CN113702978A - Submarine pipeline detection positioning method and system based on forward-looking sonar - Google Patents
Submarine pipeline detection positioning method and system based on forward-looking sonar Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention discloses a submarine pipeline detection method and system based on forward looking sonar, wherein the method comprises the following steps: the forward-looking sonar device transmits signals and receives signals reflected by a submarine pipeline; carrying out a plurality of beam forming processing on signals received by the forward looking sonar device to obtain multi-beam domain data; carrying out dynamic threshold detection on the wave beam domain data to obtain a detection result; according to the detection result, carrying out binarization processing on the beam domain data to obtain a binarization image; carrying out Hough transform on the binary image, carrying out threshold detection in a transform domain, and then carrying out pipeline segment extraction to obtain a rectangular acoustic image; and converting the rectangular sound image into a fan-shaped display, thereby detecting and positioning the pipeline. Compared with the traditional image domain processing method, the method has lower calculation amount, is easier to realize real-time submarine pipeline detection and positioning, and reduces the interference of image edge lines by the beam domain processing in the method.
Description
Technical Field
The invention relates to an underwater acoustic signal processing method in the ocean field, in particular to a submarine pipeline detection positioning method and system based on forward looking sonar.
Background
The submarine pipeline oil and gas transportation has the characteristics of low transportation cost, stability and safety, and is an economic and reliable mode for long-distance transportation of ocean oil and gas resources. However, factors such as seawater corrosion and trawling operations of fishing boats can damage the oil and gas pipelines at the sea bottom. Therefore, it is necessary to periodically inspect the submarine pipeline for damage, corrosion, and the like. A method for detecting a submarine pipeline by using an active sonar mainly comprises a side scan sonar, a forward looking sonar and a multi-beam depth sounding sonar. Along the pipeline direction, the coverage area is surveyed to side scan sonar and multibeam sounding sonar single frame less, and foresight sonar sector broad, it is higher to survey the pipeline efficiency.
However, most of the existing pipeline detection methods using forward-looking sonar are detection methods based on image domain processing, and images are acquired through foreign equipment. In shallow sea areas, the seabed is uneven and is full of reefs and the like, and strong bottom reverberation has great influence on pipeline detection. The existing image noise reduction and edge detection methods are difficult to eliminate the interference of reverberation, so that misjudgment is caused, and the overall detection efficiency is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a submarine pipeline detection and positioning method and system based on a forward-looking sonar.
In order to achieve the purpose, the invention provides a submarine pipeline detection and positioning method based on a forward-looking sonar, which comprises the following steps:
the forward-looking sonar device transmits signals and receives signals reflected by a submarine pipeline;
carrying out a plurality of beam forming processing on signals received by the forward looking sonar device to obtain multi-beam domain data;
carrying out dynamic threshold detection on the wave beam domain data to obtain a detection result;
according to the detection result, carrying out binarization processing on the beam domain data to obtain a binarization image;
carrying out Hough transform on the binary image, carrying out threshold detection in a transform domain, and then carrying out pipeline segment extraction to obtain a rectangular acoustic image;
and converting the rectangular sound image into a fan-shaped display, thereby detecting and positioning the pipeline.
As an improvement of the method, the method further comprises the step of designing a forward-looking sonar device according to the technical index requirement of submarine pipeline detection; the method specifically comprises the following steps:
according to the size of the detection pipeline, the angle coverage range of the forward-looking sonar is set to be 0-90 degrees, the transmitting transducer array adopts an arc array, the receiving transducer array adopts an even linear array, and the length D of the receiving transducer array is determined according to the following formula:
in the formula, BwSetting the array of the receiving transducer as a uniform array, wherein the unit of the beam width is degree and lambda is wavelength; the number of array elements of the receiving transducer array is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
as an improvement of the above method, the signal received by the forward looking sonar device is processed by a plurality of wave beams to obtain multi-wave beam domain data; the method specifically comprises the following steps:
a plurality of beam forming processes are carried out on the forward-looking sonar signal X (t), and the weighting vector of the ith beam is WiObtaining a beam forming Y (theta) of the ith beam according to the following formulaiAnd t) is:
Y(θi，t)＝Wi HX(t)
where i is 1,2,3, …, N denotes the total number of beams, t denotes the time domain, and H denotes the transposed conjugate;
the beam domain data is obtained from N beamforming.
As an improvement of the above method, the dynamic threshold detection is performed on the beam domain data to obtain a detection result; the method specifically comprises the following steps:
uniformly dividing N wave beams of the wave beam domain data into N areas, and solving the maximum value P of the jth areajComprises the following steps:
in the formula, max (·) represents the maximum value, j ═ 1,2,3, …, n, t represent the time domain;
averaging the n maxima to obtain a value C of:
multiplying the numerical value C by a resultant coefficient beta to obtain a dynamic detection threshold T;
and performing threshold T detection on the beam domain data to obtain K sampling points which pass a threshold.
As an improvement of the above method, the beam domain data is binarized according to the detection result to obtain a binarized image; the method specifically comprises the following steps: and for K sampling points which pass through the threshold, the numerical value at the position of the corresponding beam domain is assigned to be 1, and the numerical value at the position of the corresponding beam domain is assigned to be 0 without the sampling points which pass through the threshold, so that a binary image B is obtained.
As an improvement of the method, the binary image is subjected to Hough transform, threshold detection is carried out in a transform domain, and then pipeline segment extraction is carried out to obtain a rectangular acoustic image; the method specifically comprises the following steps:
carrying out Hough transform on the binary image:
ρ＝θcosφ+tsinφ
the method comprises the steps that theta and t respectively represent angles and moments of beam domain data, rho and phi are parameters of a transformation domain, rho represents a vertical distance from an origin to a straight line, phi represents an included angle between a vertical line and a t axis of a rectangular coordinate system, and the (a, B) th cell in the transformation domain is obtained, wherein a is 1,2,3, a.
According to the conversion relation between the rectangular coordinate system and the transform domain, corresponding array lattices (rho) are correspondingly addeda,φb) Obtaining a binary image after Hough transformation by the accumulated value of the Hough transformation;
the threshold peak value E is obtained according to the following equation:
E＝ηmax(P)
wherein eta is a constant, and P represents an accumulated value of Hough transform;
and aiming at the focusing point in the rho-phi data, extracting the pipeline line segment of the binary image after Hough transformation according to the threshold-crossing peak value E to obtain a rectangular sound image.
A submarine pipeline inspection positioning system based on forward looking sonar, the system comprising: the device comprises a beam forming processing module, a dynamic threshold detection module, a binarization processing module, a Hough transform and threshold passing detection module and a detection positioning module; wherein the content of the first and second substances,
the beam forming processing module is used for carrying out a plurality of beam forming processing on the signals received by the forward-looking sonar device to obtain multi-beam domain data; the signal received by the forward-looking sonar device is a signal which is transmitted by the forward-looking sonar device and reflected by the submarine pipeline;
the dynamic threshold detection module is used for carrying out dynamic threshold detection on the wave beam domain data to obtain a detection result;
the binarization processing module is used for carrying out binarization processing on the beam domain data according to the detection result to obtain a binarization image;
the Hough transform and threshold value passing detection module is used for carrying out Hough transform on the binary image, carrying out threshold value passing detection in a transform domain and then carrying out pipeline segment extraction to obtain a rectangular sound image;
and the detection positioning module is used for converting the rectangular sound image into a fan-shaped display, thereby detecting the pipeline and positioning the pipeline.
As an improvement of the above system, the specific design of the forward-looking sonar device includes:
according to the size of the detection pipeline, the angle coverage of the foresight sonar device is set to be 0-90 degrees, the transmitting transducer array adopts an arc array, the receiving transducer array adopts an even linear array, and the length D of the receiving transducer array is determined according to the following formula:
in the formula, BwSetting the array of the receiving transducer as a uniform array, wherein the unit of the beam width is degree and lambda is wavelength; the number of array elements of the receiving transducer array is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
compared with the prior art, the invention has the advantages that:
compared with the traditional image domain processing method, the method has the advantages that the calculated amount is low, the real-time submarine pipeline detection and positioning are easy to realize, and the interference of the image edge line is reduced by the beam domain processing in the method.
Drawings
FIG. 1 is a schematic flow chart of a submarine pipeline detection and positioning method based on a forward-looking sonar according to the present invention;
FIG. 2 is beam domain data for a forward looking sonar;
FIG. 3 is an output after dynamic threshold detection;
FIG. 4 is a histogram output of a pipeline test;
FIG. 5 is a sector graph output of a pipeline inspection.
Detailed Description
The invention relates to a submarine pipeline detection system and method based on foresight sonar, in particular to a submarine pipeline detection system and method based on fusion processing of a wave beam domain and an image domain.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, embodiment 1 of the present invention provides a submarine pipeline detection and positioning method based on a forward-looking sonar, which specifically includes:
1) firstly, according to the size of a detection pipeline, selecting high frequency, reasonably designing the angular resolution and distance resolution of a forward-looking sonar transducer, setting the angular coverage range of the forward-looking sonar to be 90 degrees, selecting an arc array as a transmitting transducer array, selecting a linear array as a receiving transducer array, and further determining the length D of the receiving transducer array;
in the formula, BwFor beam width, in degrees, i.e., angular resolution, λ is the wavelength. And setting the array of the receiving transducer as a uniform array, wherein D is Md, M is the number of the array elements of the receiving base array, and D is the distance between adjacent array elements.
2) According to the technical performance requirement of the transducer, a transmitting and receiving circuit system and an electronic cabin are reasonably designed;
3) transmitting a frame of signals collected and received by the circuit system to a computer end through a cable, performing beam forming processing on a plurality of beams simultaneously, wherein the number of the beams is N, and acquiring multi-beam domain data;
Y(θi，t)＝Wi HX(t)
wherein X (t) represents the acquisition time domain complex signal transmitted to the computer, WiA weight vector representing the ith (i is 1,2,3, …, N) beam, Y (θ)iAnd t) denotes the beam forming output of the ith beam, with the N beam outputs constituting the beam domain data.
4) To pairDynamic threshold detection is carried out on wave beam domain data, N wave beams are uniformly divided, the wave beams are assumed to be divided into N areas, and the maximum value P of each area is solvedj(j ═ 1,2,3, …, n), solving the mean of n maximums to obtain a value C, and multiplying by a proper coefficient to obtain a detection threshold, wherein the threshold is a dynamic threshold because the beam domain data is transformed along with time.
In the formula, max (. cndot.) represents the maximum value.
T＝βC
In the formula, β is a constant, and T is a dynamic detection threshold.
For beam domain data Y (theta)iAnd T) carrying out threshold T detection, and assuming that the number of sampling points passing through the threshold is K.
5) And carrying out binarization assignment on the beam domain to form a binarization image. And for K sampling points which pass the threshold in the step 4), the value of the corresponding beam domain position is assigned to be 1, and the value of the sampling point which does not pass the threshold is assigned to be 0, so that a binary image B is obtained.
6) Carrying out Hough transformation on the binary image obtained in the step 5) in an image domain, carrying out threshold value detection on a focus point in a transformation domain, and then carrying out pipeline segment extraction to remove the interference of the reef.
Carrying out Hough transform on the binary image:
ρ＝θcosφ+tsinφ
wherein theta and t respectively represent the angle and the moment of the wave beam domain data, rho and phi represent parameters of a transform domain, rho represents the vertical distance from an original point to a straight line, phi represents the included angle between a vertical line and the t axis of a rectangular coordinate system,
P(ρa′,φb′)＝P(ρa,φb)+1,a＝1,2,3,....,A,b＝1,2,3,....,B,
where P represents the accumulated value of Hough transform, ρaAnd phibRespectively representing the (a, B) th cells in the transform domain, A representing the subdivision number of rho axis in the transform domain, B representing the subdivision number of phi axis in the transform domain, correspondingly increasing the accumulated value of the corresponding array according to the conversion formula between the rectangular coordinate system and the transform domain (rho, theta),
in the binary image, aiming at a focus point in rho-phi data, extracting according to a threshold-crossing peak value E:
E＝ηmax(P)
where η is a constant and P represents the accumulated value of the hough transform.
7) Rectangular sonogram data Y (theta) to be obtainediAnd t), converting the data into sector acoustic image display data, detecting the pipeline and positioning the pipeline, thereby being more beneficial to the confirmation of the pipeline.
Compared with the traditional image domain processing method, the method has lower calculation amount, is easier to realize real-time submarine pipeline detection and positioning, and reduces the interference of image edge lines by the beam domain processing in the method.
In this embodiment, the system parameters are: the diameter of the submarine pipeline is 0.6 m, the angular resolution of the forward-looking sonar is 1 degree, the used data are obtained by a marine test, and the depth of the sea is about 4 m. The sonar wet end is about 1.5 meters away from the water surface, the sound velocity is 1500m/s, only one frame of data is processed, and the processing result is shown in fig. 2-5, wherein fig. 2 is the wave beam domain data of the forward sonar; FIG. 3 is an output after dynamic threshold detection; FIG. 4 is a histogram output of a pipeline test; FIG. 5 is a sector graph output of a pipeline inspection.
Example 2
The embodiment 2 of the invention provides a submarine pipeline detection positioning system based on a forward-looking sonar, which comprises: the device comprises a beam forming processing module, a dynamic threshold detection module, a binarization processing module, a Hough transform and threshold passing detection module and a detection positioning module; the method is realized based on the method of the embodiment 1, wherein,
the beam forming processing module is used for carrying out a plurality of beam forming processing on the signals received by the forward-looking sonar device to obtain multi-beam domain data; the signal received by the forward-looking sonar device is a signal which is transmitted by the forward-looking sonar device and reflected by the submarine pipeline;
the dynamic threshold detection module is used for carrying out dynamic threshold detection on the wave beam domain data to obtain a detection result;
the binarization processing module is used for carrying out binarization processing on the beam domain data according to the detection result to obtain a binarization image;
the Hough transform and threshold value passing detection module is used for carrying out Hough transform on the binary image, carrying out threshold value passing detection in a transform domain and then carrying out pipeline segment extraction to obtain a rectangular sound image;
and the detection positioning module is used for converting the rectangular sound image into a fan-shaped display, thereby detecting the pipeline and positioning the pipeline.
The specific design of forward-looking sonar device includes:
according to the size of surveying the pipeline, the angle coverage who sets for preceding sonar device is 90, and preceding sonar device includes transmitting transducer array and receiving transducer array, and wherein, transmitting transducer array adopts the arc array, and receiving transducer array adopts even linear array, and the length D who confirms receiving transducer array according to the following formula does:
in the formula, BwSetting the array of the receiving transducer as a uniform array, wherein the unit of the beam width is degree and lambda is wavelength; the number of array elements of the receiving transducer array is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A submarine pipeline detection positioning method based on forward looking sonar comprises the following steps:
the forward-looking sonar device transmits signals and receives signals reflected by a submarine pipeline;
carrying out a plurality of beam forming processing on signals received by the forward looking sonar device to obtain multi-beam domain data;
carrying out dynamic threshold detection on the wave beam domain data to obtain a detection result;
according to the detection result, carrying out binarization processing on the beam domain data to obtain a binarization image;
carrying out Hough transform on the binary image, carrying out threshold detection in a transform domain, and then carrying out pipeline segment extraction to obtain a rectangular acoustic image;
and converting the rectangular sound image into a fan-shaped display, thereby detecting and positioning the pipeline.
2. The submarine pipeline detection and positioning method based on the forward-looking sonar according to claim 1, characterized by further comprising the step of designing a forward-looking sonar device according to the technical index requirements of submarine pipeline detection; the method specifically comprises the following steps:
according to the size of the detection pipeline, the angle coverage range of the forward-looking sonar is set to be 0-90 degrees, the transmitting transducer array adopts an arc array, the receiving transducer array adopts an even linear array, and the length D of the receiving transducer array is determined according to the following formula:
in the formula, BwSetting the array of the receiving transducer as a uniform array, wherein the unit of the beam width is degree and lambda is wavelength; the number of array elements of the receiving transducer array is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
3. the submarine pipeline detecting and positioning method based on the forward-looking sonar according to claim 1, wherein the signals received by the forward-looking sonar device are subjected to a plurality of beam forming processes to obtain multi-beam domain data; the method specifically comprises the following steps:
a plurality of beam forming processes are carried out on the forward-looking sonar signal X (t), and the weighting vector of the ith beam is WiObtaining a beam forming Y (theta) of the ith beam according to the following formulaiAnd t) is:
Y(θi，t)＝Wi HX(t)
where i is 1,2,3, …, N denotes the total number of beams, t denotes the time domain, and H denotes the transposed conjugate;
the beam domain data is obtained from N beamforming.
4. The submarine pipeline detection positioning method based on the forward-looking sonar according to claim 3, wherein dynamic threshold detection is performed on wave beam domain data to obtain a detection result; the method specifically comprises the following steps:
uniformly dividing N wave beams of the wave beam domain data into N areas, and solving the maximum value P of the jth areajComprises the following steps:
Pj＝max(Y(θi，t))
in the formula, max (·) represents the maximum value, j ═ 1,2,3, …, n, t represent the time domain;
averaging the n maxima to obtain a value C of:
multiplying the numerical value C by a resultant coefficient beta to obtain a dynamic detection threshold T;
and performing threshold T detection on the beam domain data to obtain K sampling points which pass a threshold.
5. The submarine pipeline detection and positioning method based on the forward-looking sonar according to claim 4, wherein the beam domain data is subjected to binarization processing according to a detection result to obtain a binarization image; the method specifically comprises the following steps: and for K sampling points which pass through the threshold, the numerical value at the position of the corresponding beam domain is assigned to be 1, and the numerical value at the position of the corresponding beam domain is assigned to be 0 without the sampling points which pass through the threshold, so that a binary image B is obtained.
6. The submarine pipeline detection and positioning method based on forward looking sonar according to claim 5, characterized in that the binary image is subjected to Hough transform, threshold detection is performed in a transform domain, and then pipeline segment extraction is performed to obtain a rectangular sonogram; the method specifically comprises the following steps:
carrying out Hough transform on the binary image:
ρ＝θcosφ+tsinφ
the method comprises the steps that theta and t respectively represent angles and moments of beam domain data, rho and phi are parameters of a transformation domain, rho represents a vertical distance from an origin to a straight line, phi represents an included angle between a vertical line and a t axis of a rectangular coordinate system, and the (a, B) th cell in the transformation domain is obtained, wherein a is 1,2,3, a.
According to the conversion relation between the rectangular coordinate system and the transform domain, corresponding array lattices (rho) are correspondingly addeda,φb) Obtaining a binary image after Hough transformation by the accumulated value of the Hough transformation;
the threshold peak value E is obtained according to the following equation:
E＝ηmax(P)
wherein eta is a constant, and P represents an accumulated value of Hough transform;
and aiming at the focusing point in the rho-phi data, extracting the pipeline line segment of the binary image after Hough transformation according to the threshold-crossing peak value E to obtain a rectangular sound image.
7. A submarine pipeline detects positioning system based on foresight sonar, its characterized in that, the system includes: the device comprises a beam forming processing module, a dynamic threshold detection module, a binarization processing module, a Hough transform and threshold passing detection module and a detection positioning module; wherein the content of the first and second substances,
the beam forming processing module is used for carrying out a plurality of beam forming processing on the signals received by the forward-looking sonar device to obtain multi-beam domain data; the signal received by the forward-looking sonar device is a signal which is transmitted by the forward-looking sonar device and reflected by the submarine pipeline;
the dynamic threshold detection module is used for carrying out dynamic threshold detection on the wave beam domain data to obtain a detection result;
the binarization processing module is used for carrying out binarization processing on the beam domain data according to the detection result to obtain a binarization image;
the Hough transform and threshold value passing detection module is used for carrying out Hough transform on the binary image, carrying out threshold value passing detection in a transform domain and then carrying out pipeline segment extraction to obtain a rectangular sound image;
and the detection positioning module is used for converting the rectangular sound image into a fan-shaped display, thereby detecting the pipeline and positioning the pipeline.
8. The submarine pipeline inspection positioning system based on foresight sonar according to claim 7, wherein the specific design of foresight sonar equipment includes:
according to the size of the detection pipeline, the angle coverage of the foresight sonar device is set to be 0-90 degrees, the transmitting transducer array adopts an arc array, the receiving transducer array adopts an even linear array, and the length D of the receiving transducer array is determined according to the following formula:
in the formula, BwSetting the array of the receiving transducer as a uniform array, wherein the unit of the beam width is degree and lambda is wavelength; receiving transducer arrayThe number of the array elements is M, the distance between adjacent array elements is d, and the following formula is satisfied:
D＝Md。
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| CN114923135A (en) * | 2022-05-18 | 2022-08-19 | 中国科学院声学研究所 | Submarine gas pipeline micro-leakage acoustic detection positioning method |
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