1. A method of mapping underground pipes, comprising the steps of:

s100, each section of pipeline is connected with a terminal (1), and the terminal (1) stores the pipeline information of the current pipeline, wherein the pipeline information comprises a serial number and a length;

s200, determining one end part of the current pipeline, and taking a region with a preset area at the end part as a measuring region;

s300, placing the mapping device (2) in the measuring area, and recording the geographic position of the measuring area; the surveying and mapping device (2) reads the pipeline information stored in the current terminal (1);

s400, the mapping device (2) determines a plurality of measuring points in the measuring area and obtains distance values from the plurality of measuring points to the current terminal (1); calculating the position information of the current terminal (1) relative to the measuring area according to the plurality of distance values; wherein; the position information comprises the position of the current terminal (1) in the horizontal direction relative to the measurement area;

s500, moving the length of the current pipeline to the next measuring area along the current terminal (1) in the horizontal direction relative to the position of the current measuring area;

s600, moving the mapping device (2) to the next measuring area, and repeating the steps S300-S500;

and S700, acquiring the recorded geographic positions of the measurement areas, and sequentially connecting the geographic positions by using broken lines to form a circuit diagram of the underground pipeline.

2. A method of mapping underground pipes according to claim 1, characterized in that: in step S400, three non-collinear measurement points are determined within the measurement zone.

3. A method of mapping underground pipes according to claim 1, characterized in that: in step S400, a plurality of measurement points are in the same horizontal plane;

the position information also includes the depth of the current terminal (1) relative to the measurement point.

4. A method for mapping underground pipes according to claim 1, wherein step S400 further comprises:

and obtaining the distance value from any two measuring points to the current terminal (1), and if the difference value of the two distance values is smaller than a preset value, increasing the distance between the two measuring points.

5. A method for mapping underground pipes according to claim 1, wherein step S100 further comprises: dividing the pipeline into a main pipeline and a branch pipeline, and configuring different numbers;

step S400 further includes: preferentially acquiring distance values from a plurality of measuring points to a terminal (1) connected with a main pipeline, and recording branch pipes existing in a current measuring area;

step S600 also comprises moving the surveying device (2) to a measuring area where the branch pipe exists after the surveying of the main pipeline is completed, and repeating steps S300-S500 to complete the surveying of the branch pipeline.

6. An underground pipe mapping system, comprising: comprises a terminal (1) and a mapping device (2);

the terminal (1) is fixedly connected to a single pipeline, and pipeline information of the current pipeline is stored in the terminal (1);

the surveying device (2) comprises a controller (22), a measuring unit (24), an acquisition unit (23) and a calculation unit (25);

the controller (22) is used for processing and storing data, the controller (22) records the geographic position of the current measuring area and determines a plurality of measuring points in the measuring area;

the measuring unit (24) acquires a distance value from each measuring point to the current terminal (1), and calculates the position information of the current terminal (1) relative to the measuring area according to a plurality of distance values;

the acquisition unit (23) reads the pipeline information stored in the current terminal (1);

the calculation unit (25) calculates the position of the next measurement area based on the position information of the current terminal (1) relative to the measurement area and the pipe information of the current pipe.

7. An underground pipe mapping system according to claim 5, wherein: the measuring unit (24) further comprises a judging module (243),

the judging module (243) acquires distance values from any two measuring points to the current terminal (1), and outputs a distance increasing signal to the controller (22) if the difference value of the two distance values is smaller than a preset value;

the controller (22) is responsive to the distance increase signal to increase the distance between the two measurement points.

8. An underground pipe mapping system according to claim 5, wherein: the surveying and mapping device (2) further comprises a moving tool (21), and the controller (22), the measuring unit (24), the acquiring unit (23) and the calculating unit (25) are all arranged on the moving tool (21); the controller (22) is used for controlling the moving tool (21) to move from the current measuring area to the next measuring area.

9. An underground pipe mapping system according to claim 7, wherein: the measuring unit (24) is provided with only one, and the controller (22) is also used for controlling the moving tool (21) to move among a plurality of measuring points.

Background

Underground pipelines are important components of urban construction, and the pipelines need to be measured and mapped in the process of construction, use and maintenance. The underground pipeline is formed by connecting a plurality of sections of straight pipelines, and a pipeline main line is connected with a pipeline branch line through a three-way pipe.

When the underground pipeline is measured and mapped by adopting a manual method, a person holds the ultrasonic detector by hand, and slowly advances while detecting downwards according to an image of the ultrasonic detector, and if the pipeline in the image disappears, the pipeline is judged to turn at the position; subsequently, the person is detected in the vicinity until the pipe appears again in the image, in order to determine the course of the pipe.

Underground pipelines often have a plurality of turning situations, and the underground pipelines are mapped by the manual method, so that the efficiency is low.

Disclosure of Invention

In order to improve the mapping efficiency of underground pipelines, the application provides an underground pipeline mapping method and system.

In a first aspect, the present application provides a method for mapping underground pipes, which adopts the following technical scheme:

a method of mapping underground conduits, comprising the steps of:

s100, each section of pipeline is connected with a terminal, and the terminal stores the pipeline information of the current pipeline, wherein the pipeline information comprises serial numbers and lengths;

s200, determining one end part of the current pipeline, and taking a region with a preset area at the end part as a measuring region;

s300, placing the surveying and mapping device 2 in a measuring area, and recording the geographic position of the measuring area; the surveying and mapping device 2 reads the pipeline information stored in the current terminal;

s400, the surveying and mapping device 2 determines a plurality of measuring points in the measuring area and obtains distance values from the plurality of measuring points to the current terminal; calculating the position information of the current terminal relative to the measuring area according to the plurality of distance values; wherein; the position information comprises the position of the current terminal relative to the measuring area in the horizontal direction;

s500, moving the length of the current pipeline to the next measurement area along the current terminal in the horizontal direction relative to the position of the current measurement area;

s600, moving the mapping device 2 to the next measuring area, and repeating the steps S300-S500;

and S700, acquiring the recorded geographic positions of the measurement areas, and sequentially connecting the geographic positions by using broken lines to form a circuit diagram of the underground pipeline.

By adopting the technical scheme, the underground pipeline can be automatically surveyed on the ground by the surveying and mapping device 2, so that the efficiency is improved; and the surveying and mapping device 2 works on the ground, so that the running condition of the surveying and mapping device can be monitored in real time conveniently.

Preferably, in step S400, three non-collinear measurement points are determined within the measurement zone.

By adopting the technical scheme, the position of the terminal is accurately calculated according to the distance values from the three non-collinear measuring points to the terminal, and the terminal is always positioned below the ground, so that the position of the terminal is uniquely determined.

Preferably, in step S400, the plurality of measurement points are in the same horizontal plane;

the position information also includes the depth of the current terminal relative to the measurement point.

By adopting the technical scheme, the embedding depth of the pipeline can be known according to the depth of the terminal relative to the measuring point, and the excavation can be carried out by taking the depth obtained by the surveying and mapping into consideration when earthwork needs to be excavated in the later period to maintain the pipeline.

Preferably, step S400 further includes:

and obtaining the distance value from any two measuring points to the current terminal, and if the difference value of the two distance values is smaller than a preset value, increasing the distance between the two measuring points.

By adopting the technical scheme, when the difference value of the two distance values is small, the calculated position of the terminal may have a large error; at this time, the distance between the two measurement points is increased, and then the difference between the two distance values is increased to ensure the accuracy of the calculated position of the terminal, so as to ensure the surveying and mapping accuracy.

Preferably, step S100 further includes: dividing the pipeline into a main pipeline and a branch pipeline, and configuring different numbers;

step S400 further includes: preferentially acquiring distance values from a plurality of measuring points to a terminal connected to a main pipeline, and recording branch pipes existing in a current measuring area;

step S600 also includes moving the surveying device 2 to a measuring area where the branch pipes exist after the surveying of the main pipe line is completed, and repeating steps S300-S500 to complete the surveying of the branch pipe line

By adopting the technical scheme, the mapping of the whole underground pipeline (including the main pipeline and the branch pipelines) is completed.

In a second aspect, the present application provides an underground pipe mapping system, which adopts the following technical solution:

an underground pipeline surveying and mapping system comprises a terminal and a surveying and mapping device 2;

the terminal is fixedly connected with the single-section pipeline, and pipeline information of the current pipeline is stored in the terminal;

the surveying and mapping device 2 comprises a controller, a measuring unit, an acquiring unit and a calculating unit;

the controller is used for processing and storing data, recording the geographic position of the current measuring area and determining a plurality of measuring points in the measuring area;

the measuring unit acquires a distance value from each measuring point to the current terminal and calculates the position information of the current terminal relative to the measuring area according to a plurality of distance values;

the acquisition unit reads the pipeline information stored in the current terminal;

the calculation unit calculates the position of the next measurement area based on the position information of the current terminal relative to the measurement area and the pipe information of the current pipe.

By adopting the technical scheme, the surveying and mapping device 2 automatically finishes surveying and mapping the underground pipeline on the ground, so that the efficiency is improved; and the surveying and mapping device 2 works on the ground, so that the running condition of the surveying and mapping device can be monitored in real time conveniently.

Preferably, the measuring unit further comprises a judging module,

the judging module acquires distance values from any two measuring points to the current terminal, and outputs a distance increasing signal to the controller if the difference value of the two distance values is smaller than a preset value;

the controller is responsive to the distance increase signal to increase the distance between the two measurement points.

By adopting the technical scheme, when the difference value of the two distance values is small, the calculated position of the terminal may have a large error; at this time, the distance between the two measurement points is increased, and then the difference between the two distance values is increased to ensure the accuracy of the calculated position of the terminal, so as to ensure the surveying and mapping accuracy.

Preferably, the surveying and mapping device 2 further comprises a moving tool, and the controller, the measuring unit, the acquiring unit and the calculating unit are all arranged on the moving tool; the controller is used for controlling the moving tool to move from the current measuring area to the next measuring area.

Preferably, there is only one of the measuring units, and the controller is further configured to control the moving means to move between the plurality of measuring points.

By adopting the technical scheme, the controller is utilized to control the moving distance of the moving tool, so that the position of the measuring point is adjusted, and the distance between the two measuring points is adjusted; and enables the surveying device 2 to move from the current measuring area to the next measuring area.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the surveying and mapping device 2 automatically finishes surveying and mapping of the underground pipeline on the ground, so that the efficiency is improved;

2. the moving tool moves on the ground, so that the running condition of the moving tool is monitored conveniently in real time, and measurement and mapping of the underground pipeline are completed.

Drawings

Fig. 1 is a schematic diagram of a piping circuit.

FIG. 2 is a first schematic diagram of a method for mapping underground pipes.

FIG. 3 is a second schematic diagram of a method for mapping underground pipes.

Fig. 4 is a schematic diagram of a terminal in an underground pipe mapping system.

FIG. 5 is a schematic diagram of a mapping apparatus in an underground pipe mapping system.

FIG. 6 is a schematic diagram of a calculation process.

Description of reference numerals: 1. a terminal; 11. a main control module; 12. a storage module; 13. a communication module; 14. an ultrasonic receiving module; 2. a mapping device; 21. moving the tool; 22. a controller; 23. an acquisition unit; 24. a measuring unit; 241. an ultrasonic wave emitting module; 242. a processing module; 243. a judgment module; 25. and a computing unit.

Detailed Description

The present application is described in further detail below with reference to figures 1-6.

The embodiment of the application discloses a method for surveying and mapping underground pipelines, which comprises the following steps:

referring to fig. 1 and 2, each section of pipeline is connected with a terminal 1, and the terminal 1 stores the pipeline information of the current pipeline, and the pipeline information includes a number, a size, a material, a measurement record and the like, wherein the size includes a length, a pipe diameter, a wall thickness and the like. Meanwhile, different numbers are configured according to the main pipeline and the branch pipelines; such as: the main pipeline is numbered from A-000 to A-999, the first branch pipeline is numbered from a1-00 to a1-99, and the second branch pipeline is numbered from a2-00 to a 2-99.

And S200, determining one end part of any section of pipeline, and recording a region with a preset area at the end part as a measuring region.

S300, placing the surveying and mapping device 2 in a measuring area, and recording the geographic position of the measuring area; and the surveying device 2 reads the pipe information stored in the terminal 1 at present.

S400, the surveying and mapping device 2 determines three non-collinear measuring points in the same horizontal plane in a measuring area, obtains distance values from a plurality of measuring points to the terminal 1 without measuring record, preferentially obtains distance values from the plurality of measuring points to the terminal 1 with the serial number belonging to the main pipeline, and then obtains distance values from the three measuring points to the terminal 1 with the serial number belonging to the branch pipeline;

in the process of obtaining the distance value, if the difference value of the two distance values is smaller than a preset value, the distance between the two measuring points is increased; and, the surveying and mapping device 2 calculates the position information of the terminal 1 with respect to the measurement area based on the three distance values;

wherein; the position information includes the orientation of the terminal 1 in the horizontal direction with respect to the measurement area and the depth of the terminal 1 in the vertical direction with respect to the measurement point. At the same time, after the measurement is completed, the surveying and mapping device 2 writes a measurement record in the terminal 1.

Referring to fig. 1, one end of one section of pipe in the main pipeline may be connected to another section of pipe in the main pipeline and one section of pipe in the branch pipeline through a three-way pipe, and when the mapping device 2 is placed in the measurement area, the information of the pipes stored in the three terminals 1 may be read at the same time, such as:

pipeline information 1: the serial number is A-100, the length is 15 meters, and measurement records are recorded;

pipeline information 2: number A-101, length 15 m;

pipe information 3: number a2-01, length 10 meters.

The surveying device 2 preferentially obtains the distance value from the terminal 1 with the number A-101 to the measuring point, calculates the position information of the terminal 1 relative to the measuring area according to the three distance values, writes a measuring record into the terminal 1 with the number A-101 after the measurement is finished, and records that a branch pipe exists in the current measuring area by the surveying device 2.

Referring to fig. 1 and 3, S500, the measurement area is moved to the next measurement area by the length of the current pipe along the current terminal 1 in the horizontal direction with respect to the position of the current measurement area.

S600, moving the mapping device 2 to the next measuring area, and repeating the steps S300-S500; after the mapping of the main pipeline is completed, the mapping device 2 is moved to the measurement area where the branch pipes exist, and the steps S300-S500 are repeated to complete the mapping of the branch pipes.

And S700, acquiring the recorded geographic positions of the measurement areas, and sequentially connecting the geographic positions by using broken lines to form a circuit diagram of the underground pipeline.

Referring to fig. 1 and 4, the embodiment of the present application further discloses an underground pipe surveying and mapping system, which includes a terminal 1 and a surveying and mapping device 2.

Referring to fig. 1, a plurality of sections of straight pipelines are buried underground and communicated in sequence to form a pipeline line; and the main pipeline is connected with the branch pipelines through a three-way pipe. The terminal 1 is arranged corresponding to each section of pipeline, and the terminal 1 is embedded in the middle of the pipeline along the axial direction. Meanwhile, in order to ensure that the terminal 1 can work normally, when the pipeline is buried, the cable is buried underground along with the pipeline so as to supply power to the terminal 1 through the cable.

Referring to fig. 4, the terminal 1 includes a main control module 11, a storage module 12, a communication module 13, and an ultrasonic wave receiving module 14. The main control module 11 is used for processing data; the storage module 12 stores pipeline information, and the pipeline information includes information such as the number, size, material, measurement record and the like of the current pipeline; wherein the size comprises the length, the pipe diameter, the wall thickness and the like of the current pipeline; the communication module 13 realizes communication with the surveying and mapping device 2 through wireless signals; the ultrasonic receiving module 14 is used for receiving ultrasonic waves emitted by the surveying and mapping device 2.

Referring to fig. 5, the surveying device 2 includes a moving tool 21, a controller 22, an acquisition unit 23, a measurement unit 24, and a calculation unit 25. The controller 22, the measuring unit 24, the obtaining unit 23, and the calculating unit 25 are all disposed on the moving tool 21, and the controller 22 can control the moving tool 21 to move forward, backward, and turn. The moving means 21 may employ a drone or a dolly, and may be configured with a navigation function. Preferably, a drone is used, and the suspension height is set to 10 meters, in order to reduce the impact of ground obstacles on the surveying device 2.

Referring to fig. 1, a human site survey identifies the end of a section of pipe and thus the first survey area.

Referring to fig. 3 and 5, the controller 22 is used for data storage and processing; if the moving means 21 is a trolley, the surveying and mapping device 2 is placed on the ground corresponding to the first measurement area; if the moving means 21 employs an unmanned aerial vehicle, the unmanned aerial vehicle suspends in the air directly above the measurement area.

At the start of operation, the controller 22 records the current geographic location as the first measurement zone. And the controller 22 controls the moving tool 21 to move in the first measuring region, when the moving tool 21 moves to the first measuring point, the controller 22 outputs a ranging signal.

Referring to fig. 4 and 5, the obtaining unit 23 is coupled to the controller 22, and is configured to obtain all the pipe information stored in the terminal 1 within a preset range; the pipe information includes a number, a length, and a measurement record. Meanwhile, only when there is no measurement record in the pipe information, the acquisition unit 23 sends the pipe information to the measurement unit 24;

the measurement unit 24 includes an ultrasonic wave transmission module 241 and a processing module 242. The ultrasonic wave transmitting module 241 is responsive to the ranging signal to transmit the ultrasonic wave and output the transmission time of the ultrasonic wave to the processing module 242. The ultrasonic wave receiving module 14 in the terminal 1 receives the ultrasonic wave transmitted by the ultrasonic wave transmitting module 241 and outputs the reception time of the ultrasonic wave; the communication module 13 transmits the reception timing of the ultrasonic wave to the surveying and mapping device 2 by a wireless signal.

The processing module 242 selects one of the terminals 1 based on the pipeline information sent by the obtaining unit 23, and during the selection process, preferentially selects the terminal 1 with the serial number of the main pipeline, and then selects the terminal 1 with the serial number of the branch pipeline.

The processing module 242 obtains the receiving time of the ultrasonic wave output by the selected terminal 1, and calculates and records the first distance value between the first measuring point and the terminal 1 by combining the transmitting time of the ultrasonic wave and the propagation speed of the ultrasonic wave. When the processing module 242 records the first distance value, it also records the current position of the moving tool 21 as the first measurement point, and outputs a first ranging completion signal.

The controller 22 responds to the first ranging completion signal to control the moving tool 21 to move a preset distance in the starting area of the first section of pipeline and enable the moving tool 21 to be far away from the first measuring point; the controller 22 outputs the ranging signal again after controlling the moving tool 21 to stop moving.

The measurement unit 24 responds to the ranging signal to emit an ultrasonic wave and calculates a distance value from the current position of the moving tool 21 to the terminal 1. The measuring unit 24 further includes a judging module 243, and the judging module 243 obtains and judges the current distance value and the first distance value. If the difference between the current distance value and the first distance value is greater than the preset value, the determining module 243 outputs a recording signal; otherwise, the determining module 243 outputs the distance increasing signal.

The processing module 242 responds to the recording signal to record the current distance value as the second distance value, record the current position of the moving tool 21 as the second measuring point, and output a second ranging completion signal.

Meanwhile, the controller 22 responds to the second ranging completion signal, controls the moving tool 21 to return to the first measurement point, and then controls the moving tool 21 to move a preset distance in the starting area of the first section of pipeline, so that the moving tool 21 is far away from the first measurement point and the second measurement point; the controller 22 outputs the ranging signal again after controlling the moving tool 21 to stop moving.

The measuring unit 24 responds to the ranging signal to emit ultrasonic waves and calculates a distance value from the current position of the ranging cart to the terminal 1. The determining module 243 obtains and determines the current distance value, the first distance value, and the second distance value. If the difference between the current distance value and the first distance value is greater than the preset value, and the difference between the current distance value and the second distance value is greater than the preset value, the determining module 243 outputs a recording signal; otherwise, the determining module 243 outputs the distance increasing signal.

The processing module 242 responds to the recording signal to record the current distance value as the third distance value, record the current position of the moving tool 21 as the third measuring point, and output a third ranging completion signal. The calculation unit 25 records the current position of the moving tool 21 as the third measurement point in response to the third ranging completion signal, and records the third distance value. Meanwhile, the controller 22 controls the moving tool 21 to return to the first measurement point in response to the third ranging completion signal.

The controller 22 responds to the distance increase signal to control the moving tool 21 to continue to move the preset distance and to continue to move away from the first measuring point. The controller 22 outputs the ranging signal again after controlling the moving tool 21 to stop moving.

The processing module 242 calculates the orientation and depth of the terminal 1 with respect to the first measurement point based on the positions of the three measurement points and the three distance values. And the controller 22 transmits the terminal 1 depth to the terminal 1 through a wireless signal, and the storage module 12 receives and stores the terminal 1 depth.

During calculation, the method is equivalent to a tetrahedron, the side length of each edge of the tetrahedron is known, and the vertical distance h from the vertex D to the bottom surface ABC and the orientation of the vertex D relative to the point B are solved.

Specifically, referring to fig. 6, the area of the triangle ABC is S, the length of DA is a, the length of DB is b, the length of DC is c, the length of AB is c ', the length of BC is a ', the length of CA is b ', and the tetrahedral volume is V.

12V²=Da²+Db²+Dc²-D²，

Wherein:

Da=(b²+c²-a² +b'²+c'²–a'²)a²a'² ，

Db=(a²+c²-b²+a'²+c'²-b'²)b²b'²

Dc=(a²+b²-c²+a'²+b'²-c'²)c²c'²

D=a²b²c²+a²b'²c'²+a'²b²c'²+a'²b'²c²。

meanwhile, 3V = Sh, S²= p (p-a ') (p-b') (p-c '), wherein 2p = a' + b '+ c'.

By combining the above formula, the value of h can be calculated, i.e. the depth of the terminal 1. Meanwhile, when the edge length is known, the line angle and the line surface angle can be calculated, and the direction of the terminal 1 can be further known.

Referring to fig. 3 and 4, the calculating unit 25 obtains and records the start area of the current pipeline as a first recording point; meanwhile, the calculating unit 25 calculates the position of the other end of the current pipeline based on the position of the current terminal 1 relative to the measuring point and the length of the current pipeline, and records the position as a second measuring area; and the second measurement zone covers the end of the next section of pipe.

The controller 22 controls the moving tool 21 to move to the second measurement area based on the second measurement area, and outputs a ranging signal after the moving tool 21 stops moving, and the above process is repeated to start mapping the next section of pipeline.

There are N section pipelines in the main pipeline, then after the survey and drawing is accomplished, total record has N +1 record point, finally, connects gradually each record point with the broken line, is the wiring diagram of main pipeline promptly.

Meanwhile, when the processing module 242 receives the information about two or more pipelines sent by the obtaining unit 23, the processing module 242 outputs a remark signal, and the controller 22 records that a branch pipe exists in the current measurement area in response to the remark signal.

After the surveying and mapping device 2 finishes surveying and mapping the main pipeline, the controller 22 controls the moving tool 21 to move to the area where the branch pipe measurement is recorded to exist, and repeats the above process to start surveying and mapping the branch pipeline.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.