CN112924962B - Underground pipeline lateral deviation filtering detection and positioning method - Google Patents
Underground pipeline lateral deviation filtering detection and positioning method Download PDFInfo
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- CN112924962B CN112924962B CN202110125296.XA CN202110125296A CN112924962B CN 112924962 B CN112924962 B CN 112924962B CN 202110125296 A CN202110125296 A CN 202110125296A CN 112924962 B CN112924962 B CN 112924962B
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- G—PHYSICS
- G01—MEASURING; TESTING
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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Abstract
The invention discloses a method for detecting and positioning lateral offset filtering of an underground pipeline, which comprises the following steps: setting a periodic offset survey line of the ground penetrating radar, wherein the offset survey line comprises a main advancing direction parallel to the underground pipeline and a transverse offset direction perpendicular to the main advancing direction, the main advancing direction is set as an x axis, and the transverse offset direction is set as a y axis; measuring the underground pipeline according to the set offset survey line by using a ground penetrating radar; filtering an echo image of the ground penetrating radar; correcting an underground pipeline echo delay curve; and inverting the y-axial offset and the depth position of the underground pipeline. The filtering detection method for the periodical deviation survey line of the underground pipeline can effectively filter the trailing interference of the strong reflection echo signals of the ground penetrating radar such as the ground and underground layering, is beneficial to identifying and extracting the weak reflection echo signals of the underground pipeline, and improves the detection identification rate.
Description
Technical Field
The invention belongs to the field of ground penetrating radar measurement, and particularly relates to a lateral deviation filtering detection and positioning method for an underground pipeline.
Background
The ground penetrating radar is a device which transmits ultra-wide band electromagnetic waves with strong penetrability to the underground and collects the electromagnetic waves reflected by underground objects or interfaces, and has wide application in nondestructive detection of highways, railways, airports, bridges, tunnels, dams and the like and detection of underground pipelines, underground cavities and the like. For a long time, the ground penetrating radar adopts a direct downward-looking detection method, a straight survey line crossing the underground pipeline is required for measuring the underground pipeline, the underground pipeline is identified and positioned by using the structural characteristics of a radar image hyperbola, the underground long pipeline is inspected by surface scanning measurement, full coverage can be realized, and the measurement efficiency is low. On the other hand, since the ground and underground horizontal layered reflection echoes are relatively strong, especially the ground reflection is the strongest reflection echo received by a ground penetrating radar, when a survey line approximately parallel to the underground pipeline is adopted for measurement, the reflection echo of the underground pipeline is easily covered or interfered by the tailing of the underground pipeline, so that the detection sensitivity is low. Therefore, the existing measuring method is not suitable for ground line patrol detection of long-distance underground pipelines in the aspects of measuring efficiency and detection sensitivity.
Patent 202010052644.0 proposes a method for extracting three-dimensional information of underground diseases based on a 'pendulum type' ground penetrating radar, which realizes three-dimensional imaging measurement of an underground target by suspending and swinging the ground penetrating radar, allows a survey line to deviate from a measured object, but the ground reflection echo image of the ground penetrating radar also presents a structure similar to a 'hyperbolic' along with the swinging change, and is not beneficial to detecting the underground pipeline target.
Disclosure of Invention
Aiming at the problems in the prior art, the underground pipeline lateral migration filtering detection and positioning method provided by the invention is that an underground pipeline detection method combining periodic migration line measurement and advancing direction filtering processing is provided by using high-automation motion platforms such as an unmanned aerial vehicle and an unmanned vehicle, so that the interference of ground equal-strength reflection echoes in a ground penetrating radar image on the underground pipeline echoes can be effectively inhibited; meanwhile, a multi-time curve model of underground pipeline echo delay under the condition of lateral detection is utilized, the method for positioning the underground pipeline under the lateral detection is provided, the effective range covered by single line measurement can be enlarged, and the detection efficiency is further improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for detecting and positioning underground pipeline lateral deviation filtering, comprising the following steps: setting a periodic offset survey line of the ground penetrating radar, wherein the offset survey line comprises a main advancing direction parallel to the underground pipeline and a transverse offset direction perpendicular to the main advancing direction, the main advancing direction is set as an x axis, and the transverse offset direction is set as a y axis; measuring the underground pipeline according to the set offset survey line by using a ground penetrating radar; filtering an echo image of the ground penetrating radar; correcting an underground pipeline echo delay curve; and inverting the y axial offset and the depth position of the underground pipeline.
Preferably, the measuring the underground pipeline according to the set offset survey line by using the ground penetrating radar comprises: the ground penetrating radar is erected on a platform with a settable motion track.
Preferably, the measuring the underground pipeline according to the set offset survey line by using the ground penetrating radar comprises: the ground penetrating radar is erected on a platform which is difficult to perform y-axis offset motion, and the whole ground penetrating radar or an antenna part of the ground penetrating radar is arranged on a y-axis linear guide rail of the platform to realize transverse offset.
Preferably, the filtering the echo image of the ground penetrating radar includes: and performing Fourier transform on the radar echo image about an x coordinate, filtering components below a cut-off wavelength, and performing inverse Fourier transform on the x coordinate to obtain an image with a strong reflection echo filtered.
Preferably, the cutoff wavelength is half the period interval over which the offset profile varies.
Preferably, the inverting subsurface pipeline y axial offset and depth position comprises: and (4) carrying out 4-time or 6-time curve fitting model description on the echo delay of the underground pipeline so as to invert the y axial offset and the depth position of the underground pipeline.
Compared with the prior art, the invention has the beneficial effects that:
1) The filtering detection method for the periodic deviation survey line of the underground pipeline can effectively filter the trailing interference of the strong reflection echo signals of the ground penetrating radar such as the ground and the underground layering, is beneficial to identifying and extracting the weak reflection echo signals of the underground pipeline, and improves the detection identification rate;
2) The method for laterally detecting and positioning the position of the underground pipeline does not require the ground penetrating radar survey line to pass right above the underground pipeline, increases the effective detection range covered by a single survey line, and is beneficial to improving the test efficiency.
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a ground penetrating radar periodically shifting survey line for laterally surveying an underground pipeline.
Fig. 2 is a simulated radar echo image.
Fig. 3 is a filtered radar echo image.
FIG. 4 is a plot of the echo delay of an underground utility as a function of the x coordinate of the offset geodesic position.
FIG. 5 is a graph of the variation of the echo delay of the underground pipeline along the y coordinate of the position of the offset measuring line.
FIG. 6 is a root mean square of the deviation of the 4-fold echo delay fitted curve from the simulated measurement in one embodiment.
FIG. 7 shows the root mean square deviation of the 4-order echo delay fitted curve from the simulated measurement values in the second embodiment.
FIG. 8 is the root mean square of the deviation of the echo delay fitted curve from the simulated measurements in the third embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art based on the embodiments of the present invention without inventive step, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
A lateral deviation filtering detection and positioning method for underground pipelines comprises the following steps:
step 1: setting periodic offset survey line of ground penetrating radar
An offset survey line track is set on a moving platform loaded with a ground penetrating radar, and the ground penetrating radar is offset survey line lateral detection schematic diagram, as shown in figure 1, wherein the x axis is loadingThe main advancing direction of the moving platform with the ground penetrating radar is the transverse deviation direction of a radar survey line on the y axis g Offset of underground pipeline in y-axis direction, d g The depth of the underground pipeline, the height of the ground penetrating radar from the ground surface is kept constant, and the track of the offset survey line is recorded as
y＝A b T(x) (1)
In the formula A b The amplitude of the lateral deviation of the measuring line; t (x) is a periodic function of unit amplitude offset, T (x + λ) c )＝T(x)，λ c In order to offset the periodic interval of the line variation, the periodic function is selected from but not limited to a sine function, a sawtooth function, and the like. When A is b <y g The survey line is always positioned on the side of the underground pipeline; when A is b >y g In time, the survey line spans the underground pipeline. The motion platform comprises a manned vehicle, an unmanned aerial vehicle and the like.
And 2, step: ground penetrating radar offset survey line measurement
To the platform that can set for the movement track such as small-size unmanned vehicle, unmanned aerial vehicle, ground penetrating radar skew survey line directly realizes through the orbit of preset motion platform, and ground penetrating radar keeps relative position unchangeable with motion platform among the measurement process, and ground penetrating radar keeps unchangeable relative ground height. For the situation that a manned motion platform or a motion platform is difficult to carry out y-axis offset motion, an offset measuring line is realized by combining the x-axis motion of the motion platform and the y-axis offset motion of the ground penetrating radar, the whole ground penetrating radar or an antenna part of the ground penetrating radar is arranged on a y-axis linear guide rail of the motion platform in the measuring process, the offset motion is realized through electric control, and the height of the ground penetrating radar relative to the ground is kept unchanged.
And step 3: radar echo image filtering process
By using the measurement data of the ground penetrating radar under the periodic offset survey line, an image of the radar echo along with the x coordinate of the offset survey line position and a simulated radar echo image are drawn, as shown in fig. 2. Since the height of the ground penetrating radar relative to the ground is kept constant, the reflection echo delay positions of surface objects such as the ground and underground horizontal stratification and the like are kept approximately constant, and the reflection echo delay positions of linear objects such as underground pipelines and the like are periodically changed. Root of herbaceous plantAccording to the characteristic, the high-pass filtering processing about the x coordinate (namely the main moving direction of the moving platform) is carried out on the radar echo image, namely Fourier transform about the x coordinate is carried out on the radar echo image, a certain cut-off wavelength is selected, components below the cut-off wavelength are filtered, then inverse Fourier transform about the x coordinate is carried out, and the image of ground equal-intensity reflection echo is filtered. Typically, the cutoff wavelength is half the period interval of the change in the offset profile, i.e., λ c And/2, radar echo image after filtering, as shown in figure 3.
And 4, step 4: pipeline echo delay curve correction
Drawing a change curve of the echo peak value delay position along with the x coordinate of the offset measuring line position for the periodic change echo of the underground pipeline in the radar echo image, wherein the echo peak value delay position is marked as R m As shown in fig. 4. If the delay position of the ground reflection echo peak is recorded as R m0 Setting the measurement height of the ground penetrating radar relative to the ground as H m The echo peak value delay position correction value of the underground pipeline is
R mx ＝R m -R m0 +H m (2)
This echo peak delay position is subsequently referred to simply as the echo delay. And then, according to the offset survey line trajectory formula (1), converting the underground pipeline echo delay curve into a change curve along with the y coordinate of the offset survey line position, as shown in fig. 5.
And 5: inversion of pipeline y-axis offset and depth position
Here, the soil in which the underground pipeline is located is assumed to be a relatively uniform medium, and the average relative dielectric constant thereof is recorded as ε r And for the echo delay of the underground pipeline, 4 times or 6 times of curve fitting model description is adopted to invert the y axial offset and the depth position of the underground pipeline. Under the condition of 4 times of curve fitting, the echo delay R of the underground pipeline is written as
R＝a 4 (y+y g4 ) 4 +b 4 (y+y g4 ) 2 +c 4 (3)
b 4 ＝e 12 -a 4 {(y 1 +y g4 ) 2 +(y 2 +y g4 ) 2 }
c 4 ＝R 1 -a 4 (y 1 +y g4 ) 4 -b 4 (y 1 +y g4 ) 2
In the formula y g4 Is an unknown y-axial offset of the underground pipeline, a 4 、b 4 And c 4 Is a fitting coefficient of the 4-degree curve,
y 1 、y 2 and y 3 As y-coordinate values, R, of three position points on the offset survey line 1 、R 2 And R 3 And delaying the echo of the underground pipeline measured for the corresponding line measurement position.
Y-axis offset y of underground pipeline g4 Determined by digital discrete scanning, i.e. by calculating different y's at certain step intervals g4 The value conditions are shifted by the echo delay R of the underground pipeline at different positions of the measuring line so as to make the echo delay R correspond to the measured value R mx The root mean square of the difference of (c) is minimal. At this time, according to the corresponding coefficient c 4 And calculating and acquiring the depth of the underground pipeline
Under the condition of 6 times of curve fitting, the echo delay R of the underground pipeline can be written as
R＝a 6 (y+y g6 ) 6 +b 6 (y+y g6 ) 4 +c 6 (y+y g6 ) 2 +d 6 (5)
b 6 ＝f 23 -a 6 {(y 1 +y g6 ) 2 +(y 2 +y g6 ) 2 +(y 3 +y g6 ) 2 }
c 6 ＝e 12 -a 6 {(y 1 +y g6 ) 4 +(y 1 +y g6 ) 2 (y 2 +y g6 ) 2 +(y 2 +y g6 ) 4 }-b 6 {(y 1 +y g6 ) 2 +(y 2 +y g6 ) 2 }
d 6 ＝R 1 -a 6 (y 1 +y g6 ) 6 -b 6 (y 1 +y g6 ) 4 -c 6 (y 1 +y g6 ) 2
In the formula y g6 Is an unknown y-axial offset of the underground pipeline, a 6 、b 6 、c 6 And d 6 Is a fitting coefficient of the 6-degree curve,
y 1 、y 2 、y 3 and y 4 Is a y coordinate value, R, of four position points on the offset survey line 1 、R 2 、R 3 And R 4 And delaying the echo of the underground pipeline measured for the corresponding line measurement position.
Y-axis offset y of underground pipeline g6 Method of determining and y g4 The same, and then according to the corresponding coefficient d 6 And calculating and acquiring the depth of the underground pipeline
Further, there are the following examples:
example one
The method comprises the following steps of (1) adopting a small unmanned aerial vehicle as a motion platform of a detection radar, wherein the test height of the detection radar from the ground is 1m, the relative dielectric constant of soil is 6, the depth of a pipeline is 1.5m, and the y-axis offset relative to a measuring line is 0.91m; the offset amplitude of the measuring line is 0.34m, the offset period interval of the measuring line is 1m, and T (x) =0.34sin (2 pi x) is taken; the underground pipe is now laterally below the offset survey line. The results of the 4-pass curve fitting are shown in fig. 6, and the inverted y-axis offset of the underground pipeline is 0.93m, and the corresponding depth of the underground pipeline is 1.50m.
Example two
The method comprises the following steps of (1) adopting a small unmanned aerial vehicle as a motion platform of a detection radar, wherein the test height of the detection radar from the ground is 1m, the relative dielectric constant of soil is 6, the depth of a pipeline is 1.5m, and the y-axis offset relative to a measuring line is 0.43m; the offset amplitude of the measuring line is 0.29m, the offset period interval of the measuring line is 1m, and T (x) =0.29sin (2 pi x) is taken; the underground pipe is now laterally below the offset survey line. The results of the 4-pass curve fitting are shown in fig. 7, where the y-axis offset of the inverted underground pipe is 0.44m, and the corresponding underground pipe depth is 1.50m.
EXAMPLE III
A small unmanned vehicle is used as a moving platform of a detection radar, the test height of the detection radar from the ground is 0.3m, the relative dielectric constant of soil is 6, the depth of a pipeline is 1.5m, and the y-axis offset of the relative measuring line is 0.70m; measuring the offset amplitude of the line at 0.38m, measuring the offset period interval of the line at 1m, and taking T (x) =0.38sin (2 pi x); the underground pipe is now laterally below the offset survey line. Fig. 8 shows the results of inversion using 4-time curve fitting and 6-time curve fitting, respectively, where the y-axis offset of the underground pipe is 0.72m under 4-time curve fitting, and the corresponding depth of the underground pipe is 1.50m. The-y axial offset of the underground pipeline under the condition of 4 times of curve fitting is 0.70m, and the depth of the corresponding underground pipeline is 1.50m.
Although the present invention has been described in detail with respect to the above embodiments, it will be understood by those skilled in the art that modifications or improvements based on the disclosure of the present invention may be made without departing from the spirit and scope of the invention, and that such modifications and improvements are within the spirit and scope of the invention.
Claims (6)
1. A lateral offset filtering detection and positioning method for an underground pipeline is characterized by comprising the following steps:
setting a periodic offset survey line of the ground penetrating radar, wherein the offset survey line comprises a main advancing direction parallel to the underground pipeline and a transverse offset direction perpendicular to the main advancing direction, the main advancing direction is set as an x axis, and the transverse offset direction is set as a y axis;
measuring the underground pipeline according to the set offset survey line by using a ground penetrating radar;
filtering an echo image of the ground penetrating radar;
correcting an echo delay curve of the underground pipeline;
and inverting the y-axial offset and the depth position of the underground pipeline.
2. The underground pipeline lateral deviation filtering detecting and positioning method according to claim 1, wherein the measuring the underground pipeline according to the set deviation survey line by using the ground penetrating radar comprises:
the ground penetrating radar is erected on a platform with a settable motion trail.
3. The underground pipeline lateral deviation filtering detecting and positioning method according to claim 1, wherein the measuring the underground pipeline according to the set deviation survey line by using the ground penetrating radar comprises:
the ground penetrating radar is erected on a platform which is difficult to perform y-axis offset motion, and the whole ground penetrating radar or an antenna part of the ground penetrating radar is arranged on a y-axis linear guide rail of the platform to realize transverse offset.
4. The underground pipeline lateral shift filtering detecting and positioning method according to claim 1, wherein the filtering processing of the echo image of the ground penetrating radar comprises:
and performing Fourier transform on the radar echo image about an x coordinate, filtering components below a cut-off wavelength, and performing inverse Fourier transform on the x coordinate to obtain an image with a strong reflection echo filtered.
5. The underground utility lateral offset filtering detection and location method of claim 4, wherein the cutoff wavelength is half of the periodic interval of the offset survey line variation.
6. The underground pipeline lateral offset filtering detection and location method of claim 1, wherein inverting the y-axial offset and depth position of the underground pipeline includes:
and (4) performing 4-time or 6-time curve fitting model description on the echo delay of the underground pipeline to invert the y-axis offset and the depth position of the underground pipeline.
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