CN117589237A - Underground pipeline deformation fracture detection method and system based on channel dredging engineering - Google Patents
Underground pipeline deformation fracture detection method and system based on channel dredging engineering Download PDFInfo
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Abstract
The invention discloses an underground pipeline deformation fracture detection method and system based on channel dredging engineering, comprising the following steps: step one, acquiring pipeline internal data in real time in the course of channel dredging, step two, processing the data in step one to obtain a change coefficient BGw, and comparing the change coefficient BGw with a preset change threshold value to determine whether to patrol; step three, when the inspection is determined, sending an underwater inspection robot to the channel dredging area, collecting inspection data, obtaining a three-dimensional model of the pipeline, and judging whether the pipeline is overhauled; step four, when the maintenance is judged to be needed, the dispatched maintenance personnel carry out maintenance; the first step of judgment is carried out through monitoring the data in the pipeline, then the inspection by the underwater robot is carried out, the accurate sonar detection is carried out, whether the underground pipeline is deformed and broken, the deformation and broken position is judged, the overhaul is carried out in time, and the problems of inaccuracy and timeliness of the existing detection method are solved.
Description
Technical Field
The invention relates to the technical field of underground pipeline detection, in particular to an underground pipeline deformation fracture detection method and system based on channel dredging engineering.
Background
The channel dredging engineering is the operation of removing underwater sediment in a channel by using a dredger or other tools; is one of the main means for developing the channel and increasing and maintaining the channel scale. The underground of the river, the channel, the harbor pool, the dredging depth, the harbor shoal and other areas are provided with certain urban underground pipelines, and the underground pipelines positioned in the sludge or the soil become main factors for restricting the production capacity of the dredger;
at present, the conventional underground pipeline detection is generally carried out by using an underground pipeline detector based on the principle of an electromagnetic method, but the detection effect is often limited by the influence of detection sites, geological conditions and underground water level height; the invention provides a deformation and fracture detection method and system for an underground pipeline based on a channel dredging project, which cannot accurately and efficiently detect whether the underground pipeline is deformed and fractured in the channel dredging project.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide an underground pipeline deformation fracture detection method and system based on channel dredging engineering, which are used for carrying out first-step judgment through monitoring of data in a pipeline, carrying out accurate sonar detection through inspection by an underwater robot, judging whether the underground pipeline is deformed and fractured, judging the deformation and fracture position, and carrying out timely maintenance, thereby solving the problems of inaccuracy and untimely of the existing detection method.
The aim of the invention can be achieved by the following technical scheme:
the underground pipeline deformation fracture detection method based on channel dredging engineering comprises the following steps:
firstly, acquiring pipeline internal data in real time in the course of channel dredging, wherein the internal data comprises a real-time pressure value, a real-time flow value and a real-time temperature value in a pipeline of an underground pipeline in the course of channel dredging;
step two, processing the data in the step one to obtain a change coefficient BGw, and comparing the change coefficient BGw with a preset change threshold value to determine whether to carry out inspection;
step three, when the routing inspection is determined, sending an underwater routing inspection robot to the channel dredging area, routing the underwater routing inspection robot along the trend of the underground pipeline, collecting routing inspection data to obtain a three-dimensional model of the pipeline, comparing the three-dimensional model of the pipeline in the channel dredging process with a three-dimensional model of the pipeline in a preset normal working state, and judging whether to overhaul;
and step four, when the maintenance is required, the dispatched maintenance personnel carry out maintenance.
As a further scheme of the invention: the specific process for acquiring the data in the pipeline in real time comprises the following steps: the flow sensor and the temperature sensor acquire real-time pressure values, real-time flow values and real-time temperature values in the pipeline of the underground pipeline in the channel dredging process through the pressure sensor in the pipeline of the underground pipeline.
As a further scheme of the invention: the data processing process in the second step is as follows: marking the real-time pressure value obtained in the first step as Fw, the real-time flow value as Lw and the real-time temperature value as Tw;
the coefficient of variation is calculated using the formula: BGw =a1 (Fw/YF) +b1 (Lw/YL) +c1 (YT/Tw), wherein BGw is expressed as an underground pipeline change coefficient, a1, b1, c1 are different scale coefficients, and a1, b1, c1 are not 0, YF is expressed as a steady pressure value under normal operation, YL is a steady flow value under normal operation, and YT is a steady temperature value under normal operation.
As a further scheme of the invention: and step two, comparing the change coefficient BGw with a preset change threshold value:
comparing the pipeline change coefficient BGw with a pipeline preset change threshold:
if the signal is larger than the preset value, generating a patrol signal;
if the signal is equal to the preset value, generating a warning signal;
if the signal is smaller than the preset value, generating a non-inspection signal.
As a further scheme of the invention: the specific process of inspection in the third step: when a patrol signal is obtained, an underwater patrol robot is dispatched to a channel dredging area, when the underwater patrol robot moves to the position above an underground pipeline, patrol is carried out along the trend of the underground pipeline, patrol data are collected, the patrol data are sonar reflection signals, the sonar signals are transmitted through a sonar probe arranged on the underwater patrol robot, meanwhile, the signals reflected by the pipe wall of the underground pipeline are received, and the collected patrol data are subjected to visual processing to obtain a three-dimensional model of the pipeline.
As a further scheme of the invention: and step three, pipeline three-dimensional model comparison process:
comparing the pipeline three-dimensional model in the channel dredging process with a pipeline three-dimensional model in a preset normal working state;
if the difference exists, marking the difference position and generating an overhaul signal;
and if the difference does not exist, generating a non-overhaul signal.
As a further scheme of the invention: the specific process of dispatching the maintenance personnel in the fourth step is as follows: when the overhaul signal is obtained, the dispatched overhaul personnel overhaul the difference positions.
As a further scheme of the invention: the specific process selected by the overhauling personnel is as follows:
collecting overhaul data of overhaul personnel, including overhaul years, annual overhaul times and underwater overhaul skill level; marking the overhaul period as Nw, the annual overhaul times as Cw and the underwater skill overhaul level as Sw;
and calculating an overhaul coefficient of an overhaul worker by using the formula: JGw =sw (aw+b×cw);
wherein A and B each represent a different scaling factor and A and B are not both 0;
comparing an overhaul coefficient JGw of an overhaul worker with a preset overhaul threshold of the overhaul worker;
if the number is greater than or equal to the preset number, placing the number into a dispatch selection library for random selection of the system;
if the number is smaller than the preset number, not putting a dispatch selection library;
after the system selects the dispatch personnel, an overhaul signal is sent to the mobile phone terminal of the system, and the selected overhaul personnel is informed to overhaul.
As a further scheme of the invention: the system comprises a data acquisition module, a control module and a control module, wherein the data acquisition module is used for acquiring pipeline internal data in the course of channel dredging, and the internal data comprise a real-time pressure value, a real-time flow value and a real-time temperature value in a pipeline of an underground pipeline in the course of channel dredging; the acquired pipeline internal data is sent to a data processing analysis module;
and the data processing and analyzing module is used for: the system comprises a data acquisition module, a pipeline internal data processing module, a data transmission module and a data transmission module, wherein the data acquisition module is used for acquiring pipeline internal data;
the inspection module is used for receiving the change coefficient sent by the data processing and analyzing module, comparing the change coefficient with a preset change threshold value to generate different processing signals, wherein the processing signals comprise inspection signals, warning signals and non-inspection signals, and the inspection module further comprises an underwater inspection robot which is used for releasing water to carry out underwater inspection of an underground pipeline when the inspection signals are generated; meanwhile, the underwater inspection robot collects inspection data and sends the collected inspection data to the inspection module;
the maintenance module is used for obtaining the inspection data sent by the underwater inspection robot, performing visual processing to obtain a three-dimensional model of the pipeline, and comparing the three-dimensional model with the three-dimensional model of the pipeline in a preset normal working state; different processing signals are generated, wherein the processing signals comprise overhaul signals and non-overhaul signals, and when the overhaul signals are obtained, selection and notification of overhaul personnel are carried out.
The invention has the beneficial effects that:
according to the invention, the pipeline internal data is acquired in real time through the first step, the change coefficient BGw is processed and generated, the change coefficient BGw is compared with the preset change threshold value, whether inspection is carried out is determined, when the change coefficient BGw is larger than the preset change threshold value, the second step of underwater inspection is carried out, the real-time state of the underground pipeline is further judged, if deformation and fracture occur, the accurate position is recorded, the maintenance personnel are reasonably distributed to carry out timely maintenance, the state of the underground pipeline in the channel dredging process is further accurately judged through multistage detection, the problem that the judgment is inaccurate only through the internal detection or the cost is too high through the external detection in real time is avoided, and the maintenance personnel are timely dispatched to carry out maintenance, so that the problem is avoided, and the non-timeliness of post-treatment is avoided.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic flow chart of the detection method of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the method for detecting deformation and fracture of the underground pipeline based on channel dredging engineering comprises the following steps:
firstly, acquiring pipeline internal data in real time in the course of channel dredging, wherein the internal data comprises a real-time pressure value, a real-time flow value and a real-time temperature value in a pipeline of an underground pipeline in the course of channel dredging;
step two, processing the data in the step one to obtain a change coefficient BGw, and comparing the change coefficient BGw with a preset change threshold value to determine whether to carry out inspection;
step three, when the routing inspection is determined, sending an underwater routing inspection robot to the channel dredging area, routing the underwater routing inspection robot along the trend of the underground pipeline, collecting routing inspection data to obtain a three-dimensional model of the pipeline, comparing the three-dimensional model of the pipeline in the channel dredging process with a three-dimensional model of the pipeline in a preset normal working state, and judging whether to overhaul;
and step four, when the maintenance is required, the dispatched maintenance personnel carry out maintenance.
The specific process for acquiring the data in the pipeline in real time in the first step is as follows: the method comprises the steps that through a pressure sensor in an underground pipeline, a flow sensor and a temperature sensor collect real-time pressure values, real-time flow values and real-time temperature values in the pipeline of the underground pipeline in the course of channel dredging;
the data processing process in the second step is as follows: marking the real-time pressure value obtained in the first step as Fw, the real-time flow value as Lw and the real-time temperature value as Tw;
the coefficient of variation is calculated using the formula: BGw =a1 (Fw/YF) +b1 (Lw/YL) +c1 (YT/Tw), wherein BGw is represented as an underground pipeline change coefficient, a1, b1, c1 are different scale coefficients, and a1, b1, c1 are all not 0, YF is represented as a steady pressure value under normal operation, YL is a steady flow value under normal operation, YT is a steady temperature value under normal operation;
and step two, comparing the change coefficient BGw with a preset change threshold value:
comparing the pipeline change coefficient BGw with a pipeline preset change threshold:
if the signal is larger than the preset value, generating a patrol signal;
if the signal is equal to the preset value, generating a warning signal;
if the signal is smaller than the preset value, generating a non-inspection signal;
the specific process of inspection in the third step: when a patrol signal is obtained, sending an underwater patrol robot to a channel dredging area, when the underwater patrol robot moves to the position above an underground pipeline, carrying out patrol along the trend of the underground pipeline, collecting patrol data, wherein the patrol data is a sonar reflection signal, transmitting the sonar signal through a sonar probe arranged on the underwater patrol robot, receiving the signal reflected by the wall of the underground pipeline, carrying out visualization processing on the collected patrol data to obtain a three-dimensional model of a pipeline, and comparing the three-dimensional model of the pipeline in the channel dredging process with the three-dimensional model of the pipeline in a preset normal working state;
and step three, pipeline three-dimensional model comparison process:
comparing the pipeline three-dimensional model in the channel dredging process with a pipeline three-dimensional model in a preset normal working state;
if the difference exists, marking the difference position and generating an overhaul signal;
if the difference does not exist, generating a non-overhauling signal;
the specific process of dispatching the maintenance personnel in the fourth step is as follows: when an overhaul signal is obtained, the dispatched overhaul personnel overhaul the difference positions, wherein the specific process on the selection of the overhaul personnel is as follows:
collecting overhaul data of overhaul personnel, including overhaul years, annual overhaul times and underwater overhaul skill level; marking the overhaul period as Nw, the annual overhaul times as Cw and the underwater skill overhaul level as Sw;
and calculating an overhaul coefficient of an overhaul worker by using the formula: JGw =sw (aw+b×cw);
wherein A and B each represent a different scaling factor and A and B are not both 0;
comparing an overhaul coefficient JGw of an overhaul worker with a preset overhaul threshold of the overhaul worker;
if the number is greater than or equal to the preset number, placing the number into a dispatch selection library for random selection of the system;
if the number is smaller than the preset number, not putting a dispatch selection library;
after the system selects the dispatch personnel, an overhaul signal is sent to the mobile phone terminal of the system, and the selected overhaul personnel is informed to overhaul.
Further, when the change coefficient BGw in the second step is compared with the change threshold value to obtain a warning signal, the central processing system generates an alarm to warn the staff, the staff manually judges whether to carry out the inspection work, if so, the alarm is closed if not, and if so, the warning is closed.
Further pipeline deformation fracture detection system based on channel dredging engineering includes:
the data acquisition module is used for acquiring pipeline internal data in the channel dredging process, wherein the internal data comprises a real-time pressure value, a real-time flow value and a real-time temperature value in a pipeline of an underground pipeline in the channel dredging process; the acquired pipeline internal data is sent to a data processing analysis module
And the data processing and analyzing module is used for: the system comprises a data acquisition module, a pipeline internal data processing module, a data transmission module and a data transmission module, wherein the data acquisition module is used for acquiring pipeline internal data;
the inspection module is used for receiving the change coefficient sent by the data processing and analyzing module, comparing the change coefficient with a preset change threshold value to generate different processing signals, wherein the processing signals comprise inspection signals, warning signals and non-inspection signals, and the inspection module further comprises an underwater inspection robot which is used for releasing water to carry out underwater inspection of an underground pipeline when the inspection signals are generated; meanwhile, the underwater inspection robot collects inspection data and sends the collected inspection data to the inspection module;
the maintenance module is used for obtaining the inspection data sent by the underwater inspection robot, performing visual processing to obtain a three-dimensional model of the pipeline, and comparing the three-dimensional model with the three-dimensional model of the pipeline in a preset normal working state; different processing signals are generated, wherein the processing signals comprise overhaul signals and non-overhaul signals, and when the overhaul signals are obtained, selection and notification of overhaul personnel are carried out.
In the description of the present invention, it should be understood that the terms "upper," "lower," "left," "right," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and for simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, as well as a specific orientation configuration and operation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (9)
1. The underground pipeline deformation fracture detection method based on the channel dredging engineering is characterized by comprising the following steps of:
firstly, acquiring pipeline internal data in real time in the course of channel dredging, wherein the internal data comprises a real-time pressure value, a real-time flow value and a real-time temperature value in a pipeline of an underground pipeline in the course of channel dredging;
step two, processing the data in the step one to obtain a change coefficient BGw, and comparing the change coefficient BGw with a preset change threshold value to determine whether to carry out inspection;
step three, when the routing inspection is determined, sending an underwater routing inspection robot to the channel dredging area, routing the underwater routing inspection robot along the trend of the underground pipeline, collecting routing inspection data to obtain a three-dimensional model of the pipeline, comparing the three-dimensional model of the pipeline in the channel dredging process with a three-dimensional model of the pipeline in a preset normal working state, and judging whether to overhaul;
and step four, when the maintenance is required, the dispatched maintenance personnel carry out maintenance.
2. The underground pipeline deformation and fracture detection method based on channel dredging engineering according to claim 1, wherein the specific process of acquiring the pipeline internal data in real time is as follows: the flow sensor and the temperature sensor acquire real-time pressure values, real-time flow values and real-time temperature values in the pipeline of the underground pipeline in the channel dredging process through the pressure sensor in the pipeline of the underground pipeline.
3. The underground pipeline deformation and fracture detection method based on channel dredging engineering according to claim 1, wherein the data processing process in the second step is as follows: marking the real-time pressure value obtained in the first step as Fw, the real-time flow value as Lw and the real-time temperature value as Tw;
the coefficient of variation is calculated using the formula: BGw =a1 (Fw/YF) +b1 (Lw/YL) +c1 (YT/Tw), wherein BGw is expressed as an underground pipeline change coefficient, a1, b1, c1 are different scale coefficients, and a1, b1, c1 are not 0, YF is expressed as a steady pressure value under normal operation, YL is a steady flow value under normal operation, and YT is a steady temperature value under normal operation.
4. The method for detecting deformation and fracture of an underground pipeline based on channel dredging engineering according to claim 1, wherein the change coefficient BGw in the second step is compared with a preset change threshold value:
comparing the pipeline change coefficient BGw with a pipeline preset change threshold:
if the signal is larger than the preset value, generating a patrol signal;
if the signal is equal to the preset value, generating a warning signal;
if the signal is smaller than the preset value, generating a non-inspection signal.
5. The underground pipeline deformation and fracture detection method based on channel dredging engineering according to claim 1, wherein the specific routing inspection process in the third step is as follows: when a patrol signal is obtained, an underwater patrol robot is dispatched to a channel dredging area, when the underwater patrol robot moves to the position above an underground pipeline, patrol is carried out along the trend of the underground pipeline, patrol data are collected, the patrol data are sonar reflection signals, the sonar signals are transmitted through a sonar probe arranged on the underwater patrol robot, meanwhile, the signals reflected by the pipe wall of the underground pipeline are received, and the collected patrol data are subjected to visual processing to obtain a three-dimensional model of the pipeline.
6. The underground pipeline deformation and fracture detection method based on channel dredging engineering according to claim 1, wherein the pipeline three-dimensional model comparison process in the step three is as follows:
comparing the pipeline three-dimensional model in the channel dredging process with a pipeline three-dimensional model in a preset normal working state;
if the difference exists, marking the difference position and generating an overhaul signal;
and if the difference does not exist, generating a non-overhaul signal.
7. The underground pipeline deformation and fracture detection method based on channel dredging engineering according to claim 1, wherein the specific process of dispatching maintenance personnel in the fourth step is as follows: when the overhaul signal is obtained, the dispatched overhaul personnel overhaul the difference positions.
8. The method for detecting deformation and fracture of an underground pipeline based on channel dredging engineering according to claim 7, wherein the specific process selected by the maintainer is as follows:
collecting overhaul data of overhaul personnel, including overhaul years, annual overhaul times and underwater overhaul skill level; marking the overhaul period as Nw, the annual overhaul times as Cw and the underwater skill overhaul level as Sw;
and calculating an overhaul coefficient of an overhaul worker by using the formula: JGw =sw (aw+b×cw);
wherein A and B each represent a different scaling factor and A and B are not both 0;
comparing an overhaul coefficient JGw of an overhaul worker with a preset overhaul threshold of the overhaul worker;
if the number is greater than or equal to the preset number, placing the number into a dispatch selection library for random selection of the system;
if the number is smaller than the preset number, not putting a dispatch selection library;
after the system selects the dispatch personnel, an overhaul signal is sent to the mobile phone terminal of the system, and the selected overhaul personnel is informed to overhaul.
9. The underground pipeline deformation fracture detection system based on the channel dredging engineering is characterized by comprising a data acquisition module, wherein the data acquisition module is used for acquiring pipeline internal data in the channel dredging process, and the internal data comprise a real-time pressure value, a real-time flow value and a real-time temperature value in a pipeline of the underground pipeline in the channel dredging process; the acquired pipeline internal data is sent to a data processing analysis module;
and the data processing and analyzing module is used for: the system comprises a data acquisition module, a pipeline internal data processing module, a data transmission module and a data transmission module, wherein the data acquisition module is used for acquiring pipeline internal data;
the inspection module is used for receiving the change coefficient sent by the data processing and analyzing module, comparing the change coefficient with a preset change threshold value to generate different processing signals, wherein the processing signals comprise inspection signals, warning signals and non-inspection signals, and the inspection module further comprises an underwater inspection robot which is used for releasing water to carry out underwater inspection of an underground pipeline when the inspection signals are generated; meanwhile, the underwater inspection robot collects inspection data and sends the collected inspection data to the inspection module;
the maintenance module is used for obtaining the inspection data sent by the underwater inspection robot, performing visual processing to obtain a three-dimensional model of the pipeline, and comparing the three-dimensional model with the three-dimensional model of the pipeline in a preset normal working state; different processing signals are generated, wherein the processing signals comprise overhaul signals and non-overhaul signals, and when the overhaul signals are obtained, selection and notification of overhaul personnel are carried out.
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| CN202311592538.1A CN117589237B (en) | 2023-11-27 | Underground pipeline deformation fracture detection method and system based on channel dredging engineering |
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| CN202311592538.1A CN117589237B (en) | 2023-11-27 | Underground pipeline deformation fracture detection method and system based on channel dredging engineering |
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