A method and system for three-dimensional positioning of a fluid-containing pipeline

Abstract

This invention belongs to the field of pipeline detection technology and provides a method and system for three-dimensional positioning of pipelines containing fluid. The method includes: using the flow-induced acoustic vibration response generated by the target pipeline during normal fluid transport as a passive source to obtain the area to be detected, the candidate burial depth range, and the borehole layout range; laying out several boreholes within the area to be detected, and installing in-hole coupling probes within the boreholes to obtain the passive acoustic vibration response propagating through the soil and rock mass during normal fluid transport in the target pipeline; performing coupling quality gating on the in-hole coupling probes to obtain the passive acoustic vibration response propagating through the soil and rock mass to the borehole wall during normal operation of the target pipeline; processing the passive acoustic vibration response to obtain effective acoustic vibration segments corresponding to several boreholes and several depth positions; constructing a joint inversion objective function for the target pipeline based on the effective acoustic vibration segments; solving the joint inversion objective function for the target pipeline to obtain the three-dimensional position of the target pipeline and its positioning confidence, thus completing the three-dimensional positioning of the pipeline containing fluid.

Description

Technical Field

[0001] This invention belongs to the field of pipeline detection technology, specifically relating to a three-dimensional positioning method and system for pipelines containing fluid. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Underground fluid-containing pipelines are widely used in water supply and drainage, gas, heat, oil, chemical media and sewage transportation. For non-metallic pipelines, composite material pipelines, pipelines without tracer lines and existing pipelines with missing data, traditional electromagnetic detection methods have limited applicability, while ground penetrating radar methods are easily affected by water content, burial depth, dielectric differences and complex underground interfaces.

[0004] Existing acoustic pipeline detection solutions include actively emitting sound waves towards or near the pipeline, deploying microphones or sensor arrays on the ground, determining the horizontal position based on the peak sound intensity on the ground, calculating the burial depth using propagation time difference or phase difference, and establishing soil and pipeline models and using reflection response for correlation assessment. These solutions are effective in some scenarios, but in complex urban underground environments, active excitation has requirements for on-site access conditions and may be limited by pipeline material, interfaces, operational safety, and construction permits. The ground acquisition path is long, the environmental noise is strong, and high-frequency components are easily absorbed by the soil. When relying solely on sound velocity or peak ground response for positioning, it is easily affected by layered soil and rock, multipath propagation, and interference from nearby pipelines. In areas with unknown burial depth and strong soil attenuation, simple time difference positioning often fails to provide stable three-dimensional results. Summary of the Invention

[0005] To address the aforementioned issues, this invention proposes a three-dimensional positioning method and system for pipelines containing fluid. Utilizing the naturally occurring flow-induced acoustic vibration response during normal operation of in-service pipelines, the method performs borehole wall coupling signal reception within multiple boreholes. It incorporates the attenuation of acoustic vibration components at different frequencies by the soil and rock mass, effective bandwidth contraction, propagation time difference, and multi-point coherence into the inversion process, differentiating it from existing active acoustic positioning, surface array positioning, and reflection model correlation positioning schemes. This solves the problems of limited active excitation conditions, significant surface signal attenuation, unstable in-bore reception coupling, uncertain soil and rock attenuation, and uncontrollable three-dimensional positioning residuals in blind exploration of non-metallic or data-deficient pipelines.

[0006] According to some embodiments, the first aspect of the present invention provides a three-dimensional positioning method for a pipeline containing fluid, employing the following technical solution: A method for three-dimensional positioning of a fluid-containing pipeline, comprising: Using the flow-induced acoustic vibration response generated by the target pipeline during normal fluid transport as a passive source, the area to be detected, the candidate burial depth range, and the borehole layout range are obtained. Several boreholes are laid out in the area to be detected. In-hole coupling probes are installed in the boreholes to obtain the passive acoustic vibration response transmitted through the soil and rock mass when the target pipeline is normally transporting fluid. The coupling quality of the in-hole coupling probe is gated to obtain the passive acoustic and vibration response of the target pipeline propagating through the soil and rock to the borehole wall during normal operation. The acquired passive acoustic vibration response is processed to obtain several effective acoustic vibration segments corresponding to several boreholes and several depth positions; Constructing a joint inversion objective function for the target pipeline based on effective acoustic and vibration segments; Solve the joint inversion objective function of the constructed target pipeline to obtain the three-dimensional position of the target pipeline and its positioning confidence, thus completing the three-dimensional positioning of the pipeline containing fluid.

[0007] As a further technical limitation, the coupling quality gating includes pressing the in-hole coupling probe against the borehole wall or forming surface contact with the borehole wall through a coupling medium to measure the coupling pressure or contact impedance; obtaining the background noise level before acquisition; comparing the response energy, effective bandwidth, or coherence at adjacent depths in the same borehole; and adjusting the probe position, coupling pressure, or acquisition depth when the coupling pressure is below a threshold, the contact impedance is abnormal, the background noise exceeds a threshold, or the response at adjacent depths does not meet the consistency condition.

[0008] As a further technical limitation, the joint inversion objective function is: ;in, Candidate 3D locations for the target pipeline. To propagate time difference residuals, This represents the amplitude attenuation residual after correction by alpha(f,z,m). To effectively reduce residual bandwidth, For multi-point coherence residuals, The non-negative weighting coefficients for the propagation time difference residuals. The non-negative weighting coefficients for the amplitude attenuation residuals are... The non-negative weighting coefficients for the effective bandwidth shrinkage residuals. ω1+ω2+ω3+ω4=1.

[0009] As a further technical limitation, the acquired passive acoustic and vibration response is subjected to DC removal, bandpass filtering, power frequency suppression, time-frequency transformation, and stable time window screening to obtain several effective acoustic and vibration segments corresponding to several boreholes and several depth positions. The frequency-related attenuation parameters of the soil and rock mass are constructed or corrected, and the joint inversion objective function of the target pipeline is constructed by combining the frequency-related attenuation parameters of the soil and rock mass.

[0010] Furthermore, the frequency-dependent attenuation parameter of the soil and rock mass is used to describe the propagation loss of the soil and rock mass for acoustic vibration components of different frequencies, according to... The theoretical response between the candidate location and the in-hole coupling probe is corrected; where... The frequency response amplitude at the in-hole coupling probe is [value missing]. This is the source-side equivalent frequency response. For candidate propagation distance, The geometric diffusion index; The integration path is determined based on the candidate pipe location and the location of the in-hole coupling probe. For the acoustic vibration frequency, This represents the frequency-dependent attenuation coefficient of the soil and rock mass. The depth corresponding to the propagation path or the acquisition depth of the in-hole coupled probe. This refers to the type of soil or rock medium or its water content.

[0011] As a further technical limitation, the target pipeline is an in-service pipeline that transports liquid, gas, or liquid-gas mixtures, and the passive source includes one or more of the following: fluid friction, throttling, eddies, pump station operation disturbances, valve natural disturbances, pressure fluctuations, or acoustic and vibration responses caused by switching between normal operating conditions.

[0012] According to some embodiments, a second aspect of the present invention provides a three-dimensional positioning system for a pipeline containing fluid, employing the following technical solution: A three-dimensional positioning system for a pipeline containing fluid, comprising: The first acquisition module is configured to use the flow-induced acoustic vibration response generated by the target pipeline during normal fluid transport as a passive source to acquire the area to be detected, the candidate burial depth range, and the borehole layout range. The second acquisition module is configured to lay out several boreholes in the area to be detected, and to install in-hole coupling probes in the boreholes to acquire the passive acoustic vibration response transmitted through the soil and rock mass when the target pipeline is normally transporting fluid. The response acquisition module is configured to perform coupling quality gating on the set in-hole coupling probe to obtain the passive acoustic vibration response of the target pipeline propagating through the soil and rock mass to the borehole wall during normal operation. The signal processing module is configured to process the acquired passive acoustic vibration response to obtain several effective acoustic vibration segments corresponding to several boreholes and several depth positions. The three-dimensional positioning module is configured to construct a joint inversion objective function for the target pipeline based on effective acoustic and vibration segments; solve the constructed joint inversion objective function for the target pipeline to obtain the three-dimensional position of the target pipeline and its positioning confidence, thereby completing the three-dimensional positioning of the pipeline containing fluid.

[0013] According to some embodiments, a third aspect of the present invention provides a computer-readable storage medium, employing the following technical solution: A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of a three-dimensional positioning method for a fluid-containing pipeline as described in the first aspect of the present invention.

[0014] According to some embodiments, the fourth aspect of the present invention provides an electronic device, which adopts the following technical solution: An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps in a three-dimensional positioning method for a fluid-containing pipeline as described in the first aspect of the present invention.

[0015] According to some embodiments, the fifth aspect of the present invention provides a computer program product, which adopts the following technical solution: A computer program product includes software code, wherein the program in the software code performs the steps of a three-dimensional positioning method for a fluid-containing pipeline as described in the first aspect of the present invention.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention uses the acoustic and vibration response of the target pipeline during normal operation as a passive source, reducing dependence on the target pipeline access conditions and active excitation construction conditions; it employs borehole in-hole coupling reception as the primary acquisition method, bringing the acquisition point closer to the underground target and reducing the impact of surface environmental noise; it ensures the stability of signal transmission between the in-hole probe and the borehole wall through coupling quality gating, reducing artifacts caused by air gaps or poor contact; it describes the propagation loss of the soil and rock mass through frequency-related attenuation parameters, spectral centroid shift, and effective bandwidth contraction, avoiding the calculation of burial depth based solely on a single sound velocity parameter; and through multi-residual joint inversion and borehole supplementation closed loop, it can output three-dimensional position, confidence level, and supplementary measurement suggestions under complex soil and rock conditions. Attached Figure Description

[0017] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0018] Figure 1 This is a flowchart of a three-dimensional positioning method for a fluid-containing pipeline according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the layout of multiple boreholes and multiple depth holes for coupling receivers in Embodiment 1 of the present invention. Figure 3 This is a schematic diagram of the data processing flow for coupling quality gating, attenuation parameter correction, and joint inversion in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the closed-loop optimization of supplementary borehole measurement based on residuals and uncertainties in Embodiment 1 of the present invention; Figure 5 This is a structural block diagram of a three-dimensional positioning system for a fluid-containing pipeline according to Embodiment 2 of the present invention. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0021] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0022] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0023] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0024] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0025] Example 1 Embodiment 1 of the present invention introduces a three-dimensional positioning method for a pipeline containing fluid.

[0026] like Figure 1 The method for three-dimensional positioning of a fluid-containing pipeline, as shown, includes: Using the flow-induced acoustic vibration response generated by the target pipeline during normal fluid transport as a passive source, the area to be detected, the candidate burial depth range, and the borehole layout range are obtained. Several boreholes are laid out in the area to be detected. In-hole coupling probes are installed in the boreholes to obtain the passive acoustic vibration response transmitted through the soil and rock mass when the target pipeline is normally transporting fluid. The coupling quality of the in-hole coupling probe is gated to obtain the passive acoustic and vibration response of the target pipeline propagating through the soil and rock to the borehole wall during normal operation. The acquired passive acoustic vibration response is processed to obtain several effective acoustic vibration segments corresponding to several boreholes and several depth positions; Constructing a joint inversion objective function for the target pipeline based on effective acoustic and vibration segments; Solve the joint inversion objective function of the constructed target pipeline to obtain the three-dimensional position of the target pipeline and its positioning confidence, thus completing the three-dimensional positioning of the pipeline containing fluid.

[0027] To address the challenges of limited active excitation conditions, significant surface signal attenuation, unstable in-hole receiving coupling, uncertain soil and rock attenuation, and uncontrollable 3D positioning residuals in blind exploration of non-metallic or data-deficient pipelines, this embodiment, under the normal in-service state of the target pipeline transporting fluid, does not actively apply acoustic, mechanical, or pulsed fluid excitation to the target pipeline. Instead, it uses the flow-induced acoustic vibration response generated by the target pipeline itself during operation as a passive source. Multiple boreholes are deployed in the area to be explored, and in-hole coupling probes capable of forming stable coupling with the borehole walls are installed in the boreholes to collect passive acoustic vibration responses at multiple depths. Unreliable acquisition locations are eliminated through coupling quality gating. Based on the amplitude attenuation, spectral centroid shift, and effective bandwidth contraction of different frequency components, the soil and rock frequency-related attenuation parameter α(f,z,m) is established or corrected. The propagation time difference residual, amplitude attenuation residual, effective bandwidth contraction residual, and multi-point coherence residual are then used to construct a joint inversion objective function to solve for the 3D position of the target pipeline. When the residuals or uncertainties do not meet the requirements, the location of the supplementary borehole is generated and re-measured.

[0028] As one or more implementation methods, this embodiment, after selecting the area to be detected, collects existing pipeline data, ground obstacles, construction permit range, estimated pipe materials, and candidate burial depth ranges; the target pipeline maintains a normal fluid transport state, and no acoustic, mechanical, or pulsed fluid excitation is actively applied to the target pipeline. The flow-induced acoustic and vibration response naturally generated by the target pipeline during normal fluid transport (i.e., fluid friction, throttling, eddies, pump station disturbances, natural valve disturbances, or pressure fluctuations under normal pipeline operating conditions) is used as a passive source to determine the area to be detected, the candidate burial depth range, and the borehole layout range; in this embodiment, the target pipeline is an in-service pipeline transporting liquid, gas, or liquid-gas mixtures, and the passive source includes one or more of the following: fluid friction, throttling, eddies, pump station operating disturbances, natural valve disturbances, pressure fluctuations, or acoustic and vibration responses caused by switching between normal operating conditions.

[0029] like Figure 2 As shown, in this embodiment, multiple boreholes are deployed based on the length, width, and candidate burial depth range of the area to be detected. Preferably, the number of boreholes is no less than three, and the boreholes are not collinear in planar position; when limited by site conditions, the deployment can be combined with known pipeline routing constraints or candidate burial depth constraints. In-bore coupling probes are installed in each of the multiple boreholes, and borehole wall coupling responses are collected at at least two different depths. The three-dimensional coordinates, acquisition depth, and synchronization time reference of each in-bore coupling probe are recorded. Preferably, at least two boreholes collect data at two different depths to form spatial constraints sensitive to changes in burial depth and attenuation. The location, borehole elevation, borehole diameter, borehole depth, and soil / rock description of each borehole are all recorded as metadata.

[0030] The intra-orifice coupling probe can be an accelerometer, a velocity-type vibration sensor, a sound pressure sensor, a piezoelectric sensor, or a combination thereof. The probe forms surface contact with the orifice wall through an elastic pressure structure, an expansion bladder, a coupling medium, or a mechanical support. Before acquisition, coupling pressure, contact impedance, background noise level, and consistency of response at adjacent depths are checked. If the coupling pressure is insufficient, the contact impedance is abnormal, the noise level is too high, or the response difference between adjacent depths is abnormal, the probe attitude, coupling pressure, or acquisition depth is adjusted, and coupling quality gating is performed again. Only acquisition locations that meet the coupling quality conditions are included in subsequent processing.

[0031] Each in-hole coupling probe acquires data synchronously using a unified time reference. Acquired data includes borehole number, depth, sampling rate, acquisition time, probe orientation, coupling quality indicators, and raw acoustic-vibration response. Acquisition duration can be determined based on the on-site signal-to-noise ratio, for example, 30 to 180 seconds per depth location. The acquired data undergoes DC removal, bandpass filtering, power frequency suppression, and time-frequency transformation. Effective acoustic-vibration segments with stable energy, meeting effective frequency band requirements, and achieving the channel coherence threshold are then selected.

[0032] like Figure 3As shown, this embodiment establishes or corrects the frequency-related attenuation parameters of the soil and rock mass, namely alpha(f,z,m), based on the soil and rock type, borehole depth, amplitude attenuation of effective acoustic segments at different frequencies, spectral centroid shift, and effective bandwidth contraction. For the acoustic vibration frequency, The depth corresponding to the propagation path or the acquisition depth of the in-hole coupled probe. This refers to the type of soil or rock medium or its water content.

[0033] In this embodiment, the frequency-dependent attenuation parameter of the soil and rock mass is used to describe the propagation loss of the soil and rock mass for acoustic vibration components of different frequencies. The theoretical response between the candidate location and the in-hole coupling probe is corrected; where... The frequency response amplitude at the in-hole coupling probe is [value missing]. This is the source-side equivalent frequency response. For candidate propagation distance, The geometric diffusion index; The integration path is determined based on the candidate pipe location and the location of the in-hole coupling probe. For the acoustic vibration frequency, This represents the frequency-dependent attenuation coefficient of the soil and rock mass. The depth corresponding to the propagation path or the acquisition depth of the in-hole coupled probe. This refers to the type of soil or rock medium or its water content.

[0034] As one or more implementation methods, this embodiment performs propagation time difference estimation, bandwidth contraction calculation, and coherence calculation on effective acoustic and vibration segments at different boreholes and different depths, and constructs a joint inversion objective function that includes time difference residuals, attenuation residuals, bandwidth contraction residuals, and coherence residuals.

[0035] The joint inversion objective function in this embodiment is: ;in, Candidate 3D locations for the target pipeline. To propagate time difference residuals, This represents the amplitude attenuation residual after correction by alpha(f,z,m). To effectively reduce residual bandwidth, For multi-point coherence residuals, The non-negative weighting coefficients for the propagation time difference residuals. The non-negative weighting coefficients for the amplitude attenuation residuals are... The non-negative weighting coefficients for the effective bandwidth shrinkage residuals. ω1+ω2+ω3+ω4=1.

[0036] As one or more implementation methods, this embodiment uses the candidate three-dimensional position X=(x,y,z) of the target pipeline as the parameters to be determined. Based on the propagation path length from X to the position of the coupled probe in each hole and the type of soil and rock medium, the theoretical propagation time difference, theoretical amplitude attenuation, theoretical effective frequency band change, and theoretical coherence trend are calculated, and the differences between the observed values ​​and the theoretical values ​​are respectively formed into corresponding residuals. The candidate three-dimensional position that minimizes the joint inversion objective function is solved by grid search, least squares, robust optimization, or Bayesian optimization, and the three-dimensional position of the target pipeline and the location confidence are output.

[0037] The location reliability can be determined based on the residual level, spatial distribution of residuals, and parameter covariance of the joint inversion objective function near the optimal solution. After obtaining the candidate three-dimensional position of the target pipeline, the residual vector composed of each residual term is calculated. The uncertainty of the three-dimensional position of the target pipeline is estimated based on the weighted mean square value of the residual vector, the minimum value of the objective function, and the curvature of the objective function surface near the optimal solution, thus obtaining the error ellipsoid, horizontal positioning error, or vertical positioning error. When the principal axis length of the error ellipsoid, the vertical positioning error, or the weighted mean square residual does not meet the engineering detection accuracy requirements, the location reliability is determined to be lower than the preset requirement.

[0038] The preset thresholds for each residual term can be determined based on the background noise acquisition results, repeated acquisition results at adjacent depths within the same borehole, the signal-to-noise ratio of the effective acoustic-vibration segment, and historical calibration data. Before the formal inversion, background noise and repeated measurement data are acquired, the statistical distribution of each residual term is calculated, and the preset thresholds for propagation time difference residual, amplitude attenuation residual, effective bandwidth contraction residual, and multi-point coherence residual are determined based on the mean plus a preset multiple of the standard deviation, quantile threshold, or engineering allowable error.

[0039] The spatial distribution of residuals is determined based on the residual values ​​corresponding to each borehole, each acquisition depth, and each frequency component. Each residual term is associated with its corresponding borehole plane coordinates, acquisition depth, and propagation path to form the spatial distribution of residuals. If the residual in a certain region, a certain depth segment, or a certain propagation direction is consistently higher than that in other regions, it is determined that there is a local residual concentration in that region. Attenuation uncertainty is determined based on the estimated dispersion of the frequency-related attenuation parameter α(f,z,m) of the soil-rock mass. When the variance, confidence interval width, or repeated measurement deviation of the attenuation parameter obtained within the same soil-rock medium type or similar depth range exceeds a preset range, it is determined that the attenuation parameter is unstable or has high attenuation uncertainty.

[0040] like Figure 4As shown, when the location reliability is lower than the preset requirement, or any residual term in the joint inversion objective function exceeds the preset threshold, multiple candidate borehole locations are generated within the range that meets the on-site construction constraints. The borehole coordinates, preset acquisition depth, and expected signal-to-noise ratio of the candidate borehole locations are added to the current borehole geometry model to predict their constraint effect on the 3D location inversion of the target pipeline. The changes in error ellipsoid volume, depth direction error, objective function residual, or parameter covariance before and after adding the candidate borehole locations are calculated respectively. The reduction in error ellipsoid volume, reduction in depth direction error, or reduction in attenuation parameter uncertainty are used as the contribution values ​​of the candidate borehole locations. Candidate locations that can improve depth resolution, reduce attenuation parameter uncertainty, or improve borehole geometry are selected as the replacement borehole locations. After borehole replacement, in-hole coupled acquisition, attenuation parameter correction, and joint inversion are repeated until the location reliability meets the preset requirement.

[0041] This embodiment uses the acoustic and vibration response of the target pipeline during normal operation as a passive source, reducing dependence on the target pipeline access conditions and active excitation construction conditions; it adopts borehole in-hole coupling reception as the main acquisition method, making the acquisition point closer to the underground target and reducing the impact of surface environmental noise; it ensures the stability of signal transmission between the in-hole probe and the borehole wall through coupling quality gating, reducing artifacts caused by air gaps or poor contact; it describes the propagation loss of the soil and rock mass through frequency-related attenuation parameters, spectral centroid shift, and effective bandwidth contraction, avoiding the calculation of burial depth based solely on a single sound velocity parameter; through multi-residual joint inversion and borehole supplementation closed loop, it can output three-dimensional position, confidence level, and supplementation suggestions under complex soil and rock conditions.

[0042] Example 2 Embodiment 2 of the present invention introduces a three-dimensional positioning system for a pipeline containing fluid.

[0043] like Figure 5 The illustrated three-dimensional positioning system for a fluid-containing pipeline includes: The first acquisition module is configured to use the flow-induced acoustic vibration response generated by the target pipeline during normal fluid transport as a passive source to acquire the area to be detected, the candidate burial depth range, and the borehole layout range. The second acquisition module is configured to lay out several boreholes in the area to be detected, and to install in-hole coupling probes in the boreholes to acquire the passive acoustic vibration response transmitted through the soil and rock mass when the target pipeline is normally transporting fluid. The response acquisition module is configured to perform coupling quality gating on the set in-hole coupling probe to obtain the passive acoustic vibration response of the target pipeline propagating through the soil and rock mass to the borehole wall during normal operation. The signal processing module is configured to process the acquired passive acoustic vibration response to obtain several effective acoustic vibration segments corresponding to several boreholes and several depth positions. The three-dimensional positioning module is configured to construct a joint inversion objective function for the target pipeline based on effective acoustic and vibration segments; solve the constructed joint inversion objective function for the target pipeline to obtain the three-dimensional position of the target pipeline and its positioning confidence, thereby completing the three-dimensional positioning of the pipeline containing fluid.

[0044] The detailed steps are the same as those provided in Embodiment 1 for a three-dimensional positioning method of a fluid-containing pipeline, and will not be repeated here.

[0045] Example 3 Embodiment 3 of the present invention provides a computer-readable storage medium.

[0046] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of a three-dimensional positioning method for a fluid-containing pipeline as described in Embodiment 1 of the present invention.

[0047] The detailed steps are the same as those provided in Embodiment 1 for a three-dimensional positioning method of a fluid-containing pipeline, and will not be repeated here.

[0048] Example 4 Embodiment 4 of the present invention provides an electronic device.

[0049] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps in a three-dimensional positioning method for a fluid-containing pipeline as described in Embodiment 1 of the present invention.

[0050] The detailed steps are the same as those provided in Embodiment 1 for a three-dimensional positioning method of a fluid-containing pipeline, and will not be repeated here.

[0051] Example 5 Embodiment 5 of the present invention provides a computer program product.

[0052] A computer program product includes software code, wherein the program in the software code performs the steps of a three-dimensional positioning method for a fluid-containing pipeline as described in Embodiment 1 of the present invention.

[0053] The detailed steps are the same as those provided in Embodiment 1 for a three-dimensional positioning method of a fluid-containing pipeline, and will not be repeated here.

[0054] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0055] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0056] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0057] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0058] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0059] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0060] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A method for three-dimensional positioning of a pipeline containing fluid, characterized in that, include: Using the flow-induced acoustic vibration response generated by the target pipeline during normal fluid transport as a passive source, the area to be detected, the candidate burial depth range, and the borehole layout range are obtained. Several boreholes are laid out in the area to be detected. In-hole coupling probes are installed in the boreholes to obtain the passive acoustic vibration response transmitted through the soil and rock mass when the target pipeline is normally transporting fluid. The coupling quality of the in-hole coupling probe is gated to obtain the passive acoustic and vibration response of the target pipeline propagating through the soil and rock to the borehole wall during normal operation. The acquired passive acoustic vibration response is processed to obtain several effective acoustic vibration segments corresponding to several boreholes and several depth positions; Constructing a joint inversion objective function for the target pipeline based on effective acoustic and vibration segments; Solve the joint inversion objective function of the constructed target pipeline to obtain the three-dimensional position of the target pipeline and its positioning confidence, thus completing the three-dimensional positioning of the pipeline containing fluid.

2. The three-dimensional positioning method for a fluid-containing pipeline as described in claim 1, characterized in that, The coupling quality gating includes placing the in-hole coupling probe against the borehole wall or forming surface contact with the borehole wall through a coupling medium to measure the coupling pressure or contact impedance; obtaining the background noise level before acquisition; comparing the response energy, effective bandwidth, or coherence at adjacent depths in the same borehole; and adjusting the probe position, coupling pressure, or acquisition depth when the coupling pressure is below a threshold, the contact impedance is abnormal, the background noise exceeds a threshold, or the response at adjacent depths does not meet the consistency condition.

3. The three-dimensional positioning method for a fluid-containing pipeline as described in claim 1, characterized in that, The joint inversion objective function is: ;in, Candidate 3D locations for the target pipeline. To propagate time difference residuals, This represents the amplitude attenuation residual after correction by alpha(f,z,m). To effectively reduce residual bandwidth, For multi-point coherence residuals, The non-negative weighting coefficients for the propagation time difference residuals. The non-negative weighting coefficient of the amplitude attenuation residual. The non-negative weighting coefficients for the effective bandwidth shrinkage residuals. ω1+ω2+ω3+ω4=1.

4. The three-dimensional positioning method for a fluid-containing pipeline as described in claim 1, characterized in that, The acquired passive acoustic and vibration responses are subjected to DC removal, bandpass filtering, power frequency suppression, time-frequency transformation, and stable time window screening to obtain several effective acoustic and vibration segments corresponding to several boreholes and several depth positions. The frequency-related attenuation parameters of the soil and rock mass are constructed or corrected, and the joint inversion objective function of the target pipeline is constructed by combining the frequency-related attenuation parameters of the soil and rock mass.

5. The three-dimensional positioning method for a fluid-containing pipeline as described in claim 4, characterized in that, The frequency-dependent attenuation parameter of the soil and rock mass is used to describe the propagation loss of the soil and rock mass for acoustic vibration components of different frequencies. The theoretical response between the candidate location and the in-hole coupling probe is corrected; where... The frequency response amplitude at the in-hole coupling probe is [value missing]. This is the source-side equivalent frequency response. For candidate propagation distance, The geometric diffusion index; The integration path is determined based on the candidate pipe location and the location of the in-hole coupling probe. For the acoustic vibration frequency, This represents the frequency-dependent attenuation coefficient of the soil and rock mass. The depth corresponding to the propagation path or the acquisition depth of the in-hole coupled probe. This refers to the type of soil or rock medium or its water content.

6. The three-dimensional positioning method for a fluid-containing pipeline as described in claim 1, characterized in that, The target pipeline is an in-service pipeline that transports liquid, gas, or liquid-gas mixtures. The passive sources include one or more of the following: fluid friction, throttling, eddies, pump station operation disturbances, valve natural disturbances, pressure fluctuations, or acoustic and vibration responses caused by switching between normal operating conditions.

7. A three-dimensional positioning system for a pipeline containing fluid, characterized in that, include: The first acquisition module is configured to use the flow-induced acoustic vibration response generated by the target pipeline during normal fluid transport as a passive source to acquire the area to be detected, the candidate burial depth range, and the borehole layout range. The second acquisition module is configured to lay out several boreholes in the area to be detected, and to install in-hole coupling probes in the boreholes to acquire the passive acoustic vibration response transmitted through the soil and rock mass when the target pipeline is normally transporting fluid. The response acquisition module is configured to perform coupling quality gating on the set in-hole coupling probe to obtain the passive acoustic vibration response of the target pipeline propagating through the soil and rock mass to the borehole wall during normal operation. The signal processing module is configured to process the acquired passive acoustic vibration response to obtain several effective acoustic vibration segments corresponding to several boreholes and several depth positions. The three-dimensional positioning module is configured to construct a joint inversion objective function for the target pipeline based on effective acoustic and vibration segments; solve the constructed joint inversion objective function for the target pipeline to obtain the three-dimensional position of the target pipeline and its positioning confidence, thereby completing the three-dimensional positioning of the pipeline containing fluid.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of a three-dimensional positioning method for a fluid-containing pipeline as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of a three-dimensional positioning method for a fluid-containing pipeline as described in any one of claims 1-6.

10. A computer program product, comprising software code, characterized in that, The program in the software code performs the steps of a three-dimensional positioning method for a fluid-containing pipeline as described in any one of claims 1-6.

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