CN113359194B - Trenchless accurate positioning method and instrument for deeply buried underground pipeline - Google Patents
Trenchless accurate positioning method and instrument for deeply buried underground pipeline Download PDFInfo
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- G01V3/105—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils using several coupled or uncoupled coils forming directly coupled primary and secondary coils or loops
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Abstract
The invention relates to a non-excavation accurate positioning method and a non-excavation accurate positioning instrument for a deeply buried underground pipeline, wherein the method comprises the following steps: a movable transmitting end is arranged on the ground; a movable multi-coil structure of a receiving end is arranged at the underground to-be-detected underground pipeline, and the receiving end is in communication connection with a transmitting end; the transmitting terminal transmits a current magnetic field capable of penetrating through a soil layer to the ground, and the receiving terminal induces the current magnetic field of the transmitting terminal through the multi-coil structure, judges the relative position of the transmitting terminal and the multi-coil structure and feeds the relative position back to the transmitting terminal in real time; and moving the transmitting end on the ground to the position right above the underground multi-coil structure to determine the position of the multi-coil structure of the receiving end. The underground pipeline transmitting device has the advantages that the transmitting end is arranged on the ground, a current magnetic field with enough high power can be transmitted, the multi-coil structure of the receiving end is placed into the underground pipeline, the size of the multi-coil structure is small, the multi-coil structure is not limited by depth, the underground pipeline transmitting device is suitable for the complicated and narrow underground pipeline, is suitable for pipelines made of any materials, and has the advantages of being low in cost and the like.
Description
Technical Field
The invention relates to the field of pipeline positioning, in particular to a non-excavation accurate positioning method and instrument for a deeply buried underground pipeline.
Background
Underground pipelines are important components of urban infrastructure, are basic guarantees of efficient operation of modern cities, and are called urban 'life lines'. For a long time, as urban construction management attaches importance to the ground, neglects the underground and lacks tools for developing scientific and strict management by using new technology, the recorded information of underground pipelines is incomplete, and the underground pipelines are repeatedly laid, the vertical and horizontal crossing of the pipelines is increasingly complex, and the phenomena of pipeline accidents caused by urban construction and ground collapse caused by pipeline leakage occur, so that not only is great economic loss caused, but also casualties are caused.
With the development of science and technology, the material of underground pipelines is changing constantly, and metal pipelines are used in large quantities in the past, but nowadays, non-metal pipelines such as plastics, ceramics, concrete and the like are increasingly used. With the development of large-area urban construction, various types of excavation and drilling pose great threats to the safe operation of cable lines, a large number of trenchless technologies are used for laying cables, due to the particularity of the trenchless technologies, the buried depth of the trenchless cables is relatively large, and the buried depth of the cables is often more than 5 meters, even more than 10 meters. How to position the pipelines under the complex conditions of nonmetal, trenchless and large burial depth and determine the pipeline paths becomes the difficult point of urban underground pipeline management and construction.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a non-excavation accurate positioning method and instrument for a deeply buried underground pipeline.
In order to achieve the purpose, the invention adopts the following technical scheme:
a non-excavation accurate positioning method for a deeply buried underground pipeline comprises the following steps:
a movable transmitting end is arranged on the ground;
arranging a multi-coil structure of a movable receiving end at an underground pipeline to be detected, wherein the receiving end is in communication connection with the transmitting end;
the transmitting terminal transmits a current magnetic field capable of penetrating through a soil layer to the ground, the receiving terminal induces the current magnetic field of the transmitting terminal through a multi-coil structure, and the relative position of the transmitting terminal and the multi-coil structure is judged and fed back to the transmitting terminal in real time;
and moving the transmitting terminal on the ground to a position right above the underground multi-coil structure, and determining the position of the multi-coil structure of the receiving terminal.
Preferably, the method further comprises a path drawing step:
determining initial position coordinates of the transmitting end and the multi-coil structure;
moving the multi-coil structure of the receiving end along the underground pipeline to be detected by a set distance value; moving the position of the transmitting end according to the relative position fed back to the transmitting end by the receiving end, thereby determining the plane position coordinate of the underground multi-coil structure on the ground;
according to the signal intensity of the current magnetic field induced by the multi-coil structure, calculating the vertical distance between the multi-coil structure and the transmitting end, and establishing a three-dimensional space coordinate;
and continuously moving the multi-coil structure along the underground pipeline to be detected by a set distance, simultaneously moving the transmitting terminal to determine the position of the multi-coil structure, sequentially recording each three-dimensional space coordinate and drawing an underground pipeline three-dimensional space path diagram.
Preferably, the multi-coil structure of the receiving end includes a first coil and a second coil,
the step of judging the relative position of the transmitting end and the multi-coil structure according to the signal of the receiving end comprises the following steps:
the first coil and the second coil are arranged in a crossed mode and in an angle mode, the first coil inclines towards a first direction, and the second coil inclines towards a second direction;
the first coil induces a current magnetic field generated by the transmitting end to generate a first induced potential;
the second coil induces a current magnetic field generated by the transmitting end to generate a second induced potential;
processing the first induction potential and the second induction potential, comparing the first induction potential and the second induction potential, and judging that the transmitting terminal is deviated to a first direction or a second direction relative to the multi-coil structure;
and if the first induction potential is equal to the second induction potential, the transmitting end is positioned right above the multi-coil structure.
Preferably, the step of moving the multi-coil structure along the underground pipeline to be tested by a set distance value further includes:
arranging the multi-coil structure of the receiving end at the top end of a lead of a tube perforating device, and rotating the tube perforating device to move the multi-coil structure;
and setting a rotary encoder to record movement data for moving the multi-coil structure and sending the movement data to the transmitting terminal.
Preferably, the method further comprises:
and after the underground pipeline three-dimensional space path diagram is completed, moving the multi-coil structure in the opposite direction to set a distance value, moving the transmitting end to determine the position of the multi-coil structure, and verifying whether the position is coincided with the previous three-dimensional space coordinate.
In order to achieve the purpose, the invention also adopts the following technical scheme:
an instrument for accurately positioning a deeply buried underground pipeline in a non-excavation manner, comprising:
the transmitting end is movably arranged on the ground and is used for transmitting the current magnetic field which can penetrate through the soil layer to the ground;
the receiving end comprises a multi-coil structure which is movably arranged at the underground pipeline to be detected and can move along the underground pipeline to be detected; the transmitting end is in communication connection with the receiving end; the receiving end induces a current magnetic field of the transmitting end through a multi-coil structure, judges the relative position of the transmitting end and the multi-coil structure and feeds the relative position back to the transmitting end in real time, and the transmitting end is further used for moving to the position right above the underground multi-coil structure according to the relative position so as to determine the position of the multi-coil structure.
Preferably, the trenchless precise positioning instrument for the deeply buried underground pipeline further comprises a route drawing unit, which is used for moving the multi-coil structure of the receiving end along the underground pipeline to be measured by a set distance value; moving the position of the transmitting end according to the relative position fed back to the transmitting end by the receiving end, thereby determining the plane position coordinate of the underground multi-coil structure on the ground; according to the signal intensity of the current magnetic field induced by the multi-coil structure, calculating the vertical distance between the multi-coil structure and the transmitting end, and establishing a three-dimensional space coordinate; continuously moving the multi-coil structure for a set distance along the underground pipeline to be tested, simultaneously moving a transmitting terminal to determine the position of the multi-coil structure, sequentially recording each three-dimensional space coordinate and drawing an underground pipeline three-dimensional space path diagram; and the plane position coordinates of the underground multi-coil structure are determined by moving the position of the transmitting end according to the relative position fed back to the transmitting end by the receiving end.
Preferably, the multi-coil structure includes a first coil for inducing a current magnetic field generated by the transmitting terminal, the first coil generating a first induced potential, and a second coil for inducing a current magnetic field generated by the transmitting terminal, the first coil and the second coil crossing each other and being disposed at an angle, the first coil being inclined toward a first direction, the second coil being inclined toward a second direction;
the receiving end further comprises a signal processor, and the signal processor is used for processing the first induction potential and the second induction potential, comparing the first induction potential and the second induction potential, and judging that the transmitting end deviates to a first direction or a second direction relative to the multi-coil structure;
the included angle between the first coil and the second coil is 90 degrees;
the first coil is connected with a first resonant capacitor in parallel, and the frequency of the first resonant capacitor is consistent with the transmitting frequency of the transmitting end;
and the second coil is connected with a second resonant capacitor in parallel, and the frequency of the second resonant capacitor is consistent with the transmitting frequency of the transmitting end.
Preferably, the non-excavation precise positioning instrument for the deeply buried underground pipeline further comprises a stretching unit and a stretching recording unit, wherein the stretching unit comprises a pipe penetrating device, the multi-coil structure of the receiving end is arranged at the top end of a lead of the pipe penetrating device, and the multi-coil structure moves along the underground pipeline to be detected through the pipe penetrating device; the stretching recording unit comprises a rotary encoder, the rotary encoder is connected with the pipe penetrating device, records the numerical value of the movement of the multi-coil structure driven by the stretching unit and sends the numerical value to the transmitting end.
Preferably, the transmitting terminal comprises a coil transmitting module for transmitting a current magnetic field and a current driving unit for driving the coil transmitting module, and the coil transmitting module and the current driving unit are electrically connected;
the transmitting end is arranged on the mobile equipment, and a mark point is arranged at the position, corresponding to the center of the coil transmitting module, on the mobile equipment;
the transmitting terminal is provided with a first wireless communication module, the receiving terminal is provided with a second wireless communication module, and the first wireless communication module is in wireless communication connection with the second wireless communication module to realize data transmission between the transmitting terminal and the receiving terminal.
Compared with the prior art, the invention has the beneficial effects that:
according to the non-excavation accurate positioning method and the non-excavation accurate positioning instrument for the deeply buried underground pipeline, the transmitting end is arranged on the ground, so that the installation space is large, a high-power signal transmitting device can be arranged, a long-distance soil layer can be penetrated, and the problem that the detection depth is limited in the prior art is solved; meanwhile, the receiving end is deeply arranged underground and is positioned at the underground pipeline to be detected, and the position of the receiving end can be judged by inducing the current magnetic field of the transmitting end through the multi-coil structure of the receiving end, so that the position of the underground pipeline to be detected is determined; because the receiving end is positioned underground, the position of the receiving end is not visually embodied, therefore, the invention connects the transmitting end with the receiving end in a communication way, transmits signals of a multi-coil structure, judges the relative position of the transmitting end and the receiving end and moves the transmitting end until the transmitting end is moved to the position right above the receiving end, and the transmitting end on the ground marks the position of the underground receiving end.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view illustrating a state of use of a trenchless precision positioning apparatus for a deeply buried underground pipeline according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a trenchless precision positioning apparatus for a deep buried underground pipeline provided in an embodiment of the present invention.
Fig. 3 is a schematic flow chart of a trenchless precise positioning method for a deeply buried underground pipeline according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a multi-coil structure of a receiving end according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a multi-coil structure of a receiving end according to another embodiment of the present invention.
Fig. 6 is a schematic diagram of determining a relative position between a transmitting end and a receiving end according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of determining another relative position between a transmitting end and a receiving end according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a multi-coil structure provided in an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a transmitting end provided in the embodiment of the present invention.
Description of reference numerals:
1. a transmitting end; 11. a first wireless communication module; 12. a coil transmitting module; 13. a current drive unit; 14. a controller; 15. moving the trolley; 151. circular holes are formed; 16. a display screen; 2. a receiving end; 21. a multi-coil structure; 211. a first coil; 212. a second coil; 213. a first resonant capacitor; 214. a second resonant capacitor; 22. a pipe penetrating device; 221. a lead wire; 23. a signal processor; 231. a signal filtering and amplifying module; 232. a signal comparison module; 24. a second wireless communication module; 25. a rotary encoder; 3. an underground pipeline to be tested; 4. and (6) a soil layer.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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 "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" 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 should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 underground pipeline positioning method used in the prior art mainly comprises the following steps:
a pipeline detector: the transmitter generates an alternating electromagnetic field and applies it to the pipeline, the electromagnetic signal propagating along the pipeline; a coil in the receiver induces the alternating electromagnetic field, so that the trend, the position and the depth of the underground pipeline are detected; because the electromagnetic wave signal is difficult to penetrate the underground, in order to enable the receiver to induce the electromagnetic field, a hole with the depth of more than ten meters needs to be drilled, the receiver is put down in the hole and positioned according to the numerical value, the positioning method is only suitable for metal pipelines, and the nonmetal pipelines cannot be applied with the alternating electromagnetic field; at this time, the transmitter and the receiver are both located underground, the operation is troublesome, and the positioning method and the calculation method are complex.
Multi-signal clamp method: the cable is clamped by the clamp transmitter, the positioning signal is applied and received by the receiver at the other end of the cable, if a plurality of cables are met, the positioning signal with the same frequency, the same phase and the same strength can be simultaneously applied to each cable by a plurality of signal clamps through a plurality of multi-clamp transmitters, the signal current directions of the cables are the same, and the cables are overlapped to achieve the purpose of enhancing the signal and reducing the interference; when the transmitter is located underground, the transmitted current magnetic field is weak, so that the multi-signal clamp method is generally used for detecting a plurality of power cables with the depth of less than 6 meters.
A gyroscope positioning method: the gyroscope is used for enabling a metal or nonmetal pipeline to move, the gyroscope and the accelerometer are used for respectively measuring 3 angular velocities and 3 linear acceleration delay locator coordinate system components of a relative inertial space of the locator, and acceleration information is converted into acceleration of a delay navigation coordinate system through coordinate transformation. Calculating the position, speed, course and horizontal attitude of the position indicator; the gyroscope positioning method has the advantages of no limitation of terrain and depth, high positioning precision, strong interference resistance, suitability for pipelines made of any materials and the like, but also has some defects, such as 1, incapability of using in running pipelines, 2, complex pipeline crossing, incapability of crossing by undersized pipelines, 3, complex software operation with large data volume, 4, higher precision and higher cost.
In summary, the existing positioning method and device are limited by the detection depth, the pipeline material or the detection space, but the present application solves the above-mentioned drawbacks, the transmitting end is arranged on the ground, the multi-coil structure of the receiving end is deep under the ground, the transmitting end can transmit a high-power current magnetic field to the ground, the current magnetic field can be sensed even if the multi-coil structure of the receiving end is deep under the ground by more than 10 meters, and then the transmitting end is in communication connection with the signal to transmit back, so as to guide the transmitting end to move, and determine the position of the multi-coil structure.
As shown in fig. 1 to 3, an embodiment of the present invention provides a method for trenchless precise positioning of a deeply buried underground pipeline, including:
a movable transmitting terminal 1 is arranged on the ground;
a movable multi-coil structure 21 of a receiving end 2 is arranged at an underground pipeline 3 to be detected, and the receiving end 2 is in communication connection with a transmitting end 1;
the transmitting terminal 1 transmits a current magnetic field which can penetrate through the soil layer 4 to the ground, the receiving terminal 2 induces the current magnetic field of the transmitting terminal 1 through the multi-coil structure 21, the relative position of the transmitting terminal 1 and the multi-coil structure 21 is judged, and the relative position is fed back to the transmitting terminal 1 in real time;
the position of the multi-coil structure 21 is determined by moving the transmitting terminal 1 on the ground to a position directly above the multi-coil structure 21 located underground.
As shown in fig. 2, the trenchless precise positioning apparatus for the deeply buried underground pipeline of the present embodiment comprises a transmitting terminal 1 movably disposed on the ground for transmitting a current magnetic field penetrating through a soil layer 4 to the ground;
the receiving end 2 comprises a multi-coil structure 21 which is movably arranged at the underground pipeline 3 to be detected and can move along the underground pipeline 3 to be detected; the transmitting terminal 1 is in communication connection with the receiving terminal 2; the receiving end 2 induces the current magnetic field of the transmitting end 1 through the multi-coil structure 21, judges the relative position of the transmitting end 1 and the multi-coil structure 21 and feeds the relative position back to the transmitting end 1 in real time, and the transmitting end 1 is further used for moving to the position right above the underground multi-coil structure 21 according to the relative position so as to determine the position of the multi-coil structure 21.
The main function of the transmitting terminal 1 is to transmit a current magnetic field to ground. Because the transmitting terminal 1 of the invention is positioned on the ground, the installation and moving space is enough, the transmitting terminal 1 can comprise a coil transmitting module 12 for transmitting a current magnetic field and a current driving unit 13 for driving the coil transmitting module 12, the coil transmitting module 12 is electrically connected with the current driving unit 13, the coil transmitting module 12 mainly comprises 10 strands of through coils, each strand is 3 meters long, and the large coils are wound into large coils through a circular framework, and the shape of the large coils can be circular or square. The current driven by the coil under the limit is as high as 1000A, and the ultra-strong current magnetic field brought by high power is utilized to penetrate through soil, so that the measurement of the depth of more than 10 meters is realized. The current driving unit 13 includes a large current driving module, and after power is supplied, the large current driving module starts to operate, and drives the coil emission module 12 similarly to a driving servo motor, so that the coil emission module 12 emits an ultra-strong current magnetic field. The current driving unit 13 drives the coil transmitting module to transmit low-frequency signals, and the penetration to the ground is stronger.
Preferably, the transmitting terminal 1 can be arranged on a mobile device, as shown in fig. 9, the transmitting terminal 1 can be arranged on a moving trolley 15, and the moving trolley 15 can be automatically or manually pushed to make the transmitting terminal 1 movable. Coil emission module 12 passes through the disc base to be fixed in the bottom of getting off the car in the removal, the position that corresponds with the center of coil emission module 12 on the mobile device is equipped with the mark point, specifically, circular trompil 151 is left in travelling car 15 center, circular trompil 151 is the mark point, be the center of coil emission module 12, when transmitting terminal 1 is located multi-coil structure 21 directly over, the position of circular trompil 151 corresponds the position of multi-coil structure 21, make things convenient for operation personnel record or transmitting terminal 1's controller 14 automatic recording.
The transmitting terminal 1 can further comprise an ST single chip microcomputer, a display screen 16 and a first wireless communication module 11, the ST single chip microcomputer is a controller 14 of the transmitting terminal and is electrically connected with the current driving unit 13 to control whether the current driving unit 13 works, and the display screen 16 is electrically connected with the ST single chip microcomputer and is used for displaying, so that an operator can observe conveniently. The first wireless communication module 11 may be a 2.4G wireless communication module, and is configured to be in wireless communication connection with the receiving end 2 and receive a signal fed back by the receiving end 2. The ST singlechip has the function of recording numerical values at the same time.
The multi-coil structure 21 of the receiving end 2 mainly functions to induce the current magnetic field of the transmitting end 1 and judge the relative position of the multi-coil structure 21 and the transmitting end 1; the judging method comprises the following steps: the induced potential of each coil can be different by the multi-coil structure 21 at different positions of the current magnetic field, the offset direction of the transmitting terminal 1 and the multi-coil structure 21 is judged according to the principle that the coil induced electromotive force parallel to the magnetic line of the current magnetic field is small and the coil induced electromotive force perpendicular to the magnetic line of the current magnetic field is large, when the multi-coil structure 21 of the receiving terminal 2 is positioned at the center of the current magnetic field, the induced potential of each coil is equal, and the center of the coil transmitting module 12 of the transmitting terminal 1 is the position of the receiving terminal 2.
Taking the multi-coil structure 21 as an example of two coils, the multi-coil structure 21 includes a first coil 211 and a second coil 212, and the step of determining the relative position between the transmitting terminal 1 and the multi-coil structure 21 according to the signal of the receiving terminal 2 includes:
the first coil 211 and the second coil 212 are arranged in a crossed and angle mode, the first coil 211 inclines towards a first direction, and the second coil 212 inclines towards a second direction;
the first coil 211 induces the current magnetic field generated by the transmitting terminal 1 to generate a first induced potential;
the second coil 212 induces the current magnetic field generated by the transmitting terminal 1 to generate a second induced potential;
processing the first induction potential and the second induction potential, comparing the magnitudes, and judging that the transmitting terminal 1 deviates to a first direction or a second direction relative to the receiving terminal 2;
if the first induced potential is equal to the second induced potential, the transmitting terminal 1 is located right above the receiving terminal 2. Preferably, the first coil 211 and the second coil 212 have an angle of 90 °.
Preferably, as shown in fig. 8, the first coil 211 is connected in parallel with a first resonant capacitor 213, the frequency of the first resonant capacitor 213 is identical to the transmitting frequency of the coil transmitting module 12 at the transmitting end, the second coil 212 is connected in parallel with a second resonant capacitor 214, and the frequency of the second resonant capacitor 214 is identical to the transmitting frequency of the coil transmitting module 12 at the transmitting end. It is noted that the resonant capacitor is provided in parallel with the coil, which aims to improve the detection sensitivity of the multi-coil structure.
The coil emitting module 12 of the emitting terminal 1 emits a current magnetic field as shown in fig. 6 and 7, and the first coil 211 and the second coil 212 are both in the current magnetic field and respectively generate corresponding induced potentials. As shown in fig. 8, the first induced potential and the second induced potential are amplified, filtered and rectified by respective signal filtering and amplifying modules 231 to obtain a voltage waveform, collect a voltage peak, and compare the voltage peak with a signal comparing module 232 in a signal processor, which is the prior art and is not described again; in fig. 6, the multi-coil structure 21 is located right below the transmitting terminal 1, at the center of the current magnetic field, and the voltage peak value collected from the first coil 211 is equal to or close to the voltage peak value collected from the second coil 212; if the voltage peak value collected from the first coil 211 is greater than the voltage peak value collected from the second coil 212, it can be determined that the multi-coil structure 21 is located at a position deviated from the first direction with respect to the transmitting terminal 1, where the first direction is a left side and the second direction is a right side with respect to the direction in the drawing as an example, when the multi-coil structure 21 is located at the left side of the current magnetic field, the voltage peak value collected from the first coil 211 is greater than the voltage peak value collected from the second coil 212; when the multi-coil structure 21 is positioned in the right direction of the current magnetic field, the peak value of the voltage collected from the first coil 211 is smaller than the peak value of the voltage collected from the second coil 212.
The first coil 211 and the second coil 212 may be arranged in a manner as shown in fig. 4, wherein the frameworks of the first coil 211 and the second coil 212 are arranged in parallel and in a crossed manner, one side of each framework is attached to form a fixed angle, and the first coil 211 and the second coil 212 wound on the frameworks are independent and insulated from each other to generate a first induced potential and a second induced potential respectively; the first coil 211 and the second coil 212 may also be arranged in a manner as shown in fig. 5, wherein the frameworks of the first coil 211 and the second coil 212 are formed in an X-shaped cross manner, and the first coil 211 and the second coil 212 wound on the frameworks are independent and insulated from each other to generate a first induced potential and a second induced potential, respectively.
The receiving end 2 comprises an ST single chip microcomputer, a display screen and a second wireless communication module 24 besides the first coil 211 and the second coil 212, wherein the ST single chip microcomputer is used as a signal processor 23 of the receiving end 2 and used for processing the first induction potential and the second induction potential, comparing the first induction potential and the second induction potential, judging that the transmitting end 1 deviates to the first direction or the second direction relative to the multi-coil structure 21, and the display screen is electrically connected with the ST single chip microcomputer and displays the induction value of the multi-coil structure 21; meanwhile, the ST singlechip is electrically connected with the second wireless communication module 24, the second wireless communication module 24 is in wireless communication connection with the first wireless communication module 11 of the transmitting terminal 1, the processing result of the ST singlechip is sent to the transmitting terminal 1 and displayed on the display screen 16 of the transmitting terminal 1 for the operator to observe. The second wireless communication module 24 may be a 2.4G wireless communication module. It should be noted that all the receiving terminals 2 may be located underground, or only the multi-coil structure 21 may be located underground, the signal processor 23, the display screen and the second wireless communication module 24 may be partially or completely located on the ground, and the multi-coil structure 21 may be electrically connected to the signal processor 23 through a connection line.
Based on the above embodiment, the positioning method of the present invention specifically includes the following steps:
step 101: a movable transmitting terminal 1 is arranged on the ground;
step 102: a multi-coil structure 21 of a movable receiving end 2 is arranged at an underground pipeline 3 to be detected;
step 103: the receiving end 2 is in communication connection with the transmitting end 1;
step 104: the transmitting end 1 transmits a current magnetic field which can penetrate through a soil layer 4 to the ground;
step 105: the first coil 211 and the second coil 212 of the multi-coil structure 21 induce the current magnetic field of the transmitting terminal 1, the relative position of the transmitting terminal 1 and the multi-coil structure 21 is judged by comparing the magnitude of the induced voltage of the first coil 211 and the second coil 212, and the receiving terminal 2 feeds back the judgment result to the transmitting terminal 1 in real time through the first wireless communication module 11 and the second wireless communication module 24, and displays the judgment result on the display screen 16 of the transmitting terminal 1;
step 106: and according to the judgment result of the relative position, moving the transmitting terminal 1 on the ground to the position right above the underground multi-coil structure 21, and determining the position of the multi-coil structure 21.
Based on the positioning method, the invention also comprises a path drawing step, which is used for solving the problem of difficulty in drawing the underground pipeline path diagram; as shown in fig. 3, the specific steps are as follows:
step 201: a movable transmitting terminal 1 is arranged on the ground;
step 202: a multi-coil structure 21 of a movable receiving end 2 is arranged at an underground pipeline 3 to be detected;
step 203: determining initial position coordinates of the transmitting terminal 1 and the multi-coil structure 21;
step 204: starting the transmitting terminal 1, and transmitting a current magnetic field which can penetrate through the soil layer 4 to the ground;
step 205: determining that the communication between the transmitting terminal 1 and the receiving terminal 2 is normal, and the first wireless communication module 11 and the second wireless communication module 24 work normally;
step 206: moving the multi-coil structure 21 to move along the underground pipeline 3 or the underground passage to be detected;
step 207: the first coil 211 and the second coil 212 of the moved multi-coil structure 21 induce the current magnetic field of the transmitting terminal 1, the relative position of the transmitting terminal 1 and the multi-coil structure 21 is judged by comparing the magnitude of the induced voltage of the first coil 211 and the second coil 212, and the receiving terminal 2 feeds back the judgment result to the transmitting terminal 1 in real time through the first wireless communication module 11 and the second wireless communication module 24, and displays the judgment result on the display screen 16 of the transmitting terminal 1;
step 208: according to the judgment result of the relative position, moving the transmitting terminal 1 on the ground to the position right above the underground multi-coil structure 21, determining the position of the multi-coil structure 21, determining the plane position coordinate of the multi-coil structure, then calculating the vertical distance between the multi-coil structure and the transmitting terminal according to the signal intensity of the current magnetic field induced by the multi-coil structure, and establishing a three-dimensional space coordinate, wherein based on the distance calculation method of the electromagnetic signal in the prior art, the calculation formula of the vertical distance is as follows:
d = 10^((abs(rssi) - A) / (10 * n))
wherein: d is the calculated vertical distance (unit: m), rssi is the strength of the electromagnetic signal induced by the multi-coil structure, abs () represents an absolute value function, a is the signal strength at a 1 meter separation of the transmitter and the multi-coil structure, and n is the environmental attenuation factor. Different soil layers are great in influence on the environment attenuation factor n, so that the final measuring result is influenced, the environment attenuation factor under different soil layers can be tested according to different soil layers, the direction of the environment attenuation factor is obtained, and then the corresponding environment attenuation factor is brought in during actual application.
Step 209: and (4) repeating the steps 206, 207 and 208, recording each three-dimensional space coordinate, connecting each three-dimensional space coordinate, and drawing the underground pipeline path diagram.
Preferably, step 206 further comprises:
arranging the multi-coil structure 21 of the receiving end 2 at the top end of the lead 221 of the tube perforating device 22, and rotating the tube perforating device 22 to move the multi-coil structure 21;
a rotary encoder 25 is provided to record the movement data of the moving multi-coil structure 21 and send it to the transmitting terminal 1.
Specifically, in the embodiment of the present invention, the multi-coil structure 21 may be moved by providing a stretching unit, the stretching unit includes the tube penetrating device 22, the multi-coil structure 21 is disposed at the top end of the lead 221 of the tube penetrating device 22, and the multi-coil structure 21 can be moved by rotating the tube penetrating device 22 forward or backward. The tube perforating device 22 can be a conventional product, is properly modified after being purchased in the market, fixes the multi-coil structure 21 on the top of the lead 221 of the tube perforating device 22, sets the rotary encoder 25 at the position of the rotating shaft of the tube perforating device 22, and records the rotating angle of the tube perforating device 22; or, a stretching wire is arranged between the rotary encoder 25 and the multi-coil structure 21 of the receiving end 2, and when the multi-coil structure 21 of the receiving end 2 moves, the stretching wire is pulled, so that the rotary encoder 25 records the moving numerical value of the multi-coil structure 21; when the underground pipeline perforating device is used, the lead 221 of the perforating device 22 with the multi-coil structure 21 with the receiving end 2 extends into an underground passage, after the initial position coordinates of the multi-coil structure 21 are determined, the perforating device 22 is rotated to enable the multi-coil structure 21 to move along the underground pipeline 3 to be measured, and the moving numerical value of the multi-coil structure 21 is recorded through the rotary encoder 25. At this time, the second wireless communication module 24 may also be disposed on the frame of the tube penetrating device 22, and the multi-coil structure 21 or the connection line between the signal processor 23 of the receiving end 2 and the second wireless communication module 24 may be fixed on the lead 221 of the tube penetrating device 22 and move together with the multi-coil structure 21; the second wireless communication module 24 is electrically connected to the rotary encoder 25, and sends the value recorded by the rotary encoder 25 to the transmitting terminal 1, so as to avoid the error of tracing the trend line caused by the non-correspondence between the moving value of the multi-coil structure 21 of the receiving terminal 2 and the set distance value of the transmitting terminal 1. Preferably, the set distance value of each movement of the multi-coil structure 21 is 5 meters, after the multi-coil structure 21 is moved, the relative position of the transmitting terminal 1 and the multi-coil structure 21 is determined again, and the transmitting terminal 1 is moved to be right above the multi-coil structure 21. It should be noted that the transmitting terminal 1 and the multi-coil structure 21 of the present invention have a certain volume, and the right upper side also includes the case that the transmitting terminal 1 is offset to a certain extent, which allows reasonable error.
Preferably, the trenchless precise positioning instrument for the deeply buried underground pipeline of the embodiment of the present invention further comprises a route drawing unit, configured to move the multi-coil structure of the receiving end along the underground pipeline to be measured by a set distance value; moving the position of the transmitting end according to the relative position fed back to the transmitting end by the receiving end, thereby determining the plane position coordinate of the underground multi-coil structure on the ground; according to the signal intensity of the current magnetic field induced by the multi-coil structure, calculating the vertical distance between the multi-coil structure and the transmitting end, and establishing a three-dimensional space coordinate; continuously moving the multi-coil structure for a set distance along the underground pipeline to be tested, simultaneously moving a transmitting terminal to determine the position of the multi-coil structure, sequentially recording each three-dimensional space coordinate and drawing an underground pipeline three-dimensional space path diagram; the plane position coordinates of the receiving terminal 2 located underground are determined by moving the position of the transmitting terminal 1 according to the relative position fed back to the transmitting terminal 1 by the receiving terminal 2. The route drawing unit is located in the controller 14 of the transmitting terminal 1, and can realize the drawing function by means of an ST single chip microcomputer, the specific principle is the prior art, and the description is omitted here.
Preferably, the embodiment of the present invention further comprises a verification step:
after the underground pipeline three-dimensional space path diagram is completed, the receiving end 2 is moved in the opposite direction to set a distance value, the transmitting end 1 is moved to determine the position of the receiving end 2, and whether the position coincides with the previous three-dimensional space coordinate is verified. If the error is smaller than the set value, the original three-dimensional space coordinate is considered to be accurate, reverse tracing point verification is carried out, and the accuracy is improved.
In summary, the method and the apparatus for accurately positioning the deeply buried underground pipeline in the trenchless manner according to the embodiment of the present invention are to install the transmitting terminal 1 on the ground, so that the transmitting terminal 1 can be provided with the coil transmitting module 12 with a large enough size to transmit a current magnetic field with a large enough power, which can penetrate through the soil layer 4 with a depth of at least 10 meters for positioning the underground pipeline in the underground depth; meanwhile, the multi-coil structure 21 of the receiving end 2 is placed in an underground pipeline and used for inducing a current magnetic field of the transmitting end 1 and transmitting the relative positions of the receiving end 2 and the transmitting end 1 through wireless communication connection so as to determine the position of the multi-coil structure 21 of the underground receiving end 2 on the ground and position an underground pipeline; because the volume of the multi-coil structure 21 is very small, the multi-coil structure can be placed without excavating an underground pipeline, is not limited by depth, has high positioning precision, is suitable for complicated and narrow underground pipelines and pipelines made of any materials, and has the advantages of less calculation amount, simpler judgment method, lower cost and the like.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (7)
1. The trenchless accurate positioning method for the deeply buried underground pipeline is characterized by comprising the following steps:
a movable transmitting end is arranged on the ground;
the underground pipeline to be detected is arranged underground, a multi-coil structure of a receiving end capable of moving along the underground pipeline to be detected is arranged at the underground pipeline to be detected, and the receiving end is in communication connection with the transmitting end through a first wireless communication module and a second wireless communication module;
the transmitting terminal transmits a current magnetic field capable of penetrating through a soil layer to the ground, the receiving terminal induces the current magnetic field of the transmitting terminal through a multi-coil structure, and the multi-coil structure of the receiving terminal comprises a first coil and a second coil;
the first coil and the second coil are arranged in a crossed mode and in an angle mode, the first coil inclines towards a first direction, and the second coil inclines towards a second direction;
the first coil induces a current magnetic field generated by the transmitting end to generate a first induced potential;
the second coil induces a current magnetic field generated by the transmitting end to generate a second induced potential;
processing the first induction potential and the second induction potential, comparing the first induction potential and the second induction potential, and judging that the transmitting terminal is deviated to a first direction or a second direction relative to the multi-coil structure;
if the first induction potential is equal to the second induction potential, the transmitting end is positioned right above the multi-coil structure;
the receiving end judges the relative position of the transmitting end and the multi-coil structure, and feeds back the processing result of the first induction potential and the second induction potential to the first wireless communication module of the transmitting end in real time through the second wireless communication module;
moving the transmitting end on the ground to a position right above the underground multi-coil structure, and determining the position of the multi-coil structure of the receiving end;
the method also comprises a path drawing step:
determining initial position coordinates of the transmitting end and the multi-coil structure;
moving the multi-coil structure of the receiving end along the underground pipeline to be detected by a set distance value; moving the position of the transmitting end according to the relative position fed back to the transmitting end by the receiving end, thereby determining the plane position coordinate of the underground multi-coil structure on the ground;
according to the signal intensity of the current magnetic field induced by the multi-coil structure, calculating the vertical distance between the multi-coil structure and the transmitting end, and establishing a three-dimensional space coordinate;
and continuously moving the multi-coil structure along the underground pipeline to be detected by a set distance, simultaneously moving the transmitting terminal to determine the position of the multi-coil structure, sequentially recording each three-dimensional space coordinate and drawing an underground pipeline three-dimensional space path diagram.
2. The method of claim 1, wherein moving the multi-coil structure a set distance value along the underground utility to be tested further comprises:
arranging the multi-coil structure of the receiving end at the top end of a lead of a tube perforating device, and rotating the tube perforating device to move the multi-coil structure;
and setting a rotary encoder to record movement data for moving the multi-coil structure and sending the movement data to the transmitting terminal.
3. The method of claim 1, further comprising:
and after the underground pipeline three-dimensional space path diagram is completed, moving the multi-coil structure in the opposite direction to set a distance value, moving the transmitting end to determine the position of the multi-coil structure, and verifying whether the position is coincided with the previous three-dimensional space coordinate.
4. The utility model provides a bury pipeline accurate positioning instrument that does not excavate deeply which characterized in that includes:
the transmitting end is movably arranged on the ground and is used for transmitting the current magnetic field which can penetrate through the soil layer to the ground;
the receiving end comprises a multi-coil structure which is movably arranged at the underground pipeline to be detected and can move along the underground pipeline to be detected; the multi-coil structure comprises a current magnetic field used for inducing the transmitting terminal to generate, a first coil used for generating a first induced potential, a second coil used for inducing the current magnetic field generated by the transmitting terminal to generate a second induced potential, the first coil and the second coil are crossed with each other and arranged in an angle mode, the first coil is inclined towards a first direction, and the second coil is inclined towards a second direction;
the receiving end further comprises a signal processor, and the signal processor is used for processing the first induction potential and the second induction potential, comparing the first induction potential and the second induction potential, and judging that the transmitting end deviates to a first direction or a second direction relative to the multi-coil structure;
the transmitting end is in communication connection with the receiving end through a first wireless communication module and a second wireless communication module; the receiving end induces a current magnetic field of the transmitting end through a multi-coil structure, the relative position of the transmitting end and the multi-coil structure is judged, the processing result of the first induced potential and the second induced potential by the signal processor is fed back to the first wireless communication module of the transmitting end through the second wireless communication module in real time, and the transmitting end is further used for moving to the position right above the underground multi-coil structure according to the relative position so as to determine the position of the multi-coil structure;
the system also comprises a route drawing unit, a route drawing unit and a route drawing unit, wherein the route drawing unit is used for moving the multi-coil structure of the receiving end along the underground pipeline to be detected by a set distance value; moving the position of the transmitting end according to the relative position fed back to the transmitting end by the receiving end, thereby determining the plane position coordinate of the underground multi-coil structure on the ground; according to the signal intensity of the current magnetic field induced by the multi-coil structure, calculating the vertical distance between the multi-coil structure and the transmitting end, and establishing a three-dimensional space coordinate; continuously moving the multi-coil structure for a set distance along the underground pipeline to be tested, simultaneously moving a transmitting terminal to determine the position of the multi-coil structure, sequentially recording each three-dimensional space coordinate and drawing an underground pipeline three-dimensional space path diagram; and the plane position coordinates of the underground multi-coil structure are determined by moving the position of the transmitting end according to the relative position fed back to the transmitting end by the receiving end.
5. The underground pipeline trenchless precision positioning apparatus of claim 4,
the included angle between the first coil and the second coil is 90 degrees;
the first coil is connected with a first resonant capacitor in parallel, and the frequency of the first resonant capacitor is consistent with the transmitting frequency of the transmitting end;
and the second coil is connected with a second resonant capacitor in parallel, and the frequency of the second resonant capacitor is consistent with the transmitting frequency of the transmitting end.
6. The underground pipeline trenchless precise positioning instrument for the deep buried underground pipeline according to claim 4, further comprising a stretching unit and a stretching recording unit, wherein the stretching unit comprises a pipe penetrating device, the multi-coil structure of the receiving end is arranged at the top end of a lead of the pipe penetrating device, and the receiving end moves along the underground pipeline to be tested through the pipe penetrating device; the stretching recording unit comprises a rotary encoder, the rotary encoder is connected with the pipe penetrating device, records the numerical value of the movement of the multi-coil structure driven by the stretching unit and sends the numerical value to the transmitting end.
7. The trenchless precision positioning instrument for deeply buried underground pipelines according to claim 4, wherein: the transmitting end comprises a coil transmitting module for transmitting a current magnetic field and a current driving unit for driving the coil transmitting module, and the coil transmitting module is electrically connected with the current driving unit;
the transmitting end is arranged on the mobile equipment, and a mark point is arranged at the position, corresponding to the center of the coil transmitting module, on the mobile equipment.
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| CN115166838B (en) * | 2022-09-07 | 2022-12-16 | 浙江图维科技股份有限公司 | Method and system for positioning pipeline |
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