mapping and topographic mapping often operate independently, lacking a collaborative mechanism. This leads to differences in coordinate systems and accuracy standards between the two types of data, easily causing data conflicts and accuracy mismatches during the integration process. Traditional pipeline mapping relies heavily on single detection methods for concealed pipelines, primarily using electromagnetic induction for metal pipelines, while the detection efficiency for non-metallic pipelines is low, easily leading to missed or false detections. Furthermore, the layout of pipeline points lacks unified standards, with chaotic spacing of pipeline segments without characteristic points, and failure to promptly supplement points when appendages deviate from the pipeline centerline, further affecting data integrity. In addition, data from different sources has inconsistent formats, and coordinate systems encompass various types, including local coordinate systems and historical independent coordinate systems. Data integration requires repeated manual verification, resulting in low efficiency and difficulty in quickly forming complete and consistent comprehensive mapping results, severely restricting the accuracy and timeliness of subsequent engineering applications.

[0004] Therefore, it is necessary to provide a method and system for mapping topographic maps and underground pipelines to solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a method and system for mapping topographic maps and underground pipelines, which solves the problems in the prior art such as poor connection and mismatch between pipeline and topographic data; limited means of detecting concealed pipelines; non-standard pipeline point layout; chaotic data formats; low efficiency in integrating results; and difficulty in forming unified and comprehensive results.

[0006] This invention provides a method for surveying topographic maps and underground pipelines, the method comprising: Collect existing underground pipeline maps and topographic maps of the survey area, determine the survey area and mapping scale, formulate a collaborative operation plan for pipeline exploration and topographic mapping, and determine the principles for pipeline point layout and the scope of topographic element collection. Based on the principle of pipeline point layout, pipeline points are laid out on pipeline feature points and pipeline segments without pipeline feature points. The attributes of obvious pipeline points are measured and recorded. Hidden pipelines are detected according to pipeline material. Pipeline point markers are marked and exploration sketches are drawn. Pipeline exploration dataset is output. Based on the terrain feature collection range, terrain feature data is collected and the elevation of terrain detail points is measured. Terrain feature attributes are classified and recorded and special terrain areas are marked. The basic terrain dataset is then output. The pipeline data in non-public areas are joined with the survey results of the completed survey areas in terms of location and attributes. The pipeline exploration dataset and the terrain basic dataset are converted according to unified coordinates and the data deviation is corrected. After internal editing and two-level quality inspection, the comprehensive survey results are generated and submitted to the ownership unit for confirmation before the final survey results are output.

[0007] Preferably, based on the principle of pipeline point layout, pipeline points are laid out at pipeline feature points and pipeline segments without pipeline feature points, specifically including: Pipeline points are located at the ground projection positions of pipeline feature points; For pipeline segments without pipeline feature points, pipeline points are laid out at preset spacing. Obtain the deviation distance threshold and vertical deviation threshold. When the distance of the appendage from the pipeline centerline is greater than or equal to the deviation distance threshold, or the vertical deviation of the feature point is greater than or equal to the vertical deviation threshold, trigger the supplementary pipeline point layout operation. Mark the layout symbols and layout point numbers at the laid pipeline points, and simultaneously mark the layout point numbers on nearby fixed features. The layout point number includes the survey area number, pipeline type code, and sequence number.

[0008] Preferably, the pipeline exploration dataset and the terrain baseline dataset are transformed according to a unified coordinate system, specifically including: Obtain a standard plane coordinate system and a unified elevation datum; The planar coordinates of the pipeline exploration dataset in the original coordinate system are set as follows: And the elevation of the terrain base dataset under the original elevation datum is ; The pipeline exploration dataset was transformed into planar coordinates using the Bursa seven-parameter model to obtain planar coordinates. The target coordinates in the corresponding standard plane coordinate system are The formula for plane coordinate transformation is as follows: In the formula, represents the translation parameters in the x and y directions, respectively; c represents the scale factor. These represent the rotation coefficients in the x, y, and z directions, respectively; These represent the residual correction terms in the x and y directions, respectively.

[0009] Preferably, an elevation anomaly correction model is used to perform elevation datum transformation on the terrain base dataset to obtain the elevation. The target elevation under the corresponding unified elevation datum is The elevation datum conversion formula is as follows: In the formula, This indicates the abnormal elevation corresponding to the original elevation datum; Indicates abnormal elevations corresponding to a unified elevation datum; This indicates a locally corrected elevation.

[0010] Preferably, the pipeline data in non-public areas is matched with the survey results of the completed survey area, specifically including: Get Plane Edge Threshold Elevation boundary threshold and comprehensive edge threshold ; Piping in non-public areas The endpoints are Pipelines in the surveyed area The endpoints are and calculate and Spatial distance between ; like Then determine the pipeline and They are pipelines from the same source; if Then determine the pipeline and These are pipelines from different sources; For pipelines of the same origin and The weighted average method is used to correct the same pipeline. and endpoint coordinates The corresponding calculation formula is as follows: In the formula, Indicates pipelines from the same source The corresponding weights; For non-homogeneous pipelines and In non-homogeneous pipelines and New pipeline points at the joint Simultaneously record non-originating pipelines and The differences in the joints were identified and submitted to the relevant authority for verification.

[0011] Preferably, pipeline data in non-public areas is linked to the survey results of the completed survey area by attributes, specifically including: Establish an attribute edge validation rule base, including validation standards and judgment rules for key attributes; Compare the pipeline data in non-public areas with the key attributes of the corresponding pipelines in the survey results of the completed survey areas one by one; For pipelines with consistent key attributes, directly associate the pipeline joints and retain the same key attributes; For pipelines with inconsistent key attributes, mark the pipeline attribute conflict and confirm the cause of the pipeline attribute conflict; If the pipeline attribute conflict is caused by an error in the pipeline data entry, then correct the pipeline data; if the pipeline attribute conflict is caused by a change in the pipeline attribute, then add a new pipeline attribute record and note the reason and time of the pipeline attribute change.

[0012] Preferably, for the converted pipeline exploration dataset and terrain baseline dataset, the data deviation correction process includes a relative positional relationship verification process; Using the terrain features in the basic terrain dataset as a reference, establish the relative positional constraints between pipeline points and terrain features in the pipeline exploration dataset. Set the pipeline points in the pipeline exploration dataset as The corresponding terrain and feature points are ,calculate and relative deviation between planes and relative elevation deviation ; For urban built-up areas, obtain the first plane relative deviation threshold. ,like If the data deviation is corrected, no data deviation correction is needed; otherwise, data deviation correction is required. For suburban areas, obtain the second plane relative deviation threshold. ,like If the data deviation is corrected, no data deviation correction is needed; otherwise, data deviation correction is required.

[0013] Preferably, for pipeline point G that requires data deviation correction, the planar coordinates of terrain feature point R are used. Correct the plane coordinates of pipeline point G. The corresponding formula is as follows: In the formula, Represents the corrected planar coordinates of pipeline point G; Indicates the allowable relative deviation of the region; And adjust the A-shaped elevation mark or pipeline burial depth according to the type of pipeline point G.

[0014] Preferably, for the converted pipeline exploration dataset and terrain baseline dataset, the data bias correction process includes a multi-source data fusion process; Obtain pipeline points from the pipeline exploration dataset Observations of the kth observation method ; Based on the observation error of each observation method Determine the corresponding observation weights ; Based on the observations and observation weights of each observation method, a weighted fusion model is used to calculate the optimal observation. , where n represents the type of observation method; Validating the optimal observations If the observation accuracy requirements are not met, supplement the types of observation methods and repeat the optimal observation. The calculation and verification operations.

[0015] A topographic mapping and underground pipeline surveying system, the system comprising: The data collection module is used to collect existing underground pipeline survey maps and existing topographic maps of the survey area, determine the survey area and survey scale, formulate a collaborative operation plan for pipeline exploration and topographic mapping, and determine the pipeline point layout principles and the scope of topographic element collection. The pipeline detection module is used to lay pipeline points on pipeline feature points and pipeline segments without pipeline feature points based on pipeline point layout principles, measure and record the attributes of obvious pipeline points, detect hidden pipelines according to pipeline materials, mark pipeline point identifiers and draw exploration sketches, and output pipeline detection datasets. The terrain annotation module is used to collect terrain feature data and determine the elevation of terrain detail points based on the terrain feature collection range, classify and record terrain feature attributes and annotate special terrain areas, and output a basic terrain dataset. The output module is used to connect the pipeline data of non-public areas with the survey results of the completed survey areas in terms of location and attributes. It converts the pipeline exploration dataset and the terrain basic dataset according to unified coordinates and corrects data deviations. After internal editing and two-level quality inspection, it generates comprehensive survey results and submits them to the ownership unit for confirmation before outputting the final survey results.

[0016] Compared with related technologies, the topographic mapping method and system for underground pipelines provided by this invention have the following advantages: This invention determines the survey area and mapping scale by collecting existing underground pipeline maps and topographic maps of the survey area, and formulates a collaborative operation plan for pipeline exploration and topographic mapping. It also determines the principles for pipeline point layout and the scope of topographic element collection. Based on the pipeline point layout principles, pipeline points are laid out at characteristic pipeline points and pipeline sections without characteristic points. The attributes of obvious pipeline points are measured and recorded. Hidden pipelines are detected based on pipeline material, pipeline point markers are added, and exploration sketches are drawn, outputting a pipeline exploration dataset. Based on the topographic element collection scope, topographic element data is collected, and the elevations of topographic detail points are determined. The system categorizes and records the attributes of terrain elements and marks special terrain areas, outputting a basic terrain dataset. It then connects the pipeline data from non-public areas with the survey results of completed survey areas in terms of location and attributes. The pipeline exploration dataset and the basic terrain dataset are converted using unified coordinates, and data deviations are corrected. After internal editing and two-level quality checks, a comprehensive surveying result is generated and submitted to the relevant authority for confirmation before the final surveying result is output. This process enables precise connection between pipeline and terrain data, reduces the risk of missed or mis-measured hidden pipelines, significantly improves the efficiency of result integration, and ensures high data accuracy and consistency.

[0017] This invention achieves precise connection and efficient integration of two types of data by constructing a collaborative operation system for pipeline detection and topographic mapping. On one hand, it employs a categorized detection method: electromagnetic induction for metallic pipelines and ground-penetrating radar or tracer electromagnetic methods for non-metallic pipelines. Multiple methods are used for cross-verification in complex areas, significantly reducing the risk of missed or false detections of concealed pipelines and improving the completeness of pipeline detection. On the other hand, it establishes a unified pipeline point layout standard, clearly defining the locations of feature points and the maximum spacing between pipeline segments without feature points. Supplementary points are added to address issues such as deviations from appendages and vertical distance deviations, ensuring comprehensive data coverage. This invention achieves coordinate system unification through the Bursa seven-parameter model and elevation anomaly correction model. Combined with standardized data format processing and automatic edge-joining algorithms, it significantly reduces manual intervention and improves data integration efficiency. Finally, through a two-level quality inspection mechanism and a multi-source data fusion model, this invention effectively controls the mean square error in planar position and elevation, ensuring high accuracy and consistency of surveying results and providing reliable data support for urban infrastructure construction. Attached Figure Description

[0018] Figure 1 A flowchart of a method for surveying topographic maps and underground pipelines provided in an embodiment of the present invention; Figure 2 A system block diagram of a topographic map and underground pipeline mapping system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] like Figure 1 The diagram shown is a flowchart of a topographic map and underground pipeline surveying method provided by an embodiment of the present invention. Figure 1 The execution entity of the method shown can be a software and / or hardware device. The execution entity of this application can include, but is not limited to, at least one of the following: user equipment, network equipment, etc. User equipment can include, but is not limited to, computers, smartphones, personal digital assistants (PDAs), and the aforementioned electronic devices. Network equipment can include, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers. Cloud computing is a type of distributed computing, consisting of a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. Steps S1 to S4 are detailed as follows: S1. Collect existing underground pipeline survey maps and existing topographic maps of the survey area, determine the survey area and survey scale, formulate a collaborative operation plan for pipeline exploration and topographic mapping, and determine the pipeline point layout principles and the scope of topographic element collection. S2, based on the pipeline point layout principle, lays out pipeline points on pipeline feature points and pipeline segments without pipeline feature points, measures and records the attributes of obvious pipeline points, detects hidden pipelines according to pipeline material, marks pipeline point identifiers and draws exploration sketches, and outputs pipeline exploration dataset. S3, based on the terrain feature collection range, collects terrain feature data and determines the elevation of terrain detail points, classifies and records terrain feature attributes and marks special terrain areas, and outputs the basic terrain dataset. S4 connects the pipeline data in non-public areas with the survey results of the completed survey areas in terms of location and attributes. It converts the pipeline exploration dataset and the terrain basic dataset according to unified coordinates and corrects data deviations. After internal editing and two-level quality inspection, it generates comprehensive survey results and submits them to the ownership unit for confirmation before outputting the final survey results.

[0021] First, collect existing underground pipeline survey maps, existing topographic maps, and relevant data from ownership units in the survey area. Clarify the boundaries of the survey area, select a suitable surveying scale of 1:500, 1:1000, or 1:2000, and simultaneously determine the required mapping accuracy. Then, formulate a collaborative workflow for pipeline exploration and topographic mapping, clarify the principles for pipeline point layout, namely, feature points must be laid out, and pipeline sections without feature points should be laid out at preset intervals. At the same time, define the scope of topographic element collection, covering elements such as the survey area's positioning foundation, water system, residential areas and facilities, transportation, and landforms.

[0022] Based on the pre-defined pipeline point layout principles, pipeline points are prioritized for placement at the ground projection locations of characteristic points such as pipeline intersections, branch points, and turning points. For pipeline sections without characteristic points, points are evenly distributed at intervals not exceeding 75m. If ancillary structures deviate from the pipeline centerline by ≥0.4m or the vertical distance deviation of characteristic points is ≥0.3m, a supplementary placement procedure is initiated. For obvious pipeline points such as manholes and valve wells, the depth, cross-sectional specifications, and other attributes are measured using a calibration steel tape measure and recorded in detail. For concealed pipelines, appropriate detection methods are selected according to the material: electromagnetic induction is used for metal pipelines, while ground-penetrating radar or tracer electromagnetic methods are used for non-metallic pipelines. In complex areas, multiple methods are used for cross-verification. The pipeline points are marked with "⊕" symbols and standardized point numbers on the ground, and exploration sketches are simultaneously drawn, integrating them to form a pipeline exploration dataset containing information such as pipeline location, attributes, and depth.

[0023] Based on the topographic feature collection area, topographic feature data such as the location foundation, water system, settlements and facilities, transportation, landforms, vegetation, and soil were collected. RTK or total station was used to determine the elevation of detailed topographic points, ensuring uniform distribution of elevation annotation points. Attribute information of topographic features was recorded according to point, line, and area classifications, clarifying feature types and characteristics. The scope and current status of special areas such as prohibited areas, rejected areas, and construction areas were simultaneously marked, ultimately forming a complete topographic basic dataset.

[0024] Finally, for pipeline data in non-public areas, location and attribute alignment are performed with the survey results of the completed survey areas. Location alignment is used to determine whether pipelines are of the same or different origins based on preset thresholds and is processed differently. Attribute alignment uses a validation rule base to verify the consistency of key attributes and handle conflicts. The pipeline exploration dataset and the terrain base dataset are uniformly converted, and data deviations are corrected through relative positional relationship verification and multi-source data fusion. The integrated data undergoes internal editing to ensure accurate element nodes, no hanging points, and standardized attribute coding, followed by internal editing and a two-level quality inspection process. After quality verification, a comprehensive surveying and mapping result containing terrain features and underground pipeline information is generated. The comprehensive surveying and mapping result is submitted to the ownership unit for confirmation before the final surveying and mapping result is output.

[0025] In the specific implementation process, based on the principle of pipeline point layout, pipeline points are laid out at pipeline feature points and pipeline sections without pipeline feature points, specifically including: Pipeline points are located at the ground projection positions of pipeline feature points; For pipeline segments without pipeline feature points, pipeline points are laid out at preset spacing. Obtain the deviation distance threshold and vertical deviation threshold. When the distance of the appendage from the pipeline centerline is greater than or equal to the deviation distance threshold, or the vertical deviation of the feature point is greater than or equal to the vertical deviation threshold, trigger the supplementary pipeline point layout operation. Mark the layout symbols and layout point numbers at the laid pipeline points, and simultaneously mark the layout point numbers on nearby fixed features. The layout point number includes the survey area number, pipeline type code, and sequence number.

[0026] For pipeline feature points, pipeline points are precisely laid out at the ground projection locations of feature points such as intersections, branch points, turning points, diameter change points, and material change points to ensure that no key pipeline node information is missed, and to provide core control points for pipeline routing and attribute recording.

[0027] For continuous pipeline segments without feature points, pipeline points are evenly distributed at preset intervals, with the spacing strictly adhering to the specification requirement of no more than 75m, to ensure that the pipeline's direction changes and spatial distribution characteristics are fully reflected and to meet the accuracy requirements of subsequent surveying.

[0028] Set deviation distance threshold and vertical deviation threshold. When pipeline accessories, such as valves and manholes, deviate from the pipeline centerline by a distance that reaches or exceeds the deviation distance threshold, or when the vertical deviation between a feature point and an adjacent pipeline point reaches or exceeds the vertical deviation threshold, a supplementary deployment operation is immediately triggered to add pipeline points at the deviation location, ensuring the accuracy of the pipeline spatial morphology record.

[0029] After the pipeline points are laid out, standardized layout symbols and unique layout point numbers are marked at the actual locations. The point number consists of the survey area number, the pipe type code, and the sequence number to ensure uniqueness across the entire area. At the same time, the point number is also marked on nearby fixed features, such as building corners and road edges, to facilitate subsequent data verification and on-site positioning.

[0030] The pipeline exploration dataset and the terrain baseline dataset are transformed using a unified coordinate system, specifically including: Obtain a standard plane coordinate system and a unified elevation datum; The planar coordinates of the pipeline exploration dataset in the original coordinate system are set as follows: And the elevation of the terrain base dataset under the original elevation datum is ; The pipeline exploration dataset was transformed into planar coordinates using the Bursa seven-parameter model to obtain planar coordinates. The target coordinates in the corresponding standard plane coordinate system are The formula for plane coordinate transformation is as follows: In the formula, represents the translation parameters in the x and y directions, respectively; c represents the scale factor. These represent the rotation coefficients in the x, y, and z directions, respectively; These represent the residual correction terms in the x and y directions, respectively.

[0031] The elevation undulation correction model is used to perform elevation datum transformation on the terrain base dataset to obtain the elevation. The target elevation under the corresponding unified elevation datum is The elevation datum conversion formula is as follows: In the formula, This indicates the abnormal elevation corresponding to the original elevation datum; Indicates abnormal elevations corresponding to a unified elevation datum; This indicates a locally corrected elevation.

[0032] First, the target datum for the transformation is clearly defined, and the CGCS2000 coordinate system is uniformly adopted as the standard plane coordinate system, and the 1985 National Elevation Datum is adopted as the unified elevation datum to ensure the universality and compatibility of the data.

[0033] Then, the planar coordinates of the pipeline exploration data in the original coordinate system and the elevation data of the terrain base data in the original elevation datum are clarified to provide the original data source for the conversion calculation.

[0034] A Bursa seven-parameter model was used to perform planar coordinate transformation on the pipeline exploration dataset, achieving accurate mapping from the original coordinate system to the CGCS2000 coordinate system. Specifically, the x and y direction translation parameters corrected for origin deviations between the original and target coordinate systems; the scaling factor calibrated the scale differences between the two coordinate systems, eliminating length ratio deviations under different references; the x, y, and z direction rotation coefficients adjusted the azimuth angle of the original coordinate system to ensure alignment with the target coordinate system; and the x and y direction residual correction terms compensated for model fitting errors, further improving transformation accuracy. The transformed data must meet the accuracy requirement of a planar coordinate error ≤ ±2 cm to ensure the accuracy of the pipeline location data.

[0035] The elevation datum transformation of the topographic dataset was completed using an elevation anomaly correction model, unifying the elevation data under the original elevation datum to the 1985 National Elevation Datum. Anomalies corresponding to the original elevation datum were obtained using a regional quasi-geoid model, reflecting the deviation between the original datum and the geoid; anomalies corresponding to the unified elevation datum were similarly obtained and used as a reference for the transformation; local corrected elevations were obtained by fitting the elevation differences of measured common points to compensate for transformation errors caused by regional topographic variations. The mean square error of the transformed elevation is ≤±3cm, ensuring logical consistency between the topographic elevation and pipeline burial depth data.

[0036] The pipeline data in non-public areas will be matched with the survey results of the already mapped areas to determine their locations. This will specifically include: Get Plane Edge Threshold Elevation boundary threshold and comprehensive edge threshold ; Piping in non-public areas The endpoints are Pipelines in the surveyed area The endpoints are and calculate and Spatial distance between ; like Then determine the pipeline and They are pipelines from the same source; if Then determine the pipeline and These are pipelines from different sources; For pipelines of the same origin and The weighted average method is used to correct the same pipeline. and endpoint coordinates The corresponding calculation formula is as follows: In the formula, Indicates pipelines from the same source The corresponding weights; For non-homogeneous pipelines and In non-homogeneous pipelines and New pipeline points at the joint Simultaneously record non-originating pipelines and The differences in the joints were identified and submitted to the relevant authority for verification.

[0037] First, clarify the edge connection threshold standards, namely the plane edge connection threshold and the elevation edge connection threshold. Then, combine the spatial data connection logic to set a comprehensive edge connection threshold and ensure that the threshold setting meets the mapping accuracy standards.

[0038] Subsequently, the three-dimensional coordinates of the pipeline endpoints were extracted, and the plane coordinates and elevation values ​​of the pipeline endpoints in non-public areas and the pipeline endpoints in the surveyed areas were located respectively, forming complete three-dimensional coordinate information. By using spatial distance calculation methods, the plane position deviation and elevation deviation were fully considered to obtain the actual three-dimensional spatial distance between the two points, providing a quantitative basis for determining the origin.

[0039] The homology determination is based on the comparison results of distance and threshold: if the three-dimensional spatial distance is less than or equal to the comprehensive edge threshold, the two pipeline segments are determined to be pipelines of the same origin, that is, they belong to the continuation of the same pipeline; if the spatial distance is greater than the comprehensive edge threshold, they are determined to be pipelines of different origin, that is, they belong to different pipeline systems and have no direct continuation relationship.

[0040] For pipelines originating from the same source, a weighted average method is used to correct the endpoint coordinates to eliminate connection deviations. The weighting coefficients are set according to the data accuracy levels of the two pipeline segments. For example, high-precision data such as RTK measured data are given higher weights, while ordinary-precision data are given standard weights. The endpoint coordinates are then fused using a weighted average algorithm to achieve a smooth transition at the pipeline connection and ensure data continuity.

[0041] For pipelines from different origins, add pipeline points at the joint location and mark them with unique identifiers to clearly distinguish the boundaries of different pipeline systems. At the same time, record the joint differences in detail, including key information such as location deviations and routing differences, and submit them to the pipeline ownership unit for on-site verification. After confirming the cause of the differences, supplement the exploration data as needed to ensure that the joint information is complete and traceable.

[0042] Through the above quantitative judgment and precise correction, the problem of poor connection of pipeline data in different areas is effectively solved, ensuring the integrity and accuracy of pipeline data.

[0043] Linking pipeline data in non-public areas with the survey results of already mapped areas by attribute, specifically including: Establish an attribute edge validation rule base, including validation standards and judgment rules for key attributes; Compare the pipeline data in non-public areas with the key attributes of the corresponding pipelines in the survey results of the completed survey areas one by one; For pipelines with consistent key attributes, directly associate the pipeline joints and retain the same key attributes; For pipelines with inconsistent key attributes, mark the pipeline attribute conflict and confirm the cause of the pipeline attribute conflict; If the pipeline attribute conflict is caused by an error in the pipeline data entry, then correct the pipeline data; if the pipeline attribute conflict is caused by a change in the pipeline attribute, then add a new pipeline attribute record and note the reason and time of the pipeline attribute change.

[0044] First, we build an attribute interface verification rule library, clarify the verification standards for key attributes such as pipeline type, material, specifications, and ownership unit, and formulate attribute consistency judgment rules.

[0045] Subsequently, attribute consistency comparison was carried out. For pipeline data in non-public areas, key attribute information was checked one by one with the corresponding pipelines in the completed survey results to ensure that no comparison items were missed and to guarantee the comprehensiveness of attribute verification.

[0046] For pipelines with completely identical key attributes, attribute associations are directly established to complete the connection, retaining consistent key attribute information and ensuring the continuity of data connection.

[0047] If inconsistencies are found in key attributes during the verification process, they should be immediately marked as attribute conflicts. The cause of the conflict should be identified by reviewing the original survey data and verifying the actual situation of the pipeline on-site.

[0048] If the conflict stems from a data entry error, correct the pipeline data according to the actual verification results to ensure the accuracy of the attribute information; if the conflict is due to a change in the actual attributes of the pipeline, such as material replacement or specification upgrade, add a new attribute record, specifying in detail the reason for the attribute change and the time of the change, to ensure the traceability of the data.

[0049] Through the above-mentioned rule-based verification and precise processing, the attribute conflict problem is effectively resolved, ensuring the integrity and consistency of pipeline data.

[0050] For the converted pipeline exploration dataset and terrain baseline dataset, the data deviation correction process includes a relative positional relationship verification process; Using the terrain features in the basic terrain dataset as a reference, establish the relative positional constraints between pipeline points and terrain features in the pipeline exploration dataset. Set the pipeline points in the pipeline exploration dataset as The corresponding terrain and feature points are ,calculate and relative deviation between planes and relative elevation deviation ; For urban built-up areas, obtain the first plane relative deviation threshold. ,like If the data deviation is corrected, no data deviation correction is needed; otherwise, data deviation correction is required. For suburban areas, obtain the second plane relative deviation threshold. ,like If the data deviation is corrected, no data deviation correction is needed; otherwise, data deviation correction is required.

[0051] For pipeline point G that requires data deviation correction, the planar coordinates are based on the terrain feature point R. Correct the plane coordinates of pipeline point G. The corresponding formula is as follows: In the formula, Represents the corrected planar coordinates of pipeline point G; Indicates the allowable relative deviation of the region; And adjust the A-shaped elevation mark or pipeline burial depth according to the type of pipeline point G.

[0052] First, a reference benchmark system is established, using stable terrain features in the terrain base dataset, such as road centerlines, building corners, and manhole centers, as core reference benchmarks. Then, the relative positional constraints between pipeline points in the pipeline exploration dataset and these terrain features are established to provide a unified reference standard for deviation verification.

[0053] Subsequently, a two-dimensional deviation calculation was performed. For each pipeline point in the pipeline exploration dataset, a corresponding topographic reference point was matched, and the relative deviation in plane and relative deviation in elevation between the two were calculated. The relative deviation in plane reflects the degree of positional deviation between the pipeline point and the topographic feature in the horizontal plane, while the relative deviation in elevation reflects the difference in elevation between the two in the vertical direction.

[0054] Threshold determination is performed based on region type, categorized into urban building areas and suburban areas according to survey area attributes: urban building areas use the first plane relative deviation threshold, while suburban areas use the second plane relative deviation threshold. The threshold settings strictly adhere to the mapping accuracy requirements of the corresponding scale. If the plane relative deviation of the pipeline point does not exceed the corresponding region threshold, the positional relationship is deemed acceptable and no correction is required; if it exceeds the threshold, the deviation correction procedure is initiated.

[0055] For pipeline points requiring correction, the plane coordinates of the corresponding terrain features are used as a reference, and the allowable relative deviations for the region are considered to accurately correct the plane coordinates of the pipeline points, ensuring that the relative positions of the pipeline points and terrain features after correction meet the specifications. Simultaneously, elevation-related data are processed differently based on the type of pipeline point: for obvious pipeline points, the measured burial depth is used as the standard to correct the terrain elevation annotations; for concealed pipeline points, the burial depth is corrected using the terrain elevation as a reference, ensuring that the pipeline burial depth is logically consistent with the terrain elevation and meets the accuracy requirements for subsequent data integration.

[0056] By using rigid constraints on topographic features, the relative positional deviation between pipelines and topographic data is effectively eliminated, ensuring the spatial accuracy of comprehensive surveying and mapping results.

[0057] For the converted pipeline exploration dataset and terrain baseline dataset, the data bias correction process includes a multi-source data fusion process; Obtain pipeline points from the pipeline exploration dataset Observations of the kth observation method ; Based on the observation error of each observation method Determine the corresponding observation weights ; Based on the observations and observation weights of each observation method, a weighted fusion model is used to calculate the optimal observation. , where n represents the type of observation method; Validating the optimal observations If the observation accuracy requirements are not met, supplement the types of observation methods and repeat the optimal observation. The calculation and verification operations.

[0058] For the target pipeline points in the pipeline exploration dataset, relevant data obtained by various observation methods are summarized, including instrument detection of burial depth, burial depth estimated by topographic elevation, and field measurement data, to form a multi-dimensional observation dataset.

[0059] Weights are assigned based on the magnitude of the observation error for each observation method; the smaller the observation error, the larger the weight coefficient. A weighted fusion model is used to integrate multi-source observations. By assigning weights, the influence of reliable data is highlighted, while the interference of data with larger errors is weakened. Ultimately, the optimal observations that truly reflect the actual state of the pipeline are obtained, achieving complementary optimization of different observation data.

[0060] The optimal observation value is compared with the preset accuracy standard to verify whether it meets the mapping accuracy requirements of the corresponding area. If it does not meet the standard, new observation methods need to be added, such as adding ground-penetrating radar detection or RTK re-measurement, to collect observation data again, and repeat the weight allocation and fusion calculation process until the optimal observation value meets the accuracy specification.

[0061] By optimizing multi-source data collaboratively, the impact of errors from single observation methods can be effectively reduced, ensuring the consistency and reliability of pipeline and terrain data.

[0062] like Figure 2 The diagram shown is a system block diagram of a topographic map and underground pipeline mapping system provided in an embodiment of the present invention. The system includes: The data collection module is used to collect existing underground pipeline survey maps and existing topographic maps of the survey area, determine the survey area and survey scale, formulate a collaborative operation plan for pipeline exploration and topographic mapping, and determine the pipeline point layout principles and the scope of topographic element collection. The pipeline detection module is used to lay pipeline points on pipeline feature points and pipeline segments without pipeline feature points based on pipeline point layout principles, measure and record the attributes of obvious pipeline points, detect hidden pipelines according to pipeline materials, mark pipeline point identifiers and draw exploration sketches, and output pipeline detection datasets. The terrain annotation module is used to collect terrain feature data and determine the elevation of terrain detail points based on the terrain feature collection range, classify and record terrain feature attributes and annotate special terrain areas, and output a basic terrain dataset. The output module is used to connect the pipeline data of non-public areas with the survey results of the completed survey areas in terms of location and attributes. It converts the pipeline exploration dataset and the terrain basic dataset according to unified coordinates and corrects data deviations. After internal editing and two-level quality inspection, it generates comprehensive survey results and submits them to the ownership unit for confirmation before outputting the final survey results.

[0063] Figure 2 The apparatus of the illustrated embodiment can be used to perform corresponding actions. Figure 1 The steps in the method embodiments shown are implemented in a similar manner and have similar technical effects, and will not be repeated here.

[0064] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor performs the steps of a topographic map and underground pipeline surveying method as described in any of the preceding claims.

[0065] like Figure 3 The diagram shown is a hardware structure schematic of an electronic device according to an embodiment of the present invention. The electronic device 30 includes: a processor 31, a memory 32, and a computer program; wherein... The memory 32 is used to store the computer program, and the memory may also be flash memory. The computer program is, for example, an application program or functional module that implements the above method.

[0066] Processor 31 is configured to execute the computer program stored in the memory to implement the various steps performed by the device in the above method. For details, please refer to the relevant descriptions in the preceding method embodiments.

[0067] Alternatively, the memory 32 can be either standalone or integrated with the processor 31.

[0068] When the memory 32 is a device independent of the processor 31, the device may further include: Bus 33 is used to connect the memory 32 and the processor 31.

[0069] A readable storage medium storing a computer program, which, when executed by a processor, is used to implement the steps of a topographic map and underground pipeline surveying method as described in any of the preceding claims.

[0070] The readable storage medium can be a computer storage medium or a communication medium. A communication medium includes any medium that facilitates the transfer of computer programs from one location to another. A computer storage medium can be any available medium accessible to a general-purpose or special-purpose computer. For example, a readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application-Specific Integrated Circuit (ASIC). Alternatively, the ASIC can be located in a user equipment. Of course, the processor and the readable storage medium can also exist as discrete components in a communication device. The readable storage medium can be a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0071] The present invention also provides a program product including executable instructions stored in a readable storage medium. At least one processor of the device can read the executable instructions from the readable storage medium, and the at least one processor executes the executable instructions to cause the device to implement the methods provided in the various embodiments described above.

[0072] In the embodiments of the above-described device, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0073] Through the above embodiments, this invention, using a method and system for surveying underground pipelines on a topographic map base, determines the survey area and mapping scale by collecting existing underground pipeline survey maps and existing topographic maps of the survey area, formulates a collaborative operation plan for pipeline exploration and topographic mapping, and determines the pipeline point layout principles and the scope of topographic element collection. Based on the pipeline point layout principles, pipeline points are laid out at pipeline feature points and pipeline segments without pipeline feature points. The attributes of obvious pipeline points are measured and recorded. Hidden pipelines are detected according to pipeline material, pipeline point markers are marked, and exploration sketches are drawn, outputting a pipeline exploration dataset. Based on the topographic element collection scope, the data is collected from the... The system collects topographic feature data and measures the elevation of detailed topographic points. It also classifies and records topographic feature attributes and marks special topographic areas, outputting a basic topographic dataset. Pipeline data from non-public areas is then joined with the survey results of completed survey areas in terms of location and attributes. The pipeline exploration dataset and the basic topographic dataset are converted using unified coordinates, and data deviations are corrected. After internal editing and two-level quality checks, a comprehensive surveying result is generated and submitted to the ownership unit for confirmation before the final surveying result is output. This process enables precise connection between pipeline and topographic data, reduces the risk of missed or mismeasured hidden pipelines, significantly improves the efficiency of result integration, and ensures high data accuracy and consistency.

[0074] This invention achieves precise connection and efficient integration of two types of data by constructing a collaborative operation system for pipeline detection and topographic mapping. On one hand, it employs a categorized detection method: electromagnetic induction for metallic pipelines and ground-penetrating radar or tracer electromagnetic methods for non-metallic pipelines. Multiple methods are used for cross-verification in complex areas, significantly reducing the risk of missed or false detections of concealed pipelines and improving the completeness of pipeline detection. On the other hand, it establishes a unified pipeline point layout standard, clearly defining the locations of feature points and the maximum spacing between pipeline segments without feature points. Supplementary points are added to address issues such as deviations from appendages and vertical distance deviations, ensuring comprehensive data coverage. This invention achieves coordinate system unification through the Bursa seven-parameter model and elevation anomaly correction model. Combined with standardized data format processing and automatic edge-joining algorithms, it significantly reduces manual intervention and improves data integration efficiency. Finally, through a two-level quality inspection mechanism and a multi-source data fusion model, this invention effectively controls the mean square error in planar position and elevation, ensuring high accuracy and consistency of surveying results and providing reliable data support for urban infrastructure construction.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for surveying topographic maps and underground pipelines, characterized in that, The method includes: Collect existing underground pipeline maps and topographic maps of the survey area, determine the survey area and mapping scale, formulate a collaborative operation plan for pipeline exploration and topographic mapping, and determine the principles for pipeline point layout and the scope of topographic element collection. Based on the principle of pipeline point layout, pipeline points are laid out on pipeline feature points and pipeline segments without pipeline feature points. The attributes of obvious pipeline points are measured and recorded. Hidden pipelines are detected according to pipeline material. Pipeline point markers are marked and exploration sketches are drawn. Pipeline exploration dataset is output. Based on the terrain feature collection range, terrain feature data is collected and the elevation of terrain detail points is measured. Terrain feature attributes are classified and recorded and special terrain areas are marked. The basic terrain dataset is then output. The pipeline data in non-public areas are joined with the survey results of the completed survey areas in terms of location and attributes. The pipeline exploration dataset and the terrain basic dataset are converted according to unified coordinates and the data deviation is corrected. After internal editing and two-level quality inspection, the comprehensive survey results are generated and submitted to the ownership unit for confirmation before the final survey results are output.

2. The method for surveying topographic maps and underground pipelines according to claim 1, characterized in that, Based on the principle of pipeline point layout, pipeline points are laid out at pipeline feature points and pipeline sections without pipeline feature points, specifically including: Pipeline points are located at the ground projection positions of pipeline feature points; For pipeline segments without pipeline feature points, pipeline points are laid out at preset spacing. Obtain the deviation distance threshold and vertical deviation threshold. When the distance of the appendage from the pipeline centerline is greater than or equal to the deviation distance threshold, or the vertical deviation of the feature point is greater than or equal to the vertical deviation threshold, trigger the supplementary pipeline point layout operation. Mark the layout symbols and layout point numbers at the laid pipeline points, and simultaneously mark the layout point numbers on nearby fixed features. The layout point number includes the survey area number, pipeline type code, and sequence number.

3. The method for surveying topographic maps and underground pipelines according to claim 1, characterized in that, The pipeline exploration dataset and the terrain baseline dataset are transformed using a unified coordinate system, specifically including: Obtain a standard plane coordinate system and a unified elevation datum; The planar coordinates of the pipeline exploration dataset in the original coordinate system are set as follows: And the elevation of the terrain base dataset under the original elevation datum is ; The pipeline exploration dataset was transformed into planar coordinates using the Bursa seven-parameter model to obtain planar coordinates. The target coordinates in the corresponding standard plane coordinate system are The formula for plane coordinate transformation is as follows: In the formula, represents the translation parameters in the x and y directions, respectively; c represents the scale factor. These represent the rotation coefficients in the x, y, and z directions, respectively; These represent the residual correction terms in the x and y directions, respectively.

4. The method for surveying topographic maps and underground pipelines according to claim 3, characterized in that, The elevation undulation correction model is used to perform elevation datum transformation on the terrain base dataset to obtain the elevation. The target elevation under the corresponding unified elevation datum is The elevation datum conversion formula is as follows: In the formula, This indicates the abnormal elevation corresponding to the original elevation datum; Indicates abnormal elevations corresponding to a unified elevation datum; This indicates a locally corrected elevation.

5. The method for surveying topographic maps and underground pipelines according to claim 1, characterized in that, The pipeline data in non-public areas will be matched with the survey results of the already mapped areas to determine their locations. This will specifically include: Get Plane Edge Threshold Elevation boundary threshold and comprehensive edge threshold ; Piping in non-public areas The endpoints are Pipelines in the surveyed area The endpoints are and calculate and Spatial distance between ; like Then determine the pipeline and They are pipelines from the same source; if Then determine the pipeline and These are pipelines from different sources; For pipelines of the same origin and The weighted average method is used to correct the same pipeline. and endpoint coordinates The corresponding calculation formula is as follows: In the formula, Indicates pipelines from the same source The corresponding weights; For non-homogeneous pipelines and In non-homogeneous pipelines and New pipeline points at the joint Simultaneously record non-originating pipelines and The differences in the joints were identified and submitted to the relevant authority for verification.

6. The method for surveying topographic maps and underground pipelines according to claim 1, characterized in that, Linking pipeline data in non-public areas with the survey results of already mapped areas by attribute, specifically including: Establish an attribute edge validation rule base, including validation standards and judgment rules for key attributes; Compare the pipeline data in non-public areas with the key attributes of the corresponding pipelines in the survey results of the completed survey areas one by one; For pipelines with consistent key attributes, directly associate the pipeline joints and retain the same key attributes; For pipelines with inconsistent key attributes, mark the pipeline attribute conflict and confirm the cause of the pipeline attribute conflict; If the pipeline attribute conflict is caused by an error in the pipeline data entry, then correct the pipeline data; if the pipeline attribute conflict is caused by a change in the pipeline attribute, then add a new pipeline attribute record and note the reason and time of the pipeline attribute change.

7. The method for surveying topographic maps and underground pipelines according to claim 1, characterized in that, For the converted pipeline exploration dataset and terrain baseline dataset, the data deviation correction process includes a relative positional relationship verification process; Using the terrain features in the basic terrain dataset as a reference, establish the relative positional constraints between pipeline points and terrain features in the pipeline exploration dataset. Set the pipeline points in the pipeline exploration dataset as The corresponding terrain and feature points are ,calculate and relative deviation between planes and relative elevation deviation ; For urban built-up areas, obtain the first plane relative deviation threshold. ,like If the data deviation is corrected, no data deviation correction is needed; otherwise, data deviation correction is required. For suburban areas, obtain the second plane relative deviation threshold. ,like If the data deviation is corrected, no data deviation correction is needed; otherwise, data deviation correction is required.

8. The method for surveying topographic maps and underground pipelines according to claim 7, characterized in that, For pipeline point G that requires data deviation correction, the planar coordinates are based on the terrain feature point R. Correct the plane coordinates of pipeline point G. The corresponding formula is as follows: In the formula, Represents the corrected planar coordinates of pipeline point G; Indicates the allowable relative deviation of the region; And adjust the A-shaped elevation mark or pipeline burial depth according to the type of pipeline point G.

9. The method for surveying topographic maps and underground pipelines according to claim 1, characterized in that, For the converted pipeline exploration dataset and terrain baseline dataset, the data bias correction process includes a multi-source data fusion process; Obtain pipeline points from the pipeline exploration dataset Observations of the kth observation method ; Based on the observation error of each observation method Determine the corresponding observation weights ; Based on the observations and observation weights of each observation method, a weighted fusion model is used to calculate the optimal observation. , where n represents the type of observation method; Validating the optimal observations If the observation accuracy requirements are not met, supplement the types of observation methods and repeat the optimal observation. The calculation and verification operations.

10. A topographic mapping and underground pipeline surveying system, applied to the topographic mapping and underground pipeline surveying method as described in any one of claims 1-9, characterized in that, The system includes: The data collection module is used to collect existing underground pipeline survey maps and existing topographic maps of the survey area, determine the survey area and survey scale, formulate a collaborative operation plan for pipeline exploration and topographic mapping, and determine the pipeline point layout principles and the scope of topographic element collection. The pipeline detection module is used to lay pipeline points on pipeline feature points and pipeline segments without pipeline feature points based on pipeline point layout principles, measure and record the attributes of obvious pipeline points, detect hidden pipelines according to pipeline materials, mark pipeline point identifiers and draw exploration sketches, and output pipeline detection datasets. The terrain annotation module is used to collect terrain feature data and determine the elevation of terrain detail points based on the terrain feature collection range, classify and record terrain feature attributes and annotate special terrain areas, and output a basic terrain dataset. The output module is used to connect the pipeline data of non-public areas with the survey results of the completed survey areas in terms of location and attributes. It converts the pipeline exploration dataset and the terrain basic dataset according to unified coordinates and corrects data deviations. After internal editing and two-level quality inspection, it generates comprehensive survey results and submits them to the ownership unit for confirmation before outputting the final survey results.

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