A method, device, equipment, medium and product for calibrating depth and travel time of cross-hole ultrasonic wave trains

Abstract

The application discloses a borehole-crossing ultrasonic wave train depth and travel time calibration method, device, equipment, medium and product, relates to the technical field of calibration, and comprises the following steps: obtaining borehole inclination data and soil layer medium data of an underground pipeline along a borehole depth direction; determining a depth deviation calibration coefficient according to the borehole inclination data; determining initial ultrasonic layered propagation wave velocities of each depth interval according to the soil layer medium data; correcting original wave train depth according to the depth deviation calibration coefficient to obtain updated wave train depth; obtaining theoretical travel time according to the updated wave train depth and the initial ultrasonic layered propagation wave velocities; comparing the theoretical travel time with measured travel time to obtain residual values of each depth interval; performing weighted correction on the initial ultrasonic layered propagation wave velocities according to the residual values to obtain corrected layered propagation wave velocities; and performing path compensation correction on the theoretical travel time according to the corrected layered propagation wave velocities to obtain final calibrated travel time. The method can improve the calibration accuracy.

Description

Technical Field

[0001] This application relates to the field of calibration technology, and in particular to a method, apparatus, equipment, medium and product for calibrating the depth and travel time of a trans-aperture ultrasonic wave train. Background Technology

[0002] Cross-hole ultrasonic detection technology is widely used in fields such as underground pipeline burial depth detection, geotechnical engineering investigation and geological hazard assessment. It uses ultrasonic transmitting and receiving devices arranged in different boreholes to invert underground structural information based on ultrasonic travel time and wave train characteristics.

[0003] Traditional cross-hole ultrasonic testing methods typically assume that the borehole is in an ideal vertical state and use a uniform empirical wave velocity for travel time calculation, without considering the tilt offset that exists in actual borehole construction and the wave velocity differences of soil media at different depths.

[0004] Therefore, traditional methods often result in deviations in detection results in practical applications, ultimately leading to low accuracy in comprehensive calibration. Summary of the Invention

[0005] This application provides a method, apparatus, equipment, medium, and product for calibrating the depth and travel time of a trans-aperture ultrasonic wave train, which can improve the accuracy of calibration.

[0006] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, this application provides a method for calibrating the depth and travel time of a trans-aperture ultrasonic wave train, including: Acquire borehole inclination angle data and soil medium data along the borehole depth direction for underground pipelines; Based on the borehole inclination data, the vertical depth offset for each depth range is determined, and the depth deviation calibration coefficient is determined based on the vertical depth offset for each depth range. Based on soil medium data, the initial ultrasonic layer propagation velocity for each depth range was determined. The original wave train depth is corrected based on the depth deviation calibration coefficient to obtain the updated wave train depth; Based on the updated wave train depth and the initial ultrasonic layer propagation velocity, the theoretical travel time of the ultrasonic wave in each depth interval is calculated. The residual values ​​for each depth interval are obtained by comparing the theoretical travel time with the measured travel time in the corresponding depth interval. Based on the residual values ​​of each depth interval, the initial ultrasonic layer propagation velocity is weighted and corrected to obtain the corrected layer propagation velocity. Based on the corrected layered propagation wave velocity, the theoretical travel time is corrected by path compensation to obtain the final calibrated travel time.

[0007] In some possible implementations, the borehole inclination data includes the theoretical length of each depth interval and the average inclination angle of each depth interval. Based on the borehole inclination data, the vertical depth offset of each depth interval is determined, including: For each depth interval, the vertical depth offset corresponding to that depth interval is calculated based on the theoretical length of that depth interval and the average tilt angle of that depth interval.

[0008] In some possible implementations, the depth deviation calibration coefficient is determined based on the vertical depth offset of each depth interval, including: For each depth interval, obtain the theoretical length of that depth interval; Subtract the corresponding vertical depth offset from the theoretical length of the depth range to obtain the actual vertical depth of the depth range. The ratio of the actual vertical depth of the depth range to the theoretical length of the depth range is determined as the depth deviation calibration coefficient for that depth range.

[0009] In some possible implementations, the initial ultrasonic layer propagation velocity is weighted and corrected based on the residual values ​​of each depth interval to obtain the corrected layer propagation velocity, including: For each depth interval, determine the absolute value of the residual for that depth interval based on the residual value for that depth interval; For depth intervals where the absolute value of the residual is greater than the preset residual threshold, the difference between the absolute value of the residual and the preset residual threshold is calculated, and the ratio of the difference to the preset residual threshold is determined as the enhancement coefficient. The correction weight of the initial ultrasonic layer propagation velocity corresponding to this depth interval is increased according to the enhancement coefficient. For depth intervals where the absolute value of the residual is less than or equal to the preset residual threshold, the difference between the preset residual threshold and the absolute value of the residual is calculated, and the ratio of the difference to the preset residual threshold is determined as the reduction coefficient. The correction weight of the initial ultrasonic layer propagation velocity corresponding to the depth interval is reduced according to the reduction coefficient. The initial ultrasonic layer propagation velocity is weighted and adjusted according to the adjusted correction weights to obtain the corrected layer propagation velocity.

[0010] In some possible implementations, before calculating the theoretical travel time of the ultrasound in each depth interval based on the updated wavetrain depth and the initial ultrasonic layer propagation velocity, the following steps are also included: Based on the borehole inclination data and the updated wave train depth, the ultrasonic transmission and reception points in the actual borehole are mapped to the equivalent vertical borehole coordinate system. In the equivalent vertical borehole coordinate system, the spatial relative position between the transmitting point and the receiving point is redefined; Calculate the theoretical travel time of ultrasound waves in each depth range, including: In the equivalent vertical borehole coordinate system, the theoretical travel time of the ultrasonic wave in each depth interval is calculated based on the initial ultrasonic layer propagation velocity and the redefined spatial relative position.

[0011] In some possible implementations, path compensation correction is performed on the theoretical time travel to obtain the final calibrated time travel, including: Based on the corrected layered propagation velocity and the updated wave train depth, the actual propagation path length of the ultrasonic wave is calculated segment by segment according to the depth interval. The path deviation compensation is then performed on the theoretical travel time based on the difference between the actual propagation path length and the equivalent vertical path length to obtain the final calibrated travel time.

[0012] Secondly, this application provides a trans-aperture ultrasonic wave train depth and travel time calibration device, comprising: The acquisition module is used to acquire borehole inclination angle data and soil medium data along the borehole depth direction of the underground pipeline; The depth update module is used to determine the vertical depth offset of each depth interval based on the borehole inclination data, and to determine the depth deviation calibration coefficient based on the vertical depth offset of each depth interval; to determine the initial ultrasonic layer propagation velocity of each depth interval based on the soil medium data; and to correct the original wave train depth based on the depth deviation calibration coefficient to obtain the updated wave train depth. The timing calibration module is used to calculate the theoretical travel time of ultrasound in each depth interval based on the updated wave train depth and the initial ultrasonic layer propagation velocity; compare the theoretical travel time with the measured travel time in the corresponding depth interval to obtain the residual value for each depth interval; perform weighted correction on the initial ultrasonic layer propagation velocity based on the residual value for each depth interval to obtain the corrected layer propagation velocity; and perform path compensation correction on the theoretical travel time based on the corrected layer propagation velocity to obtain the final calibrated travel time.

[0013] Thirdly, this application provides a computing device, including a memory and a processor; The memory stores one or more computer programs, the one or more computer programs including instructions; when the instructions are executed by the processor, the computing device performs the method as described in any one of the first aspects.

[0014] Fourthly, this application provides a computer-readable storage medium for storing a computer program for performing the method as described in any one of the first aspects.

[0015] Fifthly, this application provides a computer program product comprising one or more computer instructions, wherein when the computer instructions are executed by a computer, the computer performs the method as described in any one of the first aspects.

[0016] As can be seen from the above technical solution, this application has at least the following beneficial effects: In this application, through multi-step data processing and numerical calculations, the processing logic of traditional cross-hole ultrasonic detection methods can be changed to form processing results adapted to the drilling conditions and geological formations. Based on the acquired borehole inclination and soil medium data, numerical adjustments are made in the depth and propagation velocity directions respectively, ensuring consistency between the processing and field conditions. Corrections are performed on the depth and travel time values ​​to reduce the impact of borehole inclination on depth calculations and the impact of soil condition differences on propagation velocity calculations. Weighted correction of propagation velocity is achieved through residual comparison, ensuring consistency between the calculated travel time values ​​and those acquired in the field. Path compensation correction is performed on the theoretical travel time to obtain the final calibrated travel time, making the final depth and travel time data more closely match the actual borehole conditions. Without changing the field detection process, the stability of cross-hole ultrasonic detection results is improved through data processing, expanding the applicability of cross-hole ultrasonic detection under different geological conditions. Ultimately, the calculation deviations caused by the idealized vertical borehole assumption and the fixed wave velocity assumption are reduced, ensuring that the processed depth and travel time results meet engineering application requirements. This involves adjusting the data across the entire depth range through continuous segmented processing, ensuring that the calculation results for each depth range are independent and reducing the impact of errors in a single range on the overall result. Ultimately, this improves the accuracy of the calibration.

[0017] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this application do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0018] Figure 1 An application environment diagram for a cross-hole ultrasonic wave train depth and travel time calibration method provided in this application embodiment; Figure 2 A schematic flowchart illustrating a method for calibrating the depth and travel time of a trans-aperture ultrasonic wave train, provided in an embodiment of this application; Figure 3A structural diagram of a trans-aperture ultrasonic wave train depth and travel time calibration device provided in an embodiment of this application; Figure 4 This is a schematic diagram of a computing device provided in an embodiment of this application. Detailed Implementation

[0019] The terms "first," "second," and "third," etc., used in this application specification and accompanying drawings are used to distinguish different objects, not to limit a specific order.

[0020] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0021] To ensure clarity and conciseness in the description of the following embodiments, a brief introduction to the related technologies is given first: Cross-bore ultrasonic testing is a commonly used non-destructive testing technique in geotechnical engineering investigation, underground pipeline inspection, and geological hazard assessment. It involves placing ultrasonic transmitters and receivers in adjacent boreholes to emit ultrasonic signals into the formation and receive the echoes. Based on parameters such as ultrasonic travel time and wave train amplitude, information such as the integrity of the underground rock and soil, wave velocity distribution, and the burial depth of underground structures can be inferred, providing data for engineering design and hazard diagnosis. Wave train depth refers to the depth of the ultrasonic transmitter / receiver point within the borehole, and travel time is the time it takes for the ultrasonic wave to travel from the transmitter to the receiver.

[0022] Currently, traditional cross-hole ultrasonic data processing methods generally simplify the borehole to an ideal vertical borehole, directly using the design depth as the actual depth, without considering the depth deviation caused by the tilt and deviation of the actual borehole; at the same time, they often use a uniform empirical wave velocity for travel time calculation, ignoring the different effects of different depths and different soil media on the ultrasonic wave propagation speed.

[0023] The above simplification process leads to two prominent problems: First, the borehole inclination causes a systematic error between the original wave train depth and the actual vertical depth, which directly affects the detection and positioning accuracy. Second, the fixed wave velocity assumption does not match the actual wave velocity of the strata, resulting in a large deviation between the theoretical travel time and the measured travel time, which ultimately leads to low accuracy of wave train depth calibration and travel time calibration.

[0024] In view of this, embodiments of this application provide a method for calibrating the depth and travel time of a trans-aperture ultrasonic wave train. To make the technical solution of this application clearer and easier to understand, the application scenarios of the technical solution of this application are described below with reference to the accompanying drawings. Figure 1As shown in the figure, this figure is an application environment diagram provided by an embodiment of this application.

[0025] In this application environment, the server acts as the execution entity. The terminal uploads data collected on-site, including borehole inclination data, soil medium data, raw ultrasonic wave trains, and measured travel time data, to the server. After receiving and parsing the data, the server 104 sequentially performs depth offset calculation, depth calibration coefficient determination, initial wave velocity assignment, wave train depth update, theoretical travel time calculation, residual analysis, wave velocity weighted correction, and secondary travel time correction, ultimately generating the calibrated depth and travel time results. The server then feeds back the processed final data to the terminal for on-site personnel to view, export, and use.

[0026] To make the technical solution of this application clearer and easier to understand, the following describes a method for calibrating the depth and travel time of a trans-aperture ultrasonic wave train, provided by an embodiment of this application, in conjunction with the above application scenarios. For example... Figure 2 As shown, this figure is a schematic flowchart of a cross-aperture ultrasonic wave train depth and travel time calibration method provided in an embodiment of this application. The cross-aperture ultrasonic wave train depth and travel time calibration method includes: S201. Obtain borehole inclination angle data and soil medium data along the borehole depth direction for underground pipelines.

[0027] Among them, the borehole depth direction is the direction of downward extension of the borehole from the borehole opening position. For example, if the borehole is laid out from the surface to the bottom of the hole, the entire extension direction from the surface to the bottom of the hole is the borehole depth direction; the borehole inclination angle data is the parameter data of the borehole inclination state corresponding to the borehole depth direction, including the theoretical length of each section of the borehole (referring to the length of a single depth interval determined according to the design along the borehole axis), the average inclination angle (the overall deviation angle of the entire borehole section relative to the vertical direction in a single depth interval), and the inclination azimuth angle, etc.; the soil medium data is the relevant data of the stratum physical properties distributed along the borehole depth direction, such as the soil reference wave velocity, stratum structure parameters, soil saturation, soil porosity, overlying effective stress, reference effective stress, wave velocity depth variation gradient, etc.

[0028] For example, the server acquires data by receiving real-time monitoring information from on-site data acquisition devices. For borehole inclination data, various borehole depth inclination acquisition devices measure borehole parameters segment by segment along the borehole depth direction, packaging and transmitting the theoretical length and average inclination angle of each segment to the server. The server then collects and saves the borehole inclination data. For soil medium data, soil sampling and testing equipment collects soil samples at different burial depths on-site, classifies them according to their corresponding locations along the borehole depth direction, and uploads them to the server. The server then organizes and archives the received soil physical property parameters to form complete soil medium data.

[0029] S202. Based on the borehole inclination data, determine the vertical depth offset for each depth interval, and determine the depth deviation calibration coefficient based on the vertical depth offset for each depth interval.

[0030] Optionally, for each depth interval, the vertical depth offset corresponding to the depth interval is calculated based on the theoretical length of the depth interval and the average tilt angle of the depth interval; the actual vertical depth of the depth interval is obtained by subtracting the vertical depth offset corresponding to the depth interval from the theoretical length of the depth interval; the ratio of the actual vertical depth of the depth interval to the theoretical length of the depth interval is determined as the depth deviation calibration coefficient of the depth interval.

[0031] The vertical depth offset reflects the depth error caused by borehole inclination. The actual vertical depth is the true vertical depth of a section of borehole, i.e., the true vertical burial depth of that section of strata. The depth deviation calibration coefficient is used to correct the depth measurement error caused by borehole inclination in the original measured depth value.

[0032] For example, the server retrieves borehole inclination data and performs parsing operations for each depth interval (i.e., each segment of the borehole). Suppose the underground pipeline is divided into n consecutive depth intervals along the borehole depth direction, and the theoretical length of the j-th depth interval is... The average tilt angle of the j-th depth interval is (radian).

[0033] For each depth interval, calculate the corresponding vertical depth offset based on the theoretical length and average tilt angle of that depth interval:

[0034] in, This represents the vertical depth offset of the j-th depth interval; Let be the cosine of the average tilt angle of the j-th depth interval; Let be the cumulative correction factor for borehole curvature in the j-th depth interval. , Let be the average tilt angle of the (j-1)th depth interval. The preset limit reference tilt angle (e.g., 0.1 rad or 1°) is a fixed constant.

[0035] The theoretical length based on the j-th depth interval and vertical depth offset Calculate the actual vertical depth of this depth range:

[0036] in, is the actual vertical depth of the j-th depth interval.

[0037] The actual vertical depth of the j-th depth interval With theoretical length The ratio of these values ​​is determined as the depth deviation calibration coefficient for that depth range.

[0038] in, is the depth deviation calibration coefficient for the j-th depth interval.

[0039] S203. Based on the soil medium data, determine the initial ultrasonic layer propagation velocity for each depth range.

[0040] The initial ultrasonic layer propagation velocity is a segmented ultrasonic propagation velocity predetermined based on the soil medium type and physical and mechanical state of each depth interval before actual travel time residual correction.

[0041] For example, the server retrieves soil medium data corresponding to each depth interval, including wave velocity reference value, formation correction coefficient, saturation influence amplitude coefficient, soil saturation, saturation nonlinearity index, porosity attenuation coefficient, soil porosity, stress sensitivity coefficient, and overlying effective stress. The server selects a single depth interval to be processed and extracts all parameters belonging to that depth interval from the retrieved soil medium data. The server substitutes the parameters corresponding to this depth interval into a preset relation and calculates the initial ultrasonic layer propagation wave velocity corresponding to that depth interval through numerical calculation. The relation is:

[0042] in, This represents the initial ultrasonic layer propagation velocity in the j-th depth interval. This represents the reference value of wave velocity in the j-th depth interval. Represents the formation correction factor for the j-th depth interval; The saturation influence amplitude coefficient for the j-th depth interval has a value range of [0, 0.3]. It is determined by indoor experiments on soil saturation in the j-th depth interval, with higher values ​​for soft soil and lower values ​​for hard soil. It is used to control the enhancement amplitude of ultrasonic wave velocity by saturation. Let be the soil saturation at the j-th depth interval, and let represent the ratio of the water volume in the pores to the total pore volume in the soil at the j-th depth interval. The saturation nonlinearity index for the j-th depth interval is usually taken as 0.5 to 2. It can be determined based on the wave velocity-saturation fitting curve for the j-th depth interval and is used to describe the nonlinear enhancement relationship between soil saturation and ultrasonic wave propagation velocity. The porosity attenuation coefficient for the j-th depth interval is [0, 0.5], which can be determined by the soil porosity test results for the j-th depth interval to control the degree of attenuation of ultrasonic wave propagation velocity by soil porosity. It is a natural constant; Let be the soil porosity in the j-th depth interval, obtained directly through field sampling or geotechnical investigation report, and represent the ratio of pore volume to total soil volume; The stress sensitivity coefficient for the j-th depth interval can be calibrated based on the correlation between the effective stress level of the overlying layer and the measured wave velocity. Let be the overlying effective stress in the j-th depth interval, and let represent the vertical effective stress borne by the soil layer at the j-th depth location. Let be the reference effective stress for the j-th depth interval; The wave velocity gradient coupling coefficient for the j-th depth interval can be adaptively determined based on the wave velocity change rate of adjacent depth intervals to control the coupling strength of the wave velocity variation along the depth in the j-th depth interval. For the j-th Initial ultrasonic layer propagation velocity within one depth range; For the j-th Initial ultrasonic layer propagation velocities in two depth ranges; For the jth Vertical depth coordinates for one depth interval; For the j-th Vertical depth coordinates for two depth intervals; This is the reference time for the j-th depth interval, i.e., the preset baseline reference duration for the j-th depth interval.

[0043] The server sorts the data by depth from shallowest to deepest, and then repeats the entire process of parameter extraction, parameter substitution, and numerical calculation for each remaining depth interval. The server then aggregates all the calculation results to generate an initial ultrasonic layer propagation velocity corresponding to each depth interval.

[0044] S204. Correct the original wave train depth according to the depth deviation calibration coefficient to obtain the updated wave train depth.

[0045] The original wavetrain depth is the ultrasonic measuring point burial depth data directly collected and recorded by the detection equipment without using a depth deviation calibration coefficient to eliminate borehole tilt errors. For example, if the detection equipment directly reads a depth of 20 meters for a measuring point, this uncorrected 20-meter value is the original wavetrain depth. The updated wavetrain depth is the measuring point depth data that conforms to the actual vertical burial depth of the strata after correcting the original wavetrain depth using a depth deviation calibration coefficient.

[0046] For example, the server processes each depth interval sequentially. For a single j-th depth interval, the server first retrieves the depth deviation calibration coefficient and the original wave train depth corresponding to that depth interval; the server then obtains the depth position error weighting coefficient and the original wave train depth corresponding to that depth interval. The updated wave train depth and interval boundary smoothing correction amount for each depth interval are obtained, and the obtained parameters are substituted into a preset calculation formula to calculate the updated wave train depth for the j-th depth interval. The calculation formula is as follows:

[0047]

[0048] in, This represents the initial correction depth for the j-th depth interval. This represents the original wave train depth of the j-th depth interval. This represents the depth deviation calibration coefficient for the j-th depth interval. This represents the updated wave train depth for the j-th depth interval; The depth position error weighting coefficient for the j-th depth interval can be preset according to the depth segmentation accuracy and borehole curvature, and is used to control the influence weight of the depth deviation between adjacent intervals on the current interval. For the first Update wave train depth for each depth interval; This is the interval boundary smoothing correction amount for the j-th depth interval, which can be adaptively determined according to the segment length of the depth interval, and is used to eliminate the depth step error caused by segmented calculation.

[0049] The server performs parameter extraction, formula substitution, and numerical calculation operations sequentially for all remaining depth intervals, arranged from shallowest to deepest. The server records the calculation result for each interval as the updated wave train depth.

[0050] S205. Based on the updated wave train depth and the initial ultrasonic layer propagation velocity, calculate the theoretical travel time of the ultrasonic wave in each depth interval.

[0051] Theoretical travel time is the ideal propagation time calculated based on the propagation laws of the formation medium without referring to actual field measurement data.

[0052] One possible approach is to map the ultrasonic transmitting and receiving points in the actual borehole to an equivalent vertical borehole coordinate system based on borehole inclination data and updated wave train depth; and then, in the equivalent vertical borehole coordinate system, redetermine the spatial relative positions between the transmitting and receiving points.

[0053] For example, an equivalent vertical borehole coordinate system is established with the center point of the borehole surface as the origin and the vertical downward direction as the ordinate. Based on the average tilt angle and tilt azimuth angle of each depth interval, the spatial coordinates of the transmitting and receiving points in the actual borehole are transformed into coordinates in the equivalent vertical borehole coordinate system interval by interval. The transformed abscissa is zero and the ordinate is equal to the actual vertical depth of the point.

[0054] Calculate the theoretical travel time of ultrasound waves in each depth range, including: In the equivalent vertical borehole coordinate system, the theoretical travel time of the ultrasonic wave in each depth interval is calculated based on the initial ultrasonic layer propagation velocity and the redefined spatial relative position.

[0055] In this system, the ultrasonic transmitter point is the spatial location of the probe in the borehole that emits ultrasonic signals. The receiver point is the spatial location of the probe in the borehole that receives ultrasonic signals. The equivalent vertical borehole coordinate system is a standardized calculation coordinate system built with the center point of the borehole on the ground surface as the origin and the vertically downward direction as the longitudinal axis. It is used to uniformly convert real boreholes into virtual vertical boreholes. The spatial relative position is the coordinate distance relationship between the ultrasonic transmitter point and the receiver point in the same equivalent vertical borehole coordinate system. The tilt azimuth angle is the horizontal deflection angle of the borehole's tilt direction relative to a fixed reference direction within a single depth interval. For example, if the borehole in a certain depth interval is vertically tilted and horizontally oriented due east, the corresponding tilt azimuth angle is the calibration angle for the due east direction.

[0056] For example, the server retrieves the updated wavetrain depth, initial ultrasonic layer propagation velocity, and borehole inclination angle data corresponding to each depth interval. The server constructs an equivalent vertical borehole coordinate system with the borehole surface center point as the origin and the vertically downward direction as the ordinate. Based on the average inclination angle and inclination azimuth angle of each depth interval, the server converts the spatial coordinates of the actual ultrasonic transmitter and receiver points within the borehole into coordinate values ​​within the equivalent vertical borehole coordinate system interval by interval. The transformed abscissa is zero; the transformed ordinate is equal to the updated wavetrain depth of that depth interval (i.e., the actual vertical depth after depth deviation calibration). Within the equivalent vertical borehole coordinate system, the server determines the spatial relative position between the ultrasonic transmitter and receiver points. The server calculates the ultrasonic propagation path length based on the spatial relative position, using the following formula: in, This represents the length of the ultrasonic wave propagation path corresponding to the j-th depth interval. This represents the x-coordinate of the launch point in the j-th depth interval in the equivalent vertical borehole coordinate system. This represents the x-coordinate of the receiving point in the j-th depth interval in the equivalent vertical borehole coordinate system. This represents the ordinate of the launch point in the j-th depth interval in the equivalent vertical borehole coordinate system. This represents the ordinate of the receiving point in the j-th depth interval in the equivalent vertical borehole coordinate system.

[0057] The server calculates the theoretical travel time by combining the calculated ultrasonic propagation path length and the corresponding initial ultrasonic layer propagation velocity. The calculation formula is as follows:

[0058] in, The theoretical travel time corresponding to the j-th depth interval.

[0059] The server sequentially performs coordinate transformation, relative position determination, propagation path length calculation, and theoretical travel time calculation for all depth intervals according to the depth interval arrangement order, and generates the theoretical travel time corresponding to each depth interval one by one.

[0060] S206. Compare the theoretical travel time with the measured travel time in the corresponding depth interval to obtain the residual value for each depth interval.

[0061] The measured travel time is obtained on-site using a cross-hole ultrasonic testing device, representing the actual propagation time of the ultrasonic wave from the emission point to the receiving point. The residual value server uses the difference between the theoretical travel time and the measured travel time corresponding to the same depth range to calculate the deviation data.

[0062] For example, the server retrieves the theoretical travel time corresponding to each depth interval, and simultaneously retrieves the measured travel time collected within the same depth interval. The server selects a single depth interval, extracts the travel time error attenuation coefficient, the measurement uncertainty of the measured travel time, the travel time continuity constraint coefficient between adjacent intervals, and the travel time continuity deviation between adjacent depth intervals corresponding to that depth interval, and substitutes the obtained parameters into the residual value calculation formula for calculation, as follows:

[0063] in, This represents the residual value corresponding to the j-th depth interval. This represents the theoretical travel time corresponding to the j-th depth interval. This represents the measured travel time corresponding to the j-th depth interval; The time travel error attenuation coefficient corresponding to the j-th depth interval can be determined based on the dispersion of the measured time travel data. The measurement uncertainty of the measured travel time within the j-th depth interval reflects the degree of dispersion of the measured travel time data; The continuity constraint coefficient for the travel time of the adjacent intervals corresponding to the j-th depth interval can be preset according to the depth interval scale and is used to constrain the abrupt change amplitude of the residuals of adjacent depth intervals. is the time continuity deviation between adjacent depth intervals corresponding to the j-th depth interval, and is the difference between the theoretical time of the current interval and the adjacent depth interval.

[0064] The server performs time-lapse retrieval, numerical comparison, and difference calculation operations on each depth interval in a preset depth interval order, generating residual values ​​that correspond one-to-one with each depth interval.

[0065] S207. Based on the residual values ​​of each depth interval, the initial ultrasonic layer propagation velocity is weighted and corrected to obtain the corrected layer propagation velocity.

[0066] One possible implementation involves the server determining the absolute value of the residual for each depth interval based on the residual value of that depth interval. For depth intervals where the absolute value of the residual is greater than a preset residual threshold, the difference between the absolute value of the residual and the preset residual threshold is calculated, and the ratio of the difference to the preset residual threshold is determined as an enhancement coefficient. The correction weight of the initial ultrasonic layered propagation velocity corresponding to that depth interval is increased according to the enhancement coefficient. For depth intervals where the absolute value of the residual is less than or equal to the preset residual threshold, the difference between the preset residual threshold and the absolute value of the residual is calculated, and the ratio of the difference to the preset residual threshold is determined as a reduction coefficient. The correction weight of the initial ultrasonic layered propagation velocity corresponding to that depth interval is reduced according to the reduction coefficient. The initial ultrasonic layered propagation velocity is then weighted and adjusted according to the adjusted correction weight to obtain the corrected layered propagation velocity.

[0067] The corrected layered propagation velocity is a velocity parameter adjusted by residual weighting, which closely matches the actual ultrasonic wave propagation speed within the corresponding depth range. The preset residual threshold is a pre-set critical value used to determine whether the velocity deviation in the current depth range exceeds the limit. It can be preset based on the travel time measurement accuracy of cross-hole ultrasonic detection, engineering experience, or statistical results of measured data. For example, the preset residual threshold can be set to a fixed value of 0.1 ms, or a certain percentage of the theoretical travel time for each depth range, such as 5%, or calculated statistically using the absolute values ​​of residuals from multiple pre-collected depth ranges, such as taking the average of the absolute values ​​of each residual plus one standard deviation. The increase factor amplifies the correction amplitude of the initial ultrasonic layered propagation velocity. The decrease factor reduces the correction amplitude of the initial ultrasonic layered propagation velocity. The correction weight is a proportional parameter used to control the magnitude of the change in the initial ultrasonic layered propagation velocity.

[0068] For example, the server retrieves the residual values ​​corresponding to each depth interval and calculates the absolute value of the residual for each individual depth interval. The server then compares the calculated absolute value of the residual with a preset residual threshold and calculates an increase or decrease coefficient based on the comparison result.

[0069] For depth ranges where the absolute value of the residual is greater than a preset residual threshold, the server calculates the difference between the absolute value of the residual and the preset residual threshold, and determines the ratio of this difference to the preset residual threshold as an enhancement factor. The calculation formula is as follows: in, This represents the improvement coefficient corresponding to the j-th depth interval. This represents the absolute value of the residual corresponding to the j-th depth interval. This represents the preset residual threshold corresponding to the j-th depth interval.

[0070] For depth ranges where the absolute value of the residual is less than or equal to a preset residual threshold, the server calculates the difference between the preset residual threshold and the absolute value of the residual, and determines the ratio of this difference to the preset residual threshold as a reduction factor. The calculation formula is as follows:

[0071] in, This represents the reduction coefficient corresponding to the j-th depth interval.

[0072] The server adjusts the correction weights for the corresponding depth range based on whether the coefficient is increased or decreased, and then performs a weighted calculation on the initial ultrasonic layer propagation velocity according to the adjusted correction weights to obtain the corrected layer propagation velocity. The calculation formula is as follows: )or

[0073] in, This represents the corrected layered propagation wave velocity corresponding to the j-th depth interval.

[0074] The server performs the above calculations and adjustments sequentially across all depth ranges, from shallowest to deepest, to generate the corrected layered propagation velocity for each depth range.

[0075] S208. Based on the corrected layered propagation wave velocity, the theoretical travel time is corrected by path compensation to obtain the final calibrated travel time.

[0076] One possible approach is to calculate the actual propagation path length of the ultrasonic wave segment by segment according to the depth interval based on the corrected layered propagation wave velocity and the updated wave train depth, and to compensate for the path deviation of the theoretical travel time based on the difference between the actual propagation path length and the equivalent vertical path length, so as to obtain the final calibrated travel time.

[0077] Among them, the actual propagation path length is the geometric path length of the ultrasonic wave between the transmitting and receiving boreholes after considering the actual inclination of the borehole; the equivalent vertical path length is the ideal vertical projection path length between the ultrasonic wave transmitting point and the ultrasonic wave receiving point in the equivalent vertical borehole coordinate system; the path deviation compensation is to compensate for the theoretical travel time based on the difference between the actual propagation path length and the equivalent vertical path length, so as to eliminate the travel time error caused by the path deviation due to the borehole inclination; the final calibrated travel time is the ultrasonic wave propagation time that is closest to the actual working condition after depth correction, wave velocity correction and path deviation compensation.

[0078] For example, the server retrieves the corrected layered propagation velocity and updated wave train depth for each depth interval, and performs calculations segment by segment according to the depth interval. Based on the updated wave train depth and borehole inclination angle data, the server calculates the actual propagation path length of the ultrasonic wave within the current depth interval. The server then performs a difference calculation between the actual propagation path length and the equivalent vertical path length to obtain the path length difference value. The formula for calculating this path length difference value is as follows:

[0079] in, This represents the path length difference corresponding to the j-th depth interval. This represents the actual propagation path length corresponding to the j-th depth interval. This represents the equivalent vertical path length corresponding to the j-th depth interval.

[0080] The server compensates for path deviations in the theoretical travel time of the corresponding depth range based on the path length difference and the corrected layered propagation velocity, resulting in the following formula for calculating the final calibrated travel time:

[0081] in, This represents the final calibrated time interval corresponding to the j-th depth interval. This represents the theoretical travel time corresponding to the j-th depth interval. This represents the corrected layered propagation wave velocity corresponding to the j-th depth interval.

[0082] The server performs the above calculations for all depth intervals in the order they are arranged, and determines the final calibration time for each depth interval. Based on the above, the cross-hole ultrasonic wave train depth and travel time calibration method, through multi-step data processing and numerical calculation, can change the processing logic of traditional cross-hole ultrasonic detection methods, forming processing results adapted to the field drilling conditions and geological formations. Based on the acquired borehole inclination and soil medium data, numerical adjustments are made in the depth and propagation velocity directions respectively, ensuring consistency between the processing and field conditions. Corrections are performed on the depth and travel time values ​​separately to reduce the impact of borehole inclination on depth calculation results and the impact of soil condition differences on propagation velocity calculation results. Weighted correction of propagation velocity is achieved through residual comparison, ensuring consistency between the calculated travel time values ​​and the field-acquired values. Path compensation correction is performed on the theoretical travel time to obtain the final calibrated travel time, making the final depth and travel time data more closely match the actual borehole conditions. Without changing the field detection process, the stability of cross-hole ultrasonic detection results is improved through data processing, expanding the applicability of cross-hole ultrasonic detection under different geological conditions. Ultimately, this reduces calculation errors caused by the idealized vertical drilling assumption and the fixed wave velocity assumption, ensuring that the depth and travel time processing results meet engineering requirements. Specifically, continuous segmented processing achieves data adjustment across the entire depth range, making the calculation results for each depth range independent and reducing the impact of single-range errors on the overall result. Ultimately, this improves calibration accuracy.

[0083] The above text combined Figures 1 to 2 The method for calibrating the depth and travel time of trans-hole ultrasonic wave trains provided in the embodiments of this application has been described in detail. The apparatus and equipment provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0084] This application also provides a trans-aperture ultrasonic wave train depth and travel time calibration device, such as... Figure 3 As shown, this figure is a structural diagram of a trans-aperture ultrasonic wave train depth and travel time calibration device provided in an embodiment of this application. The device includes: The acquisition module 301 is used to acquire borehole inclination angle data and soil medium data along the borehole depth direction of the underground pipeline; The depth update module 302 is used to determine the vertical depth offset of each depth interval based on the borehole inclination data, and to determine the depth deviation calibration coefficient based on the vertical depth offset of each depth interval; to determine the initial ultrasonic layer propagation velocity of each depth interval based on the soil medium data; and to correct the original wave train depth based on the depth deviation calibration coefficient to obtain the updated wave train depth. The timing calibration module 303 is used to calculate the theoretical travel time of ultrasound in each depth interval based on the updated wave train depth and the initial ultrasonic layer propagation velocity; compare the theoretical travel time with the measured travel time in the corresponding depth interval to obtain the residual value of each depth interval; perform weighted correction on the initial ultrasonic layer propagation velocity based on the residual value of each depth interval to obtain the corrected layer propagation velocity; and perform path compensation correction on the theoretical travel time based on the corrected layer propagation velocity to obtain the final calibrated travel time.

[0085] In some possible implementations, the deep update module 302 is specifically used for: For each depth interval, the vertical depth offset corresponding to that depth interval is calculated based on the theoretical length of that depth interval and the average tilt angle of that depth interval.

[0086] In some possible implementations, the deep update module 302 is specifically used for: For each depth interval, obtain the theoretical length of that depth interval; subtract the corresponding vertical depth offset from the theoretical length of that depth interval to obtain the actual vertical depth of that depth interval; determine the ratio of the actual vertical depth of that depth interval to the theoretical length of that depth interval as the depth deviation calibration coefficient of that depth interval.

[0087] In some possible implementations, the time calibration module 303 is specifically used for: For each depth interval, the absolute value of the residual for that depth interval is determined based on the residual value. For depth intervals where the absolute value of the residual is greater than a preset residual threshold, the difference between the absolute value of the residual and the preset residual threshold is calculated, and the ratio of the difference to the preset residual threshold is determined as an enhancement coefficient. The correction weight of the initial ultrasonic layer propagation velocity corresponding to that depth interval is increased according to the enhancement coefficient. For depth intervals where the absolute value of the residual is less than or equal to the preset residual threshold, the difference between the preset residual threshold and the absolute value of the residual is calculated, and the ratio of the difference to the preset residual threshold is determined as a reduction coefficient. The correction weight of the initial ultrasonic layer propagation velocity corresponding to that depth interval is reduced according to the reduction coefficient. The initial ultrasonic layer propagation velocity is then weighted and adjusted according to the adjusted correction weight to obtain the corrected layer propagation velocity.

[0088] In some possible implementations, the time calibration module 303 is specifically used for: Based on the borehole inclination data and updated wave train depth, the ultrasonic transmission and reception points in the actual borehole are mapped to an equivalent vertical borehole coordinate system. In the equivalent vertical borehole coordinate system, the spatial relative positions between the transmission and reception points are redefined. The theoretical travel time of the ultrasonic wave in each depth interval is calculated, including: in the equivalent vertical borehole coordinate system, based on the initial ultrasonic wave propagation velocity and the redefined spatial relative positions, the theoretical travel time of the ultrasonic wave in each depth interval is calculated.

[0089] In some possible implementations, the time calibration module 303 is specifically used for: Based on the corrected layered propagation velocity and the updated wave train depth, the actual propagation path length of the ultrasonic wave is calculated segment by segment according to the depth interval. The path deviation compensation is then performed on the theoretical travel time based on the difference between the actual propagation path length and the equivalent vertical path length to obtain the final calibrated travel time.

[0090] The trans-aperture ultrasonic wave train depth and travel time calibration device according to the embodiments of this application can correspondingly execute the method described in the embodiments of this application, and the other operations and / or functions of each module / unit of the trans-aperture ultrasonic wave train depth and travel time calibration device are respectively for implementing Figure 2 For the sake of brevity, the corresponding processes of each method in the illustrated embodiments will not be described in detail here.

[0091] This application also provides a computing device. For example... Figure 4 As shown in the figure, this is a schematic diagram of a computing device provided in an embodiment of this application. The computing device 400 includes a bus 401, a processor 402, a communication interface 403, and a memory 404. The processor 402, the memory 404, and the communication interface 403 communicate with each other via the bus 401.

[0092] Bus 401 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0093] Processor 402 can be any one or more of the following processors: central processing unit (CPU), graphics processing unit (GPU), microprocessor (MP), or digital signal processor (DSP).

[0094] Communication interface 403 is used for communication with external devices.

[0095] Memory 404 may include volatile memory, such as random access memory (RAM). Memory 404 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0096] The memory 404 stores executable code, and the processor 402 executes the executable code to perform the aforementioned trans-aperture ultrasonic wave train depth and travel time calibration method.

[0097] Specifically, in achieving Figure 3 In the case of the illustrated embodiment, and Figure 3 When the modules or units of the trans-aperture ultrasonic wave train depth and travel time calibration device described in the embodiments are implemented by software, the following steps are performed: Figure 3 The software or program code required for the functions of each module / unit can be partially or entirely stored in memory 404. Processor 402 executes the program code corresponding to each unit stored in memory 404 to perform the aforementioned trans-aperture ultrasonic wave train depth and travel time calibration method.

[0098] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that a computing device can store, or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive). The computer-readable storage medium includes instructions that instruct the computing device to perform the above-described transaperture ultrasonic wave train depth and travel time calibration method.

[0099] This application also provides a computer program product comprising one or more computer instructions. When the computer instructions are loaded and executed on a computing device, all or part of the processes or functions described in this application are generated.

[0100] The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, or data center to another website, computer, or data center via wired (e.g., coaxial cable, fiber optic) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0101] When the computer program product is executed by a computer, the computer performs any of the aforementioned methods for calibrating the depth and travel time of the trans-aperture ultrasonic wave train. The computer program product can be a software installation package; when any of the aforementioned methods for calibrating the depth and travel time of the trans-aperture ultrasonic wave train needs to be used, the computer program product can be downloaded and executed on the computer.

[0102] The descriptions of the processes or structures corresponding to the above figures each have their own emphasis. For parts of a process or structure that are not described in detail, please refer to the relevant descriptions of other processes or structures.

[0103] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application.

Claims

1. A method for calibrating the depth and travel time of a trans-aperture ultrasonic wave train, characterized in that, The method includes: Acquire borehole inclination angle data and soil medium data along the borehole depth direction for underground pipelines; Based on the borehole inclination data, the vertical depth offset for each depth interval is determined, and the depth deviation calibration coefficient is determined based on the vertical depth offset for each depth interval. Based on the soil medium data, the initial ultrasonic layer propagation velocity for each depth range is determined. The original wave train depth is corrected based on the depth deviation calibration coefficient to obtain the updated wave train depth; Based on the updated wave train depth and the initial ultrasonic layer propagation velocity, the theoretical travel time of the ultrasonic wave in each depth interval is calculated. The theoretical travel time is compared with the measured travel time in the corresponding depth interval to obtain the residual value for each depth interval. Based on the residual values ​​of each depth interval, the initial ultrasonic layer propagation velocity is weighted and corrected to obtain the corrected layer propagation velocity. Based on the corrected layered propagation wave velocity, the theoretical travel time is corrected by path compensation to obtain the final calibrated travel time.

2. The method according to claim 1, characterized in that, The borehole inclination data includes the theoretical length of each depth interval and the average inclination angle of each depth interval. Determining the vertical depth offset for each depth interval based on the borehole inclination data includes: For each depth interval, the vertical depth offset corresponding to that depth interval is calculated based on the theoretical length of that depth interval and the average tilt angle of that depth interval.

3. The method according to claim 1, characterized in that, The determination of the depth deviation calibration coefficient based on the vertical depth offset of each depth interval includes: For each depth interval, obtain the theoretical length of that depth interval; Subtract the corresponding vertical depth offset from the theoretical length of the depth range to obtain the actual vertical depth of the depth range. The ratio of the actual vertical depth of the depth range to the theoretical length of the depth range is determined as the depth deviation calibration coefficient for that depth range.

4. The method according to claim 1, characterized in that, The step of weighting and correcting the initial ultrasonic layer propagation velocity based on the residual values ​​of each depth interval to obtain the corrected layer propagation velocity includes: For each depth interval, determine the absolute value of the residual for that depth interval based on the residual value for that depth interval; For depth intervals where the absolute value of the residual is greater than a preset residual threshold, the difference between the absolute value of the residual and the preset residual threshold is calculated, and the ratio of the difference to the preset residual threshold is determined as an enhancement coefficient. The correction weight of the initial ultrasonic layer propagation velocity corresponding to the depth interval is increased according to the enhancement coefficient. For depth intervals where the absolute value of the residual is less than or equal to the preset residual threshold, the difference between the preset residual threshold and the absolute value of the residual is calculated, and the ratio of the difference to the preset residual threshold is determined as a reduction coefficient. The correction weight of the initial ultrasonic layer propagation velocity corresponding to the depth interval is reduced according to the reduction coefficient. The initial ultrasonic layer propagation velocity is weighted and adjusted according to the adjusted correction weights to obtain the corrected layer propagation velocity.

5. The method according to claim 1, characterized in that, Before calculating the theoretical travel time of the ultrasonic wave in each depth interval based on the updated wave train depth and the initial ultrasonic layer propagation velocity, the method further includes: Based on the borehole inclination data and the updated wave train depth, the ultrasonic transmitting and receiving points in the actual borehole are mapped to the equivalent vertical borehole coordinate system. In the equivalent vertical borehole coordinate system, the spatial relative position between the transmitting point and the receiving point is redefined; The calculation of the theoretical travel time of ultrasound in each depth range includes: In the equivalent vertical borehole coordinate system, the theoretical travel time of the ultrasonic wave in each depth interval is calculated based on the initial ultrasonic layer propagation velocity and the redefined spatial relative position.

6. The method according to claim 1, characterized in that, The process of performing path compensation correction on the theoretical travel time to obtain the final calibrated travel time includes: Based on the corrected layered propagation velocity and the updated wave train depth, the actual propagation path length of the ultrasonic wave is calculated segment by segment according to the depth interval. The path deviation compensation is then performed on the theoretical travel time based on the difference between the actual propagation path length and the equivalent vertical path length to obtain the final calibrated travel time.

7. A trans-aperture ultrasonic wave train depth and travel time calibration device, characterized in that, The device includes: The acquisition module is used to acquire borehole inclination angle data and soil medium data along the borehole depth direction of the underground pipeline; The depth update module is used to determine the vertical depth offset of each depth interval based on the borehole inclination data, and to determine the depth deviation calibration coefficient based on the vertical depth offset of each depth interval; to determine the initial ultrasonic layer propagation velocity of each depth interval based on the soil medium data; and to correct the original wave train depth based on the depth deviation calibration coefficient to obtain the updated wave train depth. The timing calibration module is used to calculate the theoretical travel time of ultrasound in each depth interval based on the updated wave train depth and the initial ultrasonic layer propagation velocity; compare the theoretical travel time with the measured travel time in the corresponding depth interval to obtain the residual value for each depth interval; perform weighted correction on the initial ultrasonic layer propagation velocity based on the residual value for each depth interval to obtain the corrected layer propagation velocity; and perform path compensation correction on the theoretical travel time based on the corrected layer propagation velocity to obtain the final calibrated travel time.

8. A computing device, characterized in that, Including memory and processor; The memory stores one or more computer programs, the one or more computer programs including instructions; when the instructions are executed by the processor, the computing device performs the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program for performing the method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes one or more computer instructions, which, when executed by a computer, perform the method as described in any one of claims 1 to 6.

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