A method for integrated detection of above-ground constructions and underground pipe networks

Abstract

The application discloses a kind of comprehensive detection methods of aboveground building and underground pipe network, the detection method is carried out GNSS detection to the aboveground building and terrain of target area, and the underground pipe network of target area is detected, finally the detection result of aboveground building and underground pipe network is integrated. By fusing the aboveground building layout map detected on the ground and the underground pipe network layout map of underground pipe network, the overall analysis and judgment of the aboveground and underground resource situation of target area can be carried out through a comprehensive detection map, and then intuitive data support is provided for subsequent resource development.

Description

Technical Field

[0001] This invention relates to the field of terrain detection technology, and in particular to a comprehensive detection method for above-ground buildings and underground pipe networks. Background Technology

[0002] In urban construction, due to the increasing population density, various buildings need to be constructed above ground to meet the needs of residents, and various pipelines need to be installed underground. This greatly increases the difficulty of urban terrain surveying, as it requires consideration of both the horizontal layout and changes of the terrain, as well as the vertical overlap of various buildings and pipelines. Currently, although there are satellite image surveys for above-ground buildings and separate surveys for underground cables, drainage systems, etc., the results of these various terrain surveys are not correlated, making it impossible to comprehensively evaluate the condition of above-ground buildings and underground pipelines in a region. Summary of the Invention

[0003] The present invention aims to at least solve one of the aforementioned technical problems existing in the prior art. To this end, this application proposes a comprehensive inspection method for above-ground buildings and underground pipe networks, which can comprehensively inspect above-ground buildings and underground pipe networks, thereby obtaining an inspection result covering the overall condition of above-ground buildings and underground pipe networks.

[0004] The comprehensive inspection method for above-ground buildings and underground pipe networks according to the first aspect of this application includes the following steps: Perform GNSS surveys on the terrain of the target area to obtain a topographic map; Outdoor data was collected using a total station digital mapping method and a polar coordinate method. Based on the outdoor data and the topographic map, a model was created to obtain a layout map of the above-ground buildings. Obtain parameters of underground pipes and cables, including diameter, length, path, depth, and orientation; Based on the parameters, a comprehensive analysis is performed to generate an underground pipeline network layout diagram; By integrating the above-ground building layout map with the underground pipeline network layout map, a comprehensive inspection map of the target area is obtained.

[0005] The comprehensive detection method for above-ground buildings and underground pipe networks according to the embodiments of this application has at least the following beneficial effects: by integrating the layout map of above-ground buildings detected on the surface and the layout map of underground pipe networks, a comprehensive detection map can be used to analyze and judge the above-ground and underground resource conditions of the target area as a whole, thereby providing intuitive data support for subsequent resource development.

[0006] According to some embodiments of this application, obtaining parameters of underground pipelines and cables includes a passive source detection method for the cables. The passive source detection method determines the length and extension path of the cables by setting up transceiver stations on the ground to detect the electromagnetic field of the cables.

[0007] According to some embodiments of this application, obtaining parameters of underground pipelines and cables includes an active source detection method for the pipeline. The active source detection method energizes the pipeline with an external power source and uses an external electromagnetic detection device to detect the electromagnetic field generated by the pipeline after energization, thereby determining the length and extension path of the pipeline.

[0008] According to some embodiments of this application, the active source detection method further includes using an external transmitter to generate a first alternating electromagnetic wave to cause the pipeline to generate an alternating current, the pipeline generating a second alternating electromagnetic wave based on the alternating current, and detecting the second alternating electromagnetic wave of the pipeline by an external electromagnetic detection device, thereby determining the length of the pipeline and the way of its extension path.

[0009] According to some embodiments of this application, the active source detection method further includes deploying a tracer probe into the pipeline, moving the tracer probe along the hollow pipeline, and receiving the signal from the tracer probe through an external receiver to determine the pipeline length and the manner of its extension path.

[0010] According to some embodiments of this application, the active source detection method further includes using an external ground-penetrating radar to emit high-frequency electromagnetic waves underground, and analyzing the electromagnetic waves reflected back from the pipeline to determine the diameter, length, and extension path of the pipeline.

[0011] According to some embodiments of this application, obtaining parameters of underground pipelines and cables includes a method of detecting the location of the underground pipelines using a pipeline instrument located on the ground surface.

[0012] According to some embodiments of this application, before generating the underground pipeline layout diagram, the pipeline is subjected to QV testing to check whether the pipeline is damaged, and the damage mode and the location of the damage are recorded when generating the underground pipeline layout diagram.

[0013] According to some embodiments of this application, before generating the underground pipe network layout diagram, water quality testing is performed on the drainage and sewage pipes, and the water quality test results are recorded in the underground pipe network layout diagram.

[0014] The comprehensive testing system according to the second aspect of this application is used to implement the above-described comprehensive testing method for above-ground buildings and underground pipe networks.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The accompanying drawings are used to provide a further understanding of the technical solutions disclosed in this application and form part of the specification. They are used together with the embodiments disclosed in this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions disclosed in this application.

[0017] Figure 1 This is a flowchart illustrating the comprehensive testing method for above-ground buildings and underground pipe networks according to the first aspect of this application; Figure 2 This is a flowchart illustrating the testing process for underground pipe networks in the comprehensive testing method for above-ground buildings and underground pipe networks according to the first aspect of this application. Figure 3 This is a schematic diagram illustrating the use of the maximum value method to locate underground pipelines in the comprehensive detection method for above-ground buildings and underground pipe networks according to the first aspect of this application. Figure 4 This is a schematic diagram illustrating the use of the minimum value method to locate underground pipelines in the comprehensive detection method for above-ground buildings and underground pipe networks according to the first aspect of this application. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0019] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0020] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0022] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0023] In urban construction, due to the increasing population density, various buildings need to be constructed above ground to meet the needs of residents, and various pipelines need to be installed underground. This greatly increases the difficulty of urban terrain surveying, as it requires consideration of both the horizontal layout and changes of the terrain, as well as the vertical overlap of various buildings and pipelines. Currently, although there are satellite image surveys for above-ground buildings and separate surveys for underground cables, drainage systems, etc., the results of these various terrain surveys are not correlated, making it impossible to comprehensively evaluate the condition of above-ground buildings and underground pipelines in a region.

[0024] In response, this application proposes a comprehensive detection method for above-ground buildings and underground pipe networks. By integrating the layout map of above-ground buildings and the layout map of underground pipe networks, a comprehensive detection map can be used to analyze and judge the overall situation of above-ground and underground resources in the target area, thereby providing intuitive data support for subsequent resource development.

[0025] Reference Figure 1 The comprehensive detection method for above-ground buildings and underground pipe networks in this application embodiment includes the following steps: S100. Conduct GNSS detection on the terrain of the target area, improve detection accuracy by using satellite positioning and satellite imaging, obtain topographic maps, and provide a basis for subsequent local detailed mapping of the surface; S200. Use total station digital mapping method and polar coordinate method to collect outdoor data, and use outdoor data and topographic map to model and obtain above-ground building layout map; S300. Obtain parameters of underground pipelines and cables, including diameter, length, path, depth, and orientation, thereby obtaining basic data of underground pipelines and cables, laying the foundation for subsequent generation of underground pipeline network layout maps; S400. Based on the parameters, a comprehensive analysis is performed to generate an underground pipeline network layout diagram; S500. Integrate the above-ground building layout map with the underground pipeline network layout map to obtain a comprehensive inspection map of the target area.

[0026] Therefore, by reviewing this comprehensive inspection map, a holistic analysis of the above-ground buildings and underground pipelines in the target area can be conducted, leading to a more systematic understanding of the area's above-ground and underground resources. Furthermore, to ensure the accuracy of the comprehensive inspection map data, it is necessary to periodically repeat the inspections of above-ground buildings and underground pipelines, updating the data accordingly.

[0027] For the terrain detection in step S100, which is a high-precision positioning technology using the Global Navigation Satellite System (GNSS), multiple detection control points need to be set up in the target area to form a control network. When selecting control points, they should be located in areas with solid and stable foundations, easy to preserve long-term, and conducive to safe operation, expansion, and joint measurement. When selecting control points on buildings, they should be on sturdy and stable structures, and the height of surrounding terrain features should not exceed 30m. The elevation angle of obstacles within the field of view of the control point should not exceed 15°, and in difficult areas, the cumulative obstruction angle of obstacles with elevation angles greater than 10° should not exceed 30°. To avoid interference from other signal transceivers, the distance between the control point and surrounding high-power radio transmitters such as television stations, radio stations, microwave stations, communication base stations, and substations should be greater than 200m, and the distance from high-voltage power lines and microwave channels should be greater than 100m.

[0028] Furthermore, in GNSS detection, baseline calculation is also required on the detection results. The steps for baseline calculation are as follows: S110. The accuracy of the chord length of adjacent points in a GNSS network is calculated using the following formula: ; In the formula: Standard deviation (mm); Fixed error (mm); For proportional error (1×10) -6 ); This represents the distance (km) between adjacent points.

[0029] S120. Calculate the synchronization loop closure error: The coordinate component closure error (W) of any three-sided synchronization loop composed of observation data from the same time period. x W y W z The total closure error (W) and the total closure error (W) should conform to the following formula: W x ≤ Wy ≤ W z ≤ W≤ .

[0030] S130. Calculate the independent loop closure error: The coordinate component closure error (V) of an independent loop (asynchronous loop) composed of independent baselines at different time periods. x V y V z The total closure error (V) and the total closure error (V) shall conform to the following formula: V x ≤ V y ≤ V z ≤ V≤ In the formula, n is the number of sides.

[0031] S140. Calculate the length difference (ds) of the remeasured baseline, which shall meet the following requirement: ds≤ .

[0032] After the baseline vector verification meets the requirements, the three-dimensional baseline vector and its corresponding variance-covariance matrix should be used as the observation information, and the geocentric three-dimensional coordinates of a point determined during baseline calculation should be used as the starting point for the unconstrained adjustment of the GNSS network. The unconstrained adjustment should provide the three-dimensional coordinates of each point in the geocentric system, each baseline vector, corrections, and accuracy information.

[0033] In unconstrained adjustment, the absolute value of the corrections to the baseline components should meet the requirements of the following formula: V △x ≤ V △y ≤ V △z ≤ In the formula, V △x V △y and V △z This represents the absolute value of the correction for the baseline component.

[0034] Constrained adjustment shall comply with the following provisions: First, select the coordinate system for the results and perform three-dimensional or two-dimensional constrained adjustment on the observations after unconstrained adjustment. During the adjustment, forced or weighted constraints can be applied to the known point coordinates, known distances, and known orientations. Second, in constrained adjustment, the difference between the corrections for the baseline components and the corresponding corrections for the same baseline in the unconstrained adjustment result after removing gross errors should meet the requirements of the following formula: dV △x ≤ ;dV△y ≤ ;dV △z ≤ In the formula, dV △x dV △y and dV △z It is the difference between the corrections for baseline components in constrained adjustment and those in unconstrained adjustment. Third, after adjustment, precision data such as the positional error of the weakest point and the relative error of the side length of the weakest adjacent point should be provided; Fourth, the adjustment results should include the following precision data: three-dimensional or two-dimensional coordinates in the corresponding coordinate system, baseline vector correction, baseline side length, azimuth, transformation parameters, and the positional error of the weakest point and the relative standard error of the side length of the weakest adjacent point. Fifth, the azimuth angle should be taken to the nearest 0.1 seconds, and the coordinates and side lengths should be taken to the nearest millimeter.

[0035] Optionally, for higher-precision GNSS detection, secondary control points can be set up to increase the density of detection points.

[0036] Furthermore, regarding the method for collecting outdoor data in step S200, the total station scans the buildings on the ground using laser scanning and generates data that can be used during modeling, in preparation for subsequent modeling needs.

[0037] Furthermore, referring to Figure 2 Regarding the parameter detection method for pipelines and cables in step S300, a passive source detection method is used for cables. The passive source detection method refers to a detection method without an external power supply. It detects cables transmitting AC power by directly utilizing the electromagnetic field generated by the alternating current on the cable. A transceiver station is set up on the ground to detect the electromagnetic field of the cable, thereby determining the cable's length and extension path. For this type of cable, the AC current is typically 50Hz, and this 50Hz electromagnetic field can be directly detected on the ground. When underground cables exist, the electromagnetic field generated by the transceiver station will interfere with the cable's own electromagnetic field, causing distortion. Therefore, without transmitting power, the spatial variation of the electromagnetic field can be directly received and detected on the ground, and the cable's location can be determined based on this variation.

[0038] Furthermore, regarding the parameter detection method for pipes and cables in step 300, for pipes, an active source detection method is used. The active source detection method refers to a detection method that requires an external power supply. Its detection objects include conductive pipes and hollow pipes. For conductive pipes, an external power supply can be used to energize the pipe, and external electromagnetic detection equipment can be used to detect the electromagnetic field generated after energization, thereby determining the pipe's length and extension path.

[0039] Regarding the power supply method, pipes with exposed points (such as fire hydrants, valves, etc.) can be directly charged, or the pipes can be clamped with conductive clamps for charging. Alternatively, an external transmitter can generate a first alternating electromagnetic wave to induce an alternating current in the pipe. The pipe then generates a second alternating electromagnetic wave based on this alternating current. This second alternating electromagnetic wave is detected by external electromagnetic detection equipment, thereby determining the pipe's length and extension path, achieving non-contact pipe inspection.

[0040] For hollow pipes, after a tracer probe is deployed into the hollow pipe, the tracer probe can move along the hollow pipe under the action of water flow or by using a mobile robot. The signal from the tracer probe is received by an external receiver to determine the length and extension path of the hollow pipe.

[0041] Furthermore, active source detection methods also include using external ground-penetrating radar (GPR) to emit high-frequency electromagnetic waves underground. The diameter, length, and extension path of the pipeline are determined by analyzing the electromagnetic waves reflected back from it. GPR, also known as ground-penetrating radar, operates on a principle essentially the same as air-to-ground radar. High-frequency electromagnetic waves (with a dominant frequency of tens to hundreds of hertz or even gigahertz) are transmitted from the ground to the underground via antenna T in the form of wideband short pulses. After reflection from the underground strata or target, the waves return to the surface and are received by another antenna R. The receiving antenna receives the reflected electromagnetic waves. When the electromagnetic waves propagate through the underground medium and encounter interfaces with electrical differences, they are reflected. Based on the waveform, amplitude, intensity, and time variations of the received electromagnetic waves, the spatial location, structure, morphology, and burial depth of the underground medium are inferred. The formula for calculating the round-trip time t of the pulse wave is as follows: Where z represents the burial depth of the target object, x refers to the distance between the transmitting and receiving antennas (in linear array radar, the distance between the transmitting and receiving antennas is very small and can be ignored), and v is the propagation speed of electromagnetic waves in the medium.

[0042] Furthermore, regarding the parameter detection method for pipelines and cables in step S300, the underground pipelines are located using a pipeline positioning instrument located on the ground surface. Specifically, the pipeline positioning instrument can employ two positioning methods: the maximum value method and the minimum value method.

[0043] The maximum value method for positioning involves using the pipeline instrument's two vertical coils to determine the location of the maximum value of the difference between the horizontal components, ΔHx. When the pipeline instrument cannot observe ΔHx, the location of the maximum value of the horizontal component Hx should be used for positioning. (Refer to...) Figure 3 When the plane of the receiver's receiving coil is perpendicular to the ground, the coil moves parallel to the pipeline above it along the direction perpendicular to the pipeline, and the receiver's meter will deflect. When the coil is directly above the pipeline, the difference (ΔHx) between the horizontal components of the upper and lower vertical coils or the horizontal component (Hx) of the receiver's electromagnetic field is at its maximum.

[0044] The localization method using the minimum value method employs a horizontal coil to determine the minimum position of the vertical component (Hz). (Refer to...) Figure 4 When the receiver's receiving coil is parallel to the ground, the receiver's meter will deflect as the coil moves parallel to the pipeline along a direction perpendicular to the pipeline. The meter's deflection is minimal (ideally zero) when the coil is directly above the pipeline. Therefore, the projected location of the underground pipeline on the ground can be determined based on the minimum Hz reading point in the receiver. Hz anomalies are easily affected by electromagnetic interference from the ground or nearby pipelines; therefore, the minimum value method should be used in conjunction with other methods for location.

[0045] Furthermore, before generating the underground pipe network layout map, the hollow pipes undergo QV inspection to check for damage, and the damage type and location are recorded when generating the underground pipe network layout map. QV inspection, short for Quick View Inspection, is a highly efficient and accurate pipe inspection technology widely used in the inspection and evaluation of various pipe systems, such as urban drainage pipes, water supply pipes, and industrial pipes. Through QV inspection, problems such as foreign object intrusion, pipe misalignment, and debris blockage in hollow pipes can be detected visually.

[0046] Furthermore, before generating the underground pipe network layout map, water quality testing is conducted on the drainage and sewage pipes, and the results are recorded in the underground pipe network layout map. The water quality test results provide feedback on the current water quality within the pipes, and multiple tests can track changes in water quality, allowing for timely maintenance measures to be taken when significant changes occur.

[0047] Furthermore, after obtaining the above-ground building layout map and the underground pipeline network layout map, one calibration point is set on each map. The calibration points on both maps are at the same horizontal level in the real-world environment. Therefore, when generating the comprehensive inspection map, by aligning the calibration points on the above-ground building layout map and the underground pipeline network layout map, the horizontal alignment of the two maps can be ensured, preventing horizontal positional shifts.

[0048] It is easy to understand that the number of calibration points can also be increased to ensure that the relative positions of the above-ground building layout map and the underground pipeline layout map are consistent through two or more calibration points.

[0049] A comprehensive inspection system is provided in the second aspect of this application for implementing the aforementioned comprehensive inspection method for above-ground buildings and underground pipe networks. The comprehensive inspection system includes equipment for inspecting above-ground buildings and underground pipe networks, and generates a comprehensive inspection map using data measured by these devices.

[0050] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0051] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A comprehensive testing method for above-ground buildings and underground pipe networks, characterized in that, Includes the following steps: Perform GNSS surveys on the terrain of the target area to obtain a topographic map; Outdoor data was collected using a total station digital mapping method and a polar coordinate method. Based on the outdoor data and the topographic map, a model was created to obtain a layout map of the above-ground buildings. Obtain parameters of underground pipes and cables, including diameter, length, path, depth, and orientation; Based on the parameters, a comprehensive analysis is performed to generate an underground pipeline network layout diagram; By integrating the above-ground building layout map with the underground pipeline network layout map, a comprehensive inspection map of the target area is obtained.

2. The comprehensive testing method for above-ground buildings and underground pipe networks according to claim 1, characterized in that: The acquisition of parameters for underground pipelines and cables includes a passive source detection method for the cables. This passive source detection method detects the electromagnetic field of the cables by setting up transceiver stations on the ground surface, thereby determining the length and extension path of the cables.

3. The comprehensive testing method for above-ground buildings and underground pipe networks according to claim 1, characterized in that: The method for obtaining parameters of underground pipelines and cables includes an active source detection method for the pipeline. The active source detection method energizes the pipeline with an external power source and uses an external electromagnetic detection device to detect the electromagnetic field generated by the pipeline after energization, thereby determining the length and extension path of the pipeline.

4. The comprehensive testing method for above-ground buildings and underground pipe networks according to claim 3, characterized in that: The active source detection method further includes using an external transmitter to generate a first alternating electromagnetic wave to induce an alternating current in the pipeline, the pipeline generating a second alternating electromagnetic wave based on the alternating current, and detecting the second alternating electromagnetic wave in the pipeline using an external electromagnetic detection device, thereby determining the length of the pipeline and the manner of its extension path.

5. The comprehensive testing method for above-ground buildings and underground pipe networks according to claim 3, characterized in that: The active source detection method further includes deploying a tracer probe into the pipeline, moving the tracer probe along the hollow pipeline, and receiving the signal from the tracer probe through an external receiver to determine the pipeline length and extension path.

6. The comprehensive testing method for above-ground buildings and underground pipe networks according to claim 3, characterized in that: The active source detection method also includes using external ground-penetrating radar to emit high-frequency electromagnetic waves underground, and analyzing the electromagnetic waves reflected back from the pipeline to determine the diameter, length, and extension path of the pipeline.

7. The comprehensive testing method for above-ground buildings and underground pipe networks according to claim 1, characterized in that: The acquisition of parameters for underground pipelines and cables includes a method of detecting the location of the underground pipelines using a pipeline instrument located on the ground surface.

8. The comprehensive testing method for above-ground buildings and underground pipe networks according to claim 1, characterized in that: Before generating the underground pipeline layout diagram, the pipeline is subjected to QV testing to check for damage, and the damage type and location are recorded when generating the underground pipeline layout diagram.

9. The comprehensive testing method for above-ground buildings and underground pipe networks according to claim 1, characterized in that: Before generating the underground pipe network layout diagram, water quality testing is conducted on the drainage and sewage pipes, and the water quality test results are recorded in the underground pipe network layout diagram.

10. A comprehensive detection system, characterized in that, A comprehensive testing method for implementing above-ground buildings and underground pipe networks as described in any one of claims 1 to 9.

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