浅滩掩埋管道横截面圆的声回波模型及定位算法

Echo Model and Location Algorithm of Circular Cross-Section of Shallow-Buried Pipeline

为实现浅滩掩埋下输油管道泄漏抢修围堰作业的智能化和自动化,对管道径向横截面圆位置的精确定位必不可少.结合浅滩输油管道抢修作业的实际应用,基于声学亮点模型和几何声线法建立了管道回波模型及管道横截面圆位置的几何模型,通过仿真实验和水箱实验验证了模型的有效性.在此模型基础上,基于最小二乘思想建立修正目标函数,提出了圆心坐标的求解算法.仿真及水箱实验结果表明,基于该数学模型的圆心定位具有可靠的精度,最大误差为0.02,m,平均误差在0.01,m以下,满足工程应用的基本要求,可为今后浅滩环境下的管道截面圆位置定位方法提供理论参考.

To automate and intelligentialize the cofferdam work process and repair the shallow buried leaking pipe-lines in emergency,it is necessary to propose an online monitoring system that can precisely locate the circular cross-section of pipeline. Referring to the practices on shallow buried leaking pipelines reparation in cofferdam work appli-cations,a pipeline echo model and a pipeline circular cross-section location model were developed,which werebased on the acoustic highlight model and geometric ray tracing method and validated by simulations and water tankexperiments. Applying a least-square function to those models,this paper proposed an algorithm for finding the co-ordinate of cross-section circle centre. The simulation and water tank experimental results showed that the proposed method can locate pipeline circular cross-section with reliable accuracy and meet the industrial requirement,withmaximum error being 0.02,m and the average absolute error within 0.01,m. The proposed method could be a theoreti-cal reference for the related research in the future.