阅读说明：本技术 一种地下管线数据采集成图的方法 (Underground pipeline data acquisition and mapping method ) 是由 任森林 帅亮进 邹兴 帅鹏航 于 2021-07-23 设计创作，主要内容包括：本发明公开了一种地下管线数据采集成图的方法,包括以下步骤：S1、利用发射换能器阵列向地下管线发射宽扇区覆盖的声波；S2、利用接收换能器阵列对声波进行窄波束接收；S3、通过发射、接收扇区指向的正交性形成对管线表面的照射脚印；S4、对照射脚印进行提取,并与计算机内存储的数据进行比对,给出与地面垂直的垂面内上百个甚至更多的管线被测点的管线埋深值及管内介质；S5、通过管内介质判断出管类,并根据管线埋深值描绘出管线的三维特征,与现场采集的导航定位及姿态数据相结合,绘制出高精度管网数字成果图。本发明具备能可靠地描绘出管线的三维特征,与现场采集的导航定位及姿态数据相结合,绘制出高精度管网数字成果图的优点。(The invention discloses a method for acquiring underground pipeline data into a map, which comprises the following steps: s1, transmitting sound waves covered by a wide sector to an underground pipeline by using the transmitting transducer array; s2, narrow-beam receiving is carried out on the sound waves by utilizing the receiving transducer array; s3, forming an illumination footprint on the surface of the pipeline through the orthogonality of the orientation of the transmitting and receiving sectors; s4, extracting the irradiation footprint, comparing the extracted footprint with data stored in a computer, and giving pipeline buried depth values and medium in the pipeline of hundreds or even more measured points in a vertical plane vertical to the ground; and S5, judging the pipe type through the medium in the pipe, drawing the three-dimensional characteristics of the pipe according to the buried depth value of the pipe, and drawing a high-precision pipe network digital result diagram by combining with navigation positioning and attitude data acquired on site. The method has the advantages that the three-dimensional characteristics of the pipeline can be reliably described, and the high-precision pipe network digital result diagram can be drawn by combining with navigation positioning and attitude data acquired on site.)

1. A method for acquiring underground pipeline data into a map is characterized by comprising the following steps:

s1, transmitting sound waves covered by a wide sector to an underground pipeline by using the transmitting transducer array;

s2, narrow-beam receiving is carried out on the sound waves by utilizing the receiving transducer array;

s3, forming an illumination footprint on the surface of the pipeline through the orthogonality of the orientation of the transmitting and receiving sectors;

s4, extracting the irradiation footprint, comparing the extracted footprint with data stored in a computer, and giving pipeline buried depth values and medium in the pipeline of hundreds or even more measured points in a vertical plane vertical to the ground;

and S5, judging the pipe type through the medium in the pipe, drawing the three-dimensional characteristics of the pipe according to the buried depth value of the pipe, and drawing a high-precision pipe network digital result diagram by combining with navigation positioning and attitude data acquired on site.

2. The method for acquiring the data of the underground pipeline into the map according to the claim 1, wherein the method comprises the following steps: the transmit transducer array may be a rectangular, circular, or other polygonal array.

3. The method for acquiring the data of the underground pipeline into the map according to the claim 1, wherein the method comprises the following steps: the shape and the number of the transducers of the receiving transducer array correspond to the number and the positions of the transducers of the transmitting transducer array one by one.

4. The method for acquiring the data of the underground pipeline into the map according to the claim 1, wherein the method comprises the following steps: in S4, the computer stores irradiation footprints corresponding to different buried depth values and medium in the tube in advance.

Technical Field

The invention relates to the technical field of underground pipeline data acquisition, in particular to a method for acquiring underground pipeline data into a map.

Background

The urban underground pipe network is an infrastructure for maintaining the connection of the overground and underground spaces of the city and ensuring the integral operation of the city, is a blood vessel for the survival and development of the city and is important basic information for planning, constructing and managing the city. Urban underground pipe network is like pipelines such as water supply, drainage, gas, electric power, communication, heating power, industry, just like "blood vessel" and "nerve" in the human body, the function of carrying transported substance, energy and transmission information is being born day and night, be the material basis that the city relies on to survive and develop, along with the continuous development of urban construction, the construction of underground pipe network and the transformation task are very heavy, the distribution condition naked eye of underground pipe network can't see, underground pipe network is more complicated in the city, especially road junction data acquisition is more difficult and more difficult, urban underground pipe network data acquisition still divides into two parts now: and geophysical prospecting data acquisition is carried out in the early stage, and the spatial data acquisition is carried out in the later stage and then the images are formed. The geophysical prospecting data acquisition is pre-judged against the experience of data acquisition personnel. And delays in detection time and accuracy.

Disclosure of Invention

The invention aims to provide a method for acquiring underground pipeline data into a map, which has the advantages of reliably describing the three-dimensional characteristics of a pipeline, combining navigation positioning and attitude data acquired on site and drawing a high-precision pipe network digital result map, and solves the problem that urban underground pipeline data acquisition is divided into two parts at present: and geophysical prospecting data acquisition is carried out in the early stage, and the spatial data acquisition is carried out in the later stage and then the images are formed. The geophysical prospecting data acquisition is pre-judged against the experience of data acquisition personnel. And the problem of delaying the detection time and precision.

In order to achieve the purpose, the invention provides the following technical scheme:

a method for acquiring underground pipeline data into a map comprises the following steps:

s1, transmitting sound waves covered by a wide sector to an underground pipeline by using the transmitting transducer array;

s2, narrow-beam receiving is carried out on the sound waves by utilizing the receiving transducer array;

s3, forming an illumination footprint on the surface of the pipeline through the orthogonality of the orientation of the transmitting and receiving sectors;

s4, extracting the irradiation footprint, comparing the extracted footprint with data stored in a computer, and giving pipeline buried depth values and medium in the pipeline of hundreds or even more measured points in a vertical plane vertical to the ground;

and S5, judging the pipe type through the medium in the pipe, drawing the three-dimensional characteristics of the pipe according to the buried depth value of the pipe, and drawing a high-precision pipe network digital result diagram by combining with navigation positioning and attitude data acquired on site.

Preferably, the transmit transducer array may be a rectangular, circular, or other polygonal array.

Preferably, the shape and the number of the receiving transducer array correspond to the number and the position of the transducers of the transmitting transducer array one by one.

Preferably, the computer in S4 stores irradiation footprints corresponding to different burial depth values and in-pipe media in advance.

Compared with the prior art, the invention has the beneficial effects that: the method comprises the steps of transmitting sound waves covered by a wide sector to an underground pipeline by using a transmitting transducer array, receiving the sound waves by using a receiving transducer array, forming irradiation foot prints on the surface of the pipeline by the orthogonality of the directions of the transmitting and receiving sectors, properly processing the foot prints, obtaining pipeline buried depth values and in-pipe media of hundreds or even more measured points of the pipeline in a vertical plane vertical to the ground by one-time data acquisition, accurately and quickly measuring the size, shape and height change of the underground pipe network in a certain width by a machine learning method, judging the pipes by the in-pipe media, reliably describing three-dimensional characteristics of the pipeline, combining navigation positioning and attitude data acquired on site, drawing a high-precision digital result diagram of the pipe network, visualizing the underground pipe network in real time, avoiding missing measurement of pipe network data, and acquiring data without excavating the pipe network, the data acquisition personnel do not need professionals, the data acquisition efficiency is further improved, and meanwhile, the time cost can be saved.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The invention provides a technical scheme of a method for acquiring underground pipeline data into a map

Example 1:

a method for acquiring underground pipeline data into a map comprises the following steps:

s1, transmitting sound waves covered by a wide sector to an underground pipeline by using a transmitting transducer array, wherein the transmitting transducer array is a rectangular array;

s2, receiving sound waves in narrow beams by using a receiving transducer array, wherein the shape and the number of transducers of the receiving transducer array correspond to the number and the positions of the transducers of a transmitting transducer array one by one;

s3, irradiation footprints on the surface of the pipeline are formed through the orthogonality of the directions of the transmitting sectors and the receiving sectors, so that the underground pipe network is visualized in real time, the pipe network data cannot be missed, the pipe network can be acquired without excavating, data acquisition personnel do not need professionals, the data acquisition efficiency is further improved, and meanwhile, the time cost can be saved;

s4, extracting the irradiation footprints, comparing the extracted footprints with data stored in a computer, and giving pipeline buried depth values and in-pipe media of hundreds or even more pipeline measured points in a vertical plane vertical to the ground, wherein the computer stores the irradiation footprints corresponding to different buried depth values and in-pipe media in advance;

s5, judging the pipes through the medium in the pipes, drawing the three-dimensional characteristics of the pipes according to the buried depth value of the pipes, combining with navigation positioning and attitude data collected on site, drawing a high-precision pipe network digital result diagram, and further achieving the purposes of not separating from space data collection when geophysical prospecting data collection is carried out and increasing the data collection efficiency.

Example 2:

a method for acquiring underground pipeline data into a map comprises the following steps:

s1, transmitting sound waves covered by a wide sector to an underground pipeline by using a transmitting transducer array which is a circular array;

s2, receiving sound waves in narrow beams by using a receiving transducer array, wherein the shape and the number of transducers of the receiving transducer array correspond to the number and the positions of the transducers of a transmitting transducer array one by one;

s3, irradiation footprints on the surface of the pipeline are formed through the orthogonality of the directions of the transmitting sectors and the receiving sectors, so that the underground pipe network is visualized in real time, the pipe network data cannot be missed, the pipe network can be acquired without excavating, data acquisition personnel do not need professionals, the data acquisition efficiency is further improved, and meanwhile, the time cost can be saved;

s4, extracting the irradiation footprints, comparing the extracted footprints with data stored in a computer, and giving pipeline buried depth values and in-pipe media of hundreds or even more pipeline measured points in a vertical plane vertical to the ground, wherein the computer stores the irradiation footprints corresponding to different buried depth values and in-pipe media in advance;

s5, judging the pipes through the medium in the pipes, drawing the three-dimensional characteristics of the pipes according to the buried depth value of the pipes, combining with navigation positioning and attitude data collected on site, drawing a high-precision pipe network digital result diagram, and further achieving the purposes of not separating from space data collection when geophysical prospecting data collection is carried out and increasing the data collection efficiency.

Example 3:

a method for acquiring underground pipeline data into a map comprises the following steps:

s1, transmitting sound waves covered by a wide sector to an underground pipeline by using a transmitting transducer array, wherein the transmitting transducer array is a hexagonal array;

s2, receiving sound waves in narrow beams by using a receiving transducer array, wherein the shape and the number of transducers of the receiving transducer array correspond to the number and the positions of the transducers of a transmitting transducer array one by one;

s3, irradiation footprints on the surface of the pipeline are formed through the orthogonality of the directions of the transmitting sectors and the receiving sectors, so that the underground pipe network is visualized in real time, the pipe network data cannot be missed, the pipe network can be acquired without excavating, data acquisition personnel do not need professionals, the data acquisition efficiency is further improved, and meanwhile, the time cost can be saved;

s4, extracting the irradiation footprints, comparing the extracted footprints with data stored in a computer, and giving pipeline buried depth values and in-pipe media of hundreds or even more pipeline measured points in a vertical plane vertical to the ground, wherein the computer stores the irradiation footprints corresponding to different buried depth values and in-pipe media in advance;

s5, judging the pipes through the medium in the pipes, drawing the three-dimensional characteristics of the pipes according to the buried depth value of the pipes, combining with navigation positioning and attitude data collected on site, drawing a high-precision pipe network digital result diagram, and further achieving the purposes of not separating from space data collection when geophysical prospecting data collection is carried out and increasing the data collection efficiency.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.