非开挖铺管竣工管道三维轨迹检测系统研发
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摘要
非开挖铺管技术近年来在我国迅速发展,它以高效、污染小、交通影响小、对地层破坏小等特点被广泛的应用于电力电缆、通讯光缆、燃气、给排水管道、石油等各类管线建设中,正逐步取代传统的挖槽埋管的地下管线施工方法。
在实际工程中,由于施工水平和工艺等因素,非开挖竣工管道的轨迹往往与导向孔的设计轨迹存在很大的差异,而准确地掌握竣工管道的地下空间位置又十分重要,它不但是评价工程质量的指标,而且也能为以后新建管道的轨迹设计提供依据,以避免管线相交。因此对竣工的地下管道必须测量其轨迹,研究非开挖竣工管道的轨迹测量技术有十分重要的现实意义。
本文总结了四种常用的非开挖竣工管道轨迹计算模型,通过实验分析,得出最小曲率法应用于弯曲段时精度最高的结论,但由于最小曲率法不适合于非开挖管道的直接段轨迹计算,因此本文提出了最小曲率法与全角全距法组合的非开挖竣工管道的轨迹计算模型。本文总结了目前非开挖竣工管道轨迹测量技术并分析了各种技术的优缺点,对基于电子罗盘的非开挖竣工管道轨迹测量技术进行了实践,构建了一套基于电子罗盘的竣工管道轨迹检测仪。针对电子罗盘方位角受环境磁场干扰的影响,本文又提出了一种不受环境磁场影响的基于电子罗盘和单维光纤陀螺仪融合姿态测量的竣工管道轨迹测量方案,并推导建立了基于该方案的理论公式。
通过对检测系统的机械结构设计,传感器遴选以及通讯传输设计完成了上述基于电子罗盘和单维光纤陀螺仪的竣工管道轨迹测量系统的硬件实现,最后以Lab VIEW图形化编程语言为软件平台,利用Lab VIEW关键编程技术编写了可以实时采集、相对实时显示和后续详细数据处理功能的上位机测控软件。本文研发的基于电子罗盘和单维陀螺联合姿态测量的非开挖竣工管道轨迹测量系统由牵引绳、管内探测头、管口计程器、数据传输缆线、缆线接口箱、上位机电脑和检测计算软件组成,测量系统在工作时,由牵引绳牵引管内探测头在被测管道中匀速行走,管口计程器固定在管口,管内探测头的数据传输缆带动管口计程器上的旋转编码器旋转,同时由上位机控制管内探测头中的姿态传感器(电子罗盘、陀螺仪)和管口计程器中的旋转编码器以一定的频率测量俯仰角、横滚角、管内探测头载体坐标系Z轴上的角速度和旋转编码器的脉冲数,并将这些数据通过数据传输线缆源源不断地传送给上位机,上位机程序再对这些数据进行实时处理,得出姿态角度和测点间距,进而计算出探测头的行走轨迹,也就是被测管道的轴线轨迹。
该测量系统具有精度较高,成本较低、硬件稳定和软件操作方便友好等特点。为了检验本非开挖竣工管道轨迹测量系统的精度和实用性,分别对其进行了进行了场地模拟试验和现场实测,在场地模拟试验中,将研发的测量系统的测量数据与全站仪的数据进行对比,得出了测量系统在各个轴线上的最大误差。对该测量系统进行误差分析后认为测量系统的误差只要来自以机械结构误差、传感器误差和算法误差。
研究非开挖铺管竣工管道轨迹检测具有很重要的意义,它是准确获取地下新建管道空间位置数据、建立地下管网数据库的途径,是评判管道工程质量的重要方式。通过进一步的完善,本文研发的竣工管道轨迹测量系统将具有更高的精度和实用性,其应用前景广阔。
Trenchless technology in China developed rapidly in recent years, it's widely used in pipeline constructions such as power line,communication line,gas line,water supply pipe and oil line because of its advantages of high efficiency, low pollution, little impact on traffic and low damage on formation etc. It is gradually replacing the traditional trench construction method of underground pipelines.
In the actual project, due to the factors of construction conditions and skills, the completed trenchless pipeline's trajectory is often different with the design path of the pipeline's pilot hole. However, it's very important to accurately grasp the exact position of completed underground pipes because of two reasons:first, the exact position of completed underground pipes is the basis for final acceptance, from which we can determine the quality of the projects; second, the exact position of completed underground pipes provide the basis for the new underground pipes' path design, it can avoid the lines intersect. For the above reasons, we must test the completed underground pipes' trajectory, and it's very important to study the measuring techniques of the completed trenchless underground pipe.
This paper summarized four commonly used calculation models of completed trenchless pipe's trajectory, and concluded that the minimum curvature method has the highest accuracy when it's used in the curved sections through the experimental analysis, but the minimum curvature method is not suitable for straight line sections, so this article proposed the combination trenchless pipe trajectory calculation model which was combined with the minimum curvature method and the full-width and full-distance method. This paper also summarized advantages and disadvantages of various measuring techniques of the completed trenchless underground pipe, and developed a completed trenchless pipe's trajectory measuring system which was based on the electronic compass, however, this system was very vulnerable to be affected by other magnetic field, so This paper proposed another measuring system which was based on an electronic compass and a fiber optic gyroscope,and established the theory based on the new measuring system.
This article completed the new measuring system's development through the mechanical design, sensor selection, communication transmission design and the soft ware design. The soft was developed with LabVIEW based on Virtual Instruments (Ⅵ), it has the following features: real-time data acquisition, real-time display and the flow-up detailed data processing. The measuring system was composed by the traction rope, the tube probe, the meter, the data cable, the cable interface box, the software and the computer.
When the measuring system is at work, the tube probe will be pulling by the traction rope then the tube probe will walk uniform in the pipe, the meter is fixed in the nozzle of pipe, the dada cable following the tube probes will drive the rotary encoder. At the same time the PC will make the posture sensor (electronic compass and FOG) in tube probe and the meter test the pitch angle, roll angle, the Z axis angular velocity of the tube probes vector's relative coordinate system and rotary encoder's. The data will be sent to the computer by the data cable, the computer will process the data, and get the attitude angle and the adjacent test points'distance, and then we can get the tube probe's walking path, which also is the pipe's trajectory.
The measuring system has many features such as high accuracy, low cost, stable hardware and, friendly software and easy operation. The measuring system was test in the simulation pipe and the actual pipe in the field to get the system's accuracy and usefulness, in the simulation test, the trajectory data measured by the system was compared with the Total Station's measuring data and then obtained he maximum error in each axis. The paper argued that the error in the measuring system was composed by the mechanical structure error, the sensor error and the calculation model error.
It's very important to study the measuring techniques of the completed trenchless underground pipe. It's the very important way to get the location data of the underground pipeline, form the database of the underground pipeline, and also is the very important way to evaluate the pipe project's quality. The trenchless pipeline trajectory measuring system R&D by this paper will have higher accuracy and practicality through further improvement, and it will have good market prospects.
在实际工程中,由于施工水平和工艺等因素,非开挖竣工管道的轨迹往往与导向孔的设计轨迹存在很大的差异,而准确地掌握竣工管道的地下空间位置又十分重要,它不但是评价工程质量的指标,而且也能为以后新建管道的轨迹设计提供依据,以避免管线相交。因此对竣工的地下管道必须测量其轨迹,研究非开挖竣工管道的轨迹测量技术有十分重要的现实意义。
本文总结了四种常用的非开挖竣工管道轨迹计算模型,通过实验分析,得出最小曲率法应用于弯曲段时精度最高的结论,但由于最小曲率法不适合于非开挖管道的直接段轨迹计算,因此本文提出了最小曲率法与全角全距法组合的非开挖竣工管道的轨迹计算模型。本文总结了目前非开挖竣工管道轨迹测量技术并分析了各种技术的优缺点,对基于电子罗盘的非开挖竣工管道轨迹测量技术进行了实践,构建了一套基于电子罗盘的竣工管道轨迹检测仪。针对电子罗盘方位角受环境磁场干扰的影响,本文又提出了一种不受环境磁场影响的基于电子罗盘和单维光纤陀螺仪融合姿态测量的竣工管道轨迹测量方案,并推导建立了基于该方案的理论公式。
通过对检测系统的机械结构设计,传感器遴选以及通讯传输设计完成了上述基于电子罗盘和单维光纤陀螺仪的竣工管道轨迹测量系统的硬件实现,最后以Lab VIEW图形化编程语言为软件平台,利用Lab VIEW关键编程技术编写了可以实时采集、相对实时显示和后续详细数据处理功能的上位机测控软件。本文研发的基于电子罗盘和单维陀螺联合姿态测量的非开挖竣工管道轨迹测量系统由牵引绳、管内探测头、管口计程器、数据传输缆线、缆线接口箱、上位机电脑和检测计算软件组成,测量系统在工作时,由牵引绳牵引管内探测头在被测管道中匀速行走,管口计程器固定在管口,管内探测头的数据传输缆带动管口计程器上的旋转编码器旋转,同时由上位机控制管内探测头中的姿态传感器(电子罗盘、陀螺仪)和管口计程器中的旋转编码器以一定的频率测量俯仰角、横滚角、管内探测头载体坐标系Z轴上的角速度和旋转编码器的脉冲数,并将这些数据通过数据传输线缆源源不断地传送给上位机,上位机程序再对这些数据进行实时处理,得出姿态角度和测点间距,进而计算出探测头的行走轨迹,也就是被测管道的轴线轨迹。
该测量系统具有精度较高,成本较低、硬件稳定和软件操作方便友好等特点。为了检验本非开挖竣工管道轨迹测量系统的精度和实用性,分别对其进行了进行了场地模拟试验和现场实测,在场地模拟试验中,将研发的测量系统的测量数据与全站仪的数据进行对比,得出了测量系统在各个轴线上的最大误差。对该测量系统进行误差分析后认为测量系统的误差只要来自以机械结构误差、传感器误差和算法误差。
研究非开挖铺管竣工管道轨迹检测具有很重要的意义,它是准确获取地下新建管道空间位置数据、建立地下管网数据库的途径,是评判管道工程质量的重要方式。通过进一步的完善,本文研发的竣工管道轨迹测量系统将具有更高的精度和实用性,其应用前景广阔。
Trenchless technology in China developed rapidly in recent years, it's widely used in pipeline constructions such as power line,communication line,gas line,water supply pipe and oil line because of its advantages of high efficiency, low pollution, little impact on traffic and low damage on formation etc. It is gradually replacing the traditional trench construction method of underground pipelines.
In the actual project, due to the factors of construction conditions and skills, the completed trenchless pipeline's trajectory is often different with the design path of the pipeline's pilot hole. However, it's very important to accurately grasp the exact position of completed underground pipes because of two reasons:first, the exact position of completed underground pipes is the basis for final acceptance, from which we can determine the quality of the projects; second, the exact position of completed underground pipes provide the basis for the new underground pipes' path design, it can avoid the lines intersect. For the above reasons, we must test the completed underground pipes' trajectory, and it's very important to study the measuring techniques of the completed trenchless underground pipe.
This paper summarized four commonly used calculation models of completed trenchless pipe's trajectory, and concluded that the minimum curvature method has the highest accuracy when it's used in the curved sections through the experimental analysis, but the minimum curvature method is not suitable for straight line sections, so this article proposed the combination trenchless pipe trajectory calculation model which was combined with the minimum curvature method and the full-width and full-distance method. This paper also summarized advantages and disadvantages of various measuring techniques of the completed trenchless underground pipe, and developed a completed trenchless pipe's trajectory measuring system which was based on the electronic compass, however, this system was very vulnerable to be affected by other magnetic field, so This paper proposed another measuring system which was based on an electronic compass and a fiber optic gyroscope,and established the theory based on the new measuring system.
This article completed the new measuring system's development through the mechanical design, sensor selection, communication transmission design and the soft ware design. The soft was developed with LabVIEW based on Virtual Instruments (Ⅵ), it has the following features: real-time data acquisition, real-time display and the flow-up detailed data processing. The measuring system was composed by the traction rope, the tube probe, the meter, the data cable, the cable interface box, the software and the computer.
When the measuring system is at work, the tube probe will be pulling by the traction rope then the tube probe will walk uniform in the pipe, the meter is fixed in the nozzle of pipe, the dada cable following the tube probes will drive the rotary encoder. At the same time the PC will make the posture sensor (electronic compass and FOG) in tube probe and the meter test the pitch angle, roll angle, the Z axis angular velocity of the tube probes vector's relative coordinate system and rotary encoder's. The data will be sent to the computer by the data cable, the computer will process the data, and get the attitude angle and the adjacent test points'distance, and then we can get the tube probe's walking path, which also is the pipe's trajectory.
The measuring system has many features such as high accuracy, low cost, stable hardware and, friendly software and easy operation. The measuring system was test in the simulation pipe and the actual pipe in the field to get the system's accuracy and usefulness, in the simulation test, the trajectory data measured by the system was compared with the Total Station's measuring data and then obtained he maximum error in each axis. The paper argued that the error in the measuring system was composed by the mechanical structure error, the sensor error and the calculation model error.
It's very important to study the measuring techniques of the completed trenchless underground pipe. It's the very important way to get the location data of the underground pipeline, form the database of the underground pipeline, and also is the very important way to evaluate the pipe project's quality. The trenchless pipeline trajectory measuring system R&D by this paper will have higher accuracy and practicality through further improvement, and it will have good market prospects.
引文
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