CN115291284A - An accurate positioning method for ultra-deep underground pipelines - Google Patents

Abstract

The invention relates to the field of underground pipeline detection, in particular to an ultra-deep underground pipeline accurate positioning method. The invention relates to a method for accurately positioning an ultra-deep underground pipeline, which comprises the following steps: (1) Selecting the ground with the burial depth of 5 meters or more as a land pipeline detection address; or selecting an address with the water depth of more than 5 meters as an underwater pipeline detection address; (2) For the ground deep groove excavation, burying a metal pipeline in the deep groove, measuring the metal pipe fitting by adopting detection equipment, and recording detection data; (3) Backfilling the deep groove, detecting after backfilling, and recording detected data; (4) And (3) comparing the data in the step (2) with the data recorded in the step (3) to verify the accuracy. The invention has the beneficial effects that: the technical bottleneck that the traditional positioning method is difficult to accurately position the pipeline with the length of more than 5 meters is overcome, the detection and the measurement can be completed by the same worker, the time is greatly saved, and the efficiency is improved.

Description

A method for precise positioning of ultra-deep underground pipelines

technical field

The invention relates to the field of underground pipeline detection, in particular to an ultra-deep underground pipeline precise positioning method.

Background technique

Traditional underground pipeline detection methods are generally divided into two types: one is the method of combining well survey with excavation of sample holes or simple sounding, which is currently used in the detection of some complex sections of pipelines, and is also used in inspection and acceptance; the other is The first method is the combination of instrument detection and well survey, which is the most widely used method at present.

Among the various geophysical exploration methods, in terms of their application effects and scope of application, they are the direct method, the insertion method, the electrical detection method, the magnetic detection method, the COD method, and the seismic wave imaging method. Among them, the electromagnetic induction detection method has the advantages of high detection accuracy, strong anti-interference ability, wide application range, flexible working mode, low cost, and high efficiency. However, due to the limitations of the field environment, various methods also have shortcomings.

First of all, various methods can only be applied to pipelines of a certain material type. In actual operation, different detection methods need to be adopted for pipelines of different materials and different terrains.

For example, for electric power, telecommunications and metal pipelines, electromagnetic detection method is required, and for non-metallic pipelines, ground penetrating radar method is used. When there are many types of underground pipelines on the construction site, a single detection method cannot meet the demand, which makes the detection work cumbersome and adds difficulty to the construction.

Secondly, taking the electromagnetic detection method and the ground penetrating radar method as examples, their available detection depths are both less than 5m. However, it is basically impossible to detect pipelines with a depth of more than 5m. At present, the underground pipeline network in large and medium-sized cities is dotted with overlapping and staggered, and the newly laid pipeline often exceeds the detection depth of existing instruments.

In addition, most of the above-mentioned methods utilize the principles of electricity and magnetism, so they are susceptible to electromagnetic or ferromagnetic interference on the ground or underground of the construction site. For example, large-scale engineering equipment, telecommunication stations, shallow buried metal waste or other pipelines on the nearby ground will have a great impact on the detection of deep pipelines, and even make the above methods unable to obtain useful information.

Moreover, the usability and detection accuracy of the above-mentioned methods largely depend on the constraints of the geological conditions of the construction site, such as soil and rock composition, soil moisture and other factors will have a great impact on the measurement results.

Finally, the above-mentioned various pipeline detection methods are not highly automated, and the data recording method is relatively primitive. Taking the ground penetrating radar method as an example, the operator needs to judge the radar image based on experience, and the subjective component has a great influence. The measured position and depth data need to be recorded manually, and then entered into the computer database after corresponding coordinate conversion, which is not conducive to information archiving. And these detection methods all need to carry out manual work on the ground above the pipeline, when the pipeline to be tested passes through buildings, highways and large water surfaces, the detection work will not be carried out.

In view of the above problems, it is necessary to invent a method for precise positioning of ultra-deep underground pipelines, and a device or system used in conjunction with the method.

Contents of the invention

In order to solve the above problems, the present invention provides a method for precise positioning of ultra-deep underground pipelines. This method is not limited by time, greatly improves the efficiency of city surveys, and uses a single mobile station for operations, avoiding the need for Depending on the limitation of conditions in traditional measurement, as long as the measurement can be carried out within the coverage of the CORS network, the influence of external interference is very small.

The method of the present invention overcomes a major bottleneck problem of traditional positioning methods or equipment, that is, it is difficult to use existing methods and equipment to locate pipelines exceeding 5 meters.

In addition, the method of the present invention has high positioning accuracy, the plane can generally reach 1-2 cm, and the elevation accuracy can also reach 5 cm, without error accumulation, which can fully meet the accuracy requirements of general engineering surveys. In the detection process of the present invention, detection and measurement are integrated, and one operator can simultaneously complete the work of the two links of detection and measurement. However, in traditional equipment and methods, the work of the two links of detection and measurement can only be completed by different personnel. Obviously, the method of the present invention greatly simplifies the work steps and improves the work efficiency.

In the present invention, through the simultaneous improvement of the method and equipment/system, the precise positioning of the ultra-deep underground pipeline is completed.

The traditional underground pipeline detection is to use the pipe detector to obtain the position and buried depth of the pipeline point, and then use RTK to obtain the coordinates of the pipeline point. At least three people are required to complete this work, which takes up a lot of personnel, low work efficiency, and cannot meet the requirements Pipeline detection in different environments of land and rivers; in addition, it is difficult to accurately detect underground pipelines exceeding 5 meters by using traditional equipment. In order to overcome this technical difficulty, this invention uses specific equipment to complete. For the structure of the device, refer to the structure disclosed in CN213018942. On this device, the current emitting device is added, and at the same time, the current is increased.

A method for precise positioning of ultra-deep underground pipelines, comprising the following steps:

S1: Select the detection address according to the position of the pipeline

Select the ground with a buried depth greater than or equal to 5 meters as the land pipeline detection address; select the address above 5 meters at the bottom of the river bed as the underwater pipeline detection address;

S2: Dig deep trenches, fill metal pipes and detect

S2.1 For the ground, excavate a deep trench with a width of 2m, a length of 3-5m, and a depth of 6-8m in the underground pipeline detection test by excavation, and use the detector to measure the buried depth, and measure the pipeline points at the same time. Obtain the actual buried depth and position of pipeline points, and conduct data analysis;

S2.2: When the depth of the water level is less than 1m, the detector personnel directly detect the pipe depth, place the detector above the water surface to detect the buried depth, and use the drill to detect the water depth. The actual depth of the pipeline = the buried depth detected by the detector - the water depth, directly Determine the location of the pipeline and record the buried depth;

When the water depth is between 1m and 3m, use the method of combining the ship, drill probe, pipe probe and RTK detection system to drive the ship roughly above the pipeline, and the operator can use the drill drill to detect the water depth at any time to grasp the water depth around the pipeline , use the pipe probe to detect on the water surface, repeatedly detect and measure the buried depth and position of the pipeline, and finally measure the position of the pipeline and record the buried depth. The actual depth of the pipeline = the buried depth detected by the detector - the water depth;

S3: Landfilling of metal pipes, backfilling of deep trenches, detection data

Bury metal pipes in deep trenches, use detection equipment to measure metal pipe fittings, record detection data, then backfill deep trenches, detect after backfill, and record detected data;

For underwater detection points, according to different water depths and pipeline buried depths, record detection data and compare data;

S4: Compare the buried depth obtained by detection with the actual buried depth to verify the detection accuracy;

S5: Accurate pipeline buried depth data is obtained based on a large amount of detection data and accuracy analysis results obtained in S2-S4.

In the above-mentioned S2.1, when detecting the buried depth of the detector, the RD8100 underground pipeline detector and the connecting device for precise positioning of the ultra-deep underground pipeline are used for underground pipeline detection, and the McLaughlin G2 pipe detector is used for water Downline detection.

In the above-mentioned S2.1, when measuring the pipeline points, the Huatest i70 equipment is used.

In S2.2, the measurement equipment uses the Huace i70 RTK detection system for coordinate data collection, and uses the drill for water depth detection.

In S2.2, RTK is used to directly measure the position of the pipeline and record the buried depth.

In S2.1 and S5, during data analysis, the following methods are used for correction:

Data preparation: Under the same conditions, complete N groups of tests, record the test sequence and test results, and record them as array A; query the range of dielectric constant e and conductivity μ of the medium in the test, initialize the algorithm engine, and preset the initial stages of each filtering algorithm value, parameter and e-value;

结果为数组B；数组B满足线性要求；Linearization: Calculating Electromagnetic Wave Transit Time

The result is array B; array B satisfies the linearity requirement;

Median filtering: sort the array B from small to large, and the sorted array is C; take the data with the subscript N/2 in the array C, and record the data as the median M; delete C according to the preset value k If the data is greater than (1+k)*M and (1-k)*M, an array D is generated; is the number of array D greater than 0.6*N?

If so, perform the following steps: Kalman filter, sort the array D according to the index number from small to large, and the sorted array is E; preset Kalman filter parameters Q, R, and perform Kalman filter calculations one by one; calculate after the last one , get the data t; get the final result according to the formula

If not, change the values of k and e, 0<k<0.2, and e increases by 0.1 from the minimum value of the range.

In terms of data acquisition and calculation, the pipe diameter correction coefficient is obtained through the buried depth comparison test of various pipe diameters, the medium correction coefficient is obtained through experiments on the influence of different media physical properties, and the environmental impact is obtained by numerical simulation analysis and calculation of the influence of the surrounding environment parameters, so as to obtain a more accurate location of ultra-deep underground pipelines.

The connecting device for the precise positioning of ultra-deep underground pipelines is provided with a current emitting device. The above-mentioned current emitting device includes a fixed frame and two magnet plates arranged inside the fixed frame. A magnetic field is formed between the two magnet plates, and the inside of the fixed frame There is a cutting device for cutting the magnetic induction lines, and the two sides of the fixed frame are provided with driving devices for driving the cutting device to rotate. The fixed frame includes magnetic slots on both sides close to the bottom and top, and the magnet plate is slidably inserted into the Inside the magnetic slot, an arc-shaped chute is arranged between the two magnetic slots. The driving device includes a driving motor and a rotating disk fixed on the rotating shaft of the driving motor. One side of the rotating disk is fixed near the edge. There is a pin shaft, and the cutting device includes two metal rods and wires connected to the two ends of the metal rods and connected to the external device to form a loop. One end of the drive rod is fixedly connected, the drive rod is a hollow drive rod in the middle, the pin shaft is slidably inserted in the inside of the drive rod, and the other end of the drive rod is installed on the side wall of the fixed frame by screw rotation.

The outer side of the driving motor is covered with a positioning frame, and the rotating shaft of the driving motor is fixed at the center of the rotating disk.

Preferably, an adjustment device is provided on the outside of the driving device, the adjustment device includes a buffer frame and a positioning device, the buffer frame includes a bottom receiving plate and an upper connecting plate, and the bottom receiving plate and the upper connecting plate are connected by several connecting columns .

The above-mentioned positioning frame is arranged between the bottom receiving plate and the upper connecting plate, and the four corners of the bottom of the positioning frame are fixed with positioning rods penetrating through the bottom receiving plate.

The four corners of the above-mentioned bottom receiving plate are fixed with spring placement tubes, and the interior of the spring placement tube is provided with upward pressure springs, and the bottom of the upper connection plate is fixed with several downward pressure springs. The positioning rod is arranged inside the spring placement tube, and the upward pressure springs and the other end of the down-pressing spring are respectively fixed on the upper and lower sides of the down-pressing spring.

The positioning device includes two horizontally arranged sliding rods, a pull frame is arranged on the upper side between the two sliding rods, and a rod chute is symmetrically opened on the upper side of the upper connecting plate, and the sliding rod is slidably arranged inside the rod chute .

A spring stop ring is fixed on the slide bar, and a return spring is sleeved on the slide bar on one side of the spring stop ring, and the spring stop plate and the return spring are arranged in the inside of the bar chute.

Both sides of the bottom of the pull frame are provided with inclined oblique pressure grooves, and the ends of the two slide bars close to each other are fixedly connected with an arc-shaped block and an oblique pressure groove, and the oblique block and the oblique pressure groove are fitted together.

The upper side of the upper connecting plate is symmetrically fixedly connected with an upper buckle frame, and the pull frame is arranged inside the upper buckle frame, and several push-down springs are fixed at both ends of the upper side of the pull frame.

Both sides of the fixed frame are symmetrically fixed with positioning plates. Several positioning slots are provided between the two positioning plates. One end of the slide bar is fixed with a positioning block inserted in the positioning slots.

In the detection process, with the 4kHz CD current direction detection, the detection accuracy can be greatly improved, and the intensity of the electromagnetic field and the propagation distance can be increased by increasing the intensity of the emission current.

The connecting device for precise positioning of ultra-deep underground pipeline provided by the present invention is obtained by modifying the conventional probe device. At present, the mainstream underground pipeline detection equipment on the market is the RD8100 pipeline detector produced by Radiodetection, and the conventional measurement equipment is the i70 measurement system of Huace. The present invention invented the probe according to the existing detector receiving probe and RTK equipment. The walking device connects the RTK and the receiving probe with a retractable connecting rod, and a vertical correction system is designed to ensure that the RTK receiver, connecting rod and probe are always on the same vertical line. And the present invention also arranges a current emitting device on the device, and increases the emitted current.

The biggest innovation among the present invention is:

(1) The present invention is aimed at underground pipelines and underwater pipelines. Through data analysis and correction, it can simultaneously meet the consistency of underground pipeline detection and observation values in different environments of land and rivers, and realize the integration of RTK data and underground pipeline detection and positioning data. collection and transmission;

(2) Realized the calibration of correction coefficients for different metal pipe diameters, differences in physical properties of different media, and different surrounding environments on the detection data of underground ultra-deep pipelines;

(3) In the field of ultra-deep pipeline detection, the accuracy and efficiency of pipeline detection are improved, and the technical scheme and process of ultra-deep underground pipeline detection are optimized, and it has high promotion and application value.

Description of drawings

The pictures shown in Figures 1-6 are the detection results of underground pipeline profiles using ground radar. Figure 1 shows the test results of detecting east-west pipelines with a pipe diameter of 400 mm. Figure 2 and Figure 3 are cross-sectional views of the 270M antenna detection pipeline from south to north, and Figure 4, Figure 5 and Figure 6 are cross-sectional views of the 400M antenna detection pipeline from south to north.

Figure 7 is a design drawing of the test site;

Fig. 8 is a structural schematic diagram of a current emission device;

9 is a schematic diagram of the overall cross-sectional structure of the current emission device;

Fig. 10 is a schematic structural view of the fixing frame of the current emitting device;

11 is a schematic structural diagram of a driving device for a current emission device;

Fig. 12 is a schematic structural diagram of the cutting device of the current emitting device;

Fig. 13 is a structural schematic diagram of the regulating device of the current emitting device;

Fig. 14 is a schematic cross-sectional structure diagram of the buffer frame of the current emission device;

Fig. 15 is a schematic diagram of the explosive structure of the positioning device of the current emitting device;

Fig. 16 is the algorithm flowchart involved in embodiment 1;

In the figure: 1. Fixed frame; 11. Arc-shaped chute; 12. Positioning plate; 13. Magnetic slot; 2. Magnet plate; 3. Driving device; 31. Driving motor; ; 34, positioning frame; 35, positioning rod; 4, cutting device; 41, metal rod; 42, wire; 43, driving rod; 5, adjusting device; 51, buffer frame; 511, bottom receiving plate; 513, buckle frame; 514, rod chute; 515, spring placement tube; 52, positioning device; 521, pull frame; 522, slide bar; 523, positioning block; 524, arc block; 526, oblique pressure groove; 527, return spring; 528, push down spring; 53, press spring up; 54, press down spring.

Detailed ways

In order to enable those skilled in the art to better understand the present invention, the present invention will now be further described in conjunction with specific embodiments.

The method provided by the present invention mainly adopts the following technical norms, procedures and standards to implement.

(1) GB/T 18314-2009 "Global Positioning System (GPS) Measurement Specification";

(2) CJJ61-2017 "Technical Regulations for Urban Underground Pipeline Detection";

(3) CH/T 2009-2010 "Global Positioning System Real-time Kinematic Measurement (RTK) Technical Specifications".

The data of the selected underground pipeline of actual operation of the present invention are as follows:

1. Pipe center line data, the coordinate system is CGCS2000;

2. Pipeline burial depth data, the maximum and minimum burial depths of the two pipeline crossing sections were collected as the basic data for excavation verification. The pipeline crossing the Dawen River section of the Xuanning Line is a risk point for river crossing in Sinopec’s pipeline network. The pipeline crosses the Dawen River by directional drilling in Mazhuang Town, Daiyue District, Tai’an City. The design pressure of the pipeline at the crossing point is 3.9MPa, and the pipe diameter is D457mm , the width of the river crossing the river is 700m, the length of the pipeline crossing is 2200m, and the buried depth is about 2-15m. The Donghuang Double Line crosses the South Outer Ring Road section of Shouguang City. The pipeline has a relatively flat terrain and crosses Weifang Linran Agricultural Technology Co., Ltd., which is a hidden safety hazard area occupied by the pipeline. The buried depth of the pipeline is very important to the safety management of the pipeline. The crossing length of this pipe section is 30m, and the buried depth of the pipe is about 6m.

The geological environment data of the above-mentioned pipeline are as follows:

The geological composition and soil conditions of the crossing section were collected as the basis for the calculation of the correction coefficient. The soil on both sides of the Xuanning County crossing is mainly sandy soil and sandy loam, and the soil quality is loose. The soil quality in the crossing section of the Donghuang double track is mostly river alluvium, with obvious soil layers, sandy, loamy and sticky. As a test area, it can not only carry out ground and underwater detection data tests, but also calculate the influence of different pipeline surrounding environmental media on the sensitivity of detection data.

Use SDCORS to carry out GPS-RTK survey and obtain the coordinate data of pipeline points. Simultaneously, in the present invention, Google Maps and Global Mapper software data have also been collected and obtained. Google Maps is reliable in quality and good in current situation, and is used as the basic data of test planning.

The equipment adopted in the present invention is as follows:

Table 1 Instrument and equipment list

serial number device name model 1 Tube probe High Density Detector 2 Tube probe McLavran G2 3 Tube probe ground radar 4 RTK CTI i70 5 computer Lenovo E430

In the present invention, the pipeline detector and the high-density detector are mainly used for pipeline detection on the bank and in the riverbed; the geological radar is used for checking the data detected by the high-density detector pipeline detector; the pipeline detector McLaughlin G2 is mainly used For the detection of underwater pipelines. RTK is mainly used for pipeline position measurement.

Example 1

In Example 1, the Xuanning Line under the jurisdiction of Shandong Natural Gas Pipeline Co., Ltd. crosses the Dawen River section pipeline as the test detection area.

The Dawen River Pipeline Test Area is located in the riverbed of the South Dawen River in Linwen Village, Xizhang, Mazhuang Town, Daiyue District, Tai'an City, Shandong Province, and belongs to the middle reaches of the Dawen River. The scope is that the Xuanning Line Pipeline crosses the section of the Dawen River, with a length of about 1000m as the center line and an expansion of 500m to both sides as the boundary, with an area of about 1km2 and a buried depth of about 2-15m.

In order to ensure the accuracy of the data, multiple instruments are used to check each other. The pipeline detector and high-density detector are mainly used for pipeline detection on the bank and in the riverbed; the ground radar SIR-20 is used for the detection data of the high-density detector pipeline detector. Carry out inspection; the pipeline detector McLavran G2 is mainly used for the detection of underwater pipelines.

S1: Select the detection address according to the position of the pipeline

Select the ground with a buried depth greater than or equal to 5 meters as the land pipeline detection address; select the address above 5 meters at the bottom of the river bed as the underwater pipeline detection address;

S2: Dig deep trenches, fill metal pipes and detect

S2.1 For the ground, excavate a deep trench with a width of 2m, a length of 3-5m, and a depth of 6-8m in the underground pipeline detection test by excavation, and use the detector to measure the buried depth, and measure the pipeline points at the same time. Obtain the actual buried depth and position of pipeline points, and conduct data analysis;

In this system, the continuous measurement time under the same conditions is considered as a set of continuous data, and this algorithm is mainly used to eliminate the influence of noise and approach the real value as much as possible. The following is the Kalman filter equation:

The above equations are state equations and observation equations of the existing Kalman filter, and will not be described in detail here. The above formula is also mentioned in the book "Principles and Design of Mobile Robots".

In S2.1 and S5, during data analysis, the following methods are used for correction:

Data preparation: Under the same conditions, complete N groups of tests, record the test sequence and test results, and record them as array A; query the range of dielectric constant e and conductivity μ of the medium in the test, initialize the algorithm engine, and preset the initial stages of each filtering algorithm value, parameter and e-value;

结果为数组B；数组B满足线性要求；Linearization: Calculating Electromagnetic Wave Transit Time

The result is array B; array B satisfies the linearity requirement;

Median filtering: sort the array B from small to large, and the sorted array is C. ;Take the data whose subscript is N/2 in the array C, and record the data as the median value M; according to the preset value k, delete the data larger than (1+k)*M and (1-k)*M in C , to generate array D; is the number of array D greater than 0.6*N?

If so, perform the following steps: Kalman filter, sort the array D according to the index number from small to large, and the sorted array is E; preset Kalman filter parameters Q, R, and perform Kalman filter calculations one by one; calculate after the last one , get the data t; get the final result according to the formula

If not, change the values of k and e, 0<k<0.2, and e increases by 0.1 from the minimum value of the range.

When detecting the buried depth of the detector, the RD8100 underground pipeline detector and the connecting device for the precise positioning of ultra-deep underground pipelines are used for underground pipeline detection, and the McLaughlin G2 pipe detector is used for underwater pipeline detection;

The connection device for precise positioning of ultra-deep underground pipelines is equipped with a current emitting device. During the detection process, it can be used to detect the direction of the CD current at 4kHz, which can greatly improve the detection accuracy.

The structure of the current emission device is as follows:

It includes a fixed frame 1 and two magnet plates 2 arranged inside the fixed frame 1, a magnetic field is formed between the two magnet plates 2, a cutting device 4 for cutting magnetic induction lines is arranged inside the fixed frame 1, and the two magnet plates 2 of the fixed frame 1 The side is provided with a driving device 3 for driving the rotation of the cutting device 4; in order to make the position of the magnet plate 2 easy to fix, the fixed frame 1 includes magnetic slots 13 opened on both sides near the bottom and top, and the magnet plate 2 is slidably inserted into the The inside of the magnetic slot 13; in order to lead the electric current out when the wire 42 cuts the magnetic induction line, the cutting device 4 includes two metal rods 41 and a wire 42 connected to the two ends of the metal rod 41 and connected to an external device to form a loop; In order to facilitate the connection of the wire 42 with the metal rod 41, an arc-shaped arc chute 11 is arranged between the two magnetic slots 13, and the metal rod 41 is arranged inside the fixed frame 1 and penetrates through the arc chute 11. The fixed frame 1 extends out and is fixedly connected with one end of the driving rod 43; in order to make the driving device 3 drive the metal rod 41 to reciprocate and cut the magnetic field line, so as to generate a stable current and facilitate the detection personnel to record the test data, the driving device 3 includes Drive motor 31 and the rotating disk 32 that is fixed on the rotating shaft of driving motor 31, one side of rotating disk 32 is fixed with pin shaft 33 near the position of edge, and driving rod 43 is the driving rod 43 that middle part is hollow, and pin shaft 33 slides and inserts on Drive the inside of the rod 43, and one end of the drive rod 43 is installed on the side wall of the fixed frame 1 by screw rotation.

The rotating shaft of the driving motor 31 drives the rotating disk 32 and the pin shaft 33 to rotate, so that the pin shaft 33 slides inside the driving rod 43, and at the same time, the driving rod 43 is moved to make the driving rod 43 rotate around the position connected to the fixed frame 1 , the rotating drive rod 43 drives the metal rod 41 to cut the magnetic field lines between the two magnet plates 2 inside the fixed frame 1 , and the current generated by cutting the magnetic field lines is conducted through the wire 42 .

In order to reduce the vibration generated when the driving motor 31 drives the rotating disk 32 to rotate, a positioning frame 34 is sheathed outside the driving motor 31 , and the rotating shaft of the driving motor 31 is fixed at the center of the rotating disk 32 .

In order to reduce the impact of the vibration generated when the driving device 3 rotates on the cutting device 4, an adjustment device 5 is provided on the outside of the driving device 3. The adjustment device 5 includes a buffer frame 51 and a positioning device 52. The buffer frame 51 includes a bottom receiving plate 511 and The upper connecting plate 512, the bottom receiving plate 511 and the upper connecting plate 512 are connected by several connecting columns, the positioning frame 34 is arranged between the bottom receiving plate 511 and the upper connecting plate 512, and the bottom four corners of the positioning frame 34 are fixed with Go through the positioning rod 35 of the bottom receiving plate 511, the four corners of the bottom receiving plate 511 are fixed with spring placement tubes 515, the inside of the spring placement tube 515 is provided with an upward pressure spring 53, and the bottom of the upper connection plate 512 is fixed with several downward pressure springs 54, the positioning rod 35 is arranged in the inside of the spring placement tube 515, and the other ends of the upper pressure spring 53 and the lower pressure spring 54 are respectively fixed on the upper and lower sides of the lower pressure spring 54, and the driving device is driven by the upper pressure spring 53 and the lower pressure spring 54. 3 buffer, reduce the vibration amplitude of the driving device 3, avoid driving the pin shaft 33 that drives the rod 43 to rotate, and transmit the vibration to the cutting device 4, which will affect the cutting device 4 to cut the magnetic field lines.

In order to change the variable of the cutting device 4 cutting the magnetic field lines, the positioning device 52 includes two horizontally arranged slide bars 522, and the upper side between the two slide bars 522 is provided with a pull frame 521, and the upper side of the upper connecting plate 512 is left-right symmetrical. A bar chute 514 is provided, and the slide bar 522 is slidably arranged in the inside of the bar chute 514. A spring stop ring is fixed on the slide bar 522, and a return spring 527 is set on the slide bar 522 on one side of the spring stop ring. The plate and the return spring 527 are arranged inside the rod chute 514, the two sides of the bottom of the pull frame 521 are provided with inclined oblique pressure grooves 526, and the ends of the two sliding rods 522 close to each other are fixedly connected with an arc block 524 and an oblique block 525 , the inclined block 525 and the oblique pressure groove 526 fit together, the upper side of the upper connecting plate 512 is symmetrically fixedly connected with the upper buckle frame 513, the pull frame 521 is arranged inside the upper buckle frame 513, and the two ends of the upper side of the pull frame 521 are fixed with Several push-down springs 528, the left and right sides of fixed frame 1 are symmetrically fixed with positioning plate 12, are provided with several positioning grooves between two positioning plates 12, and one end of slide bar 522 is fixed with the positioning plate inserted in the positioning groove. Block 523 is inserted in the positioning plate 12 by one end of the positioning device 52, so that the position of the adjusting device 5 is fixed between the two positioning plates 12, so as to drive the position of the driving device 3 on one side of the cutting device 4, and change The speed at which the metal rod 41 cuts the lines of magnetic field.

When the current emitting device is in use, the rotating shaft of the drive motor 31 drives the rotating disk 32 and the pin shaft 33 to rotate, so that the pin shaft 33 slides inside the driving rod 43, and simultaneously the driving rod 43 is moved to make the driving rod 43 revolve around The position connected with the fixed frame 1 rotates, and the rotating drive rod 43 drives the metal rod 41 to cut the magnetic field lines between the two magnet plates 2 inside the fixed frame 1, and the current generated by cutting the magnetic field lines is conducted through the wire 42 Going out, the upper pressure spring 53 and the lower pressure spring 54 buffer the vibration on the driving device 3, reduce the impact of the vibration on the driving device 3 on the cutting device 4, and ensure that the cutting device 4 stably cuts the magnetic field lines. When the rod 41 cuts the speed of the magnetic induction line, hold and pull up the pull frame 521 to separate the inclined pressure groove 526 and the inclined block 525, and make the positioning block 523 leave the positioning plate 12 by the elastic force of the return spring 527. The device 5 and the driving device 3 move slowly so that the driving device 3 moves on one side of the cutting device 4, so as to change the swing amplitude of the driving device 3 driving the cutting device 4, and reduce the cutting speed of the metal rod 41 to the magnetic line of induction, so as to realize variable change.

When measuring the pipeline points, use Huatest i70 equipment;

S2.2: When the depth of the water level is less than 1m, the detector personnel directly detect the pipe depth, place the detector above the water surface to detect the buried depth, and use the drill to detect the water depth. The actual depth of the pipeline = the buried depth detected by the detector - the water depth, directly Determine the location of the pipeline and record the buried depth;

The measuring equipment adopts Huace i70 type RTK detection system for coordinate data collection, and uses the drill for water depth detection; uses RTK to directly measure the position of the pipeline and record the buried depth;

When the water depth is between 1m and 3m, use the method of combining the ship, drill probe, pipe probe and RTK detection system to drive the ship roughly above the pipeline, and the operator can use the drill drill to detect the water depth at any time to grasp the water depth around the pipeline , use the pipe probe to detect on the water surface, repeatedly detect and measure the buried depth and position of the pipeline, and finally measure the position of the pipeline and record the buried depth. The actual depth of the pipeline = the buried depth detected by the detector - the water depth;

S3: Landfilling of metal pipes, backfilling of deep trenches, detection data

Bury metal pipes in deep trenches, use detection equipment to measure metal pipe fittings, record detection data, then backfill deep trenches, detect after backfill, and record detected data;

For underwater detection points, according to different water depths and pipeline buried depths, record detection data and compare data;

S4: Compare the buried depth obtained by detection with the actual buried depth to verify the detection accuracy;

S5: Accurate pipeline buried depth data is obtained based on a large amount of detection data and accuracy analysis results obtained in S2-S4.

In S2.1, when detecting the buried depth of the detector, the RD8100 underground pipeline detector and the connecting device for the precise positioning of ultra-deep underground pipelines are used for underground pipeline detection, and the McLaughlin G2 pipe detector is used for underwater pipelines probing.

In the present invention, the pipelines used are conventional pipeline equipment.

Through on-the-spot detection of pipelines in the test area, data such as pipeline detection depth and plane error are obtained, and through excavation verification, the detection depth and horizontal accuracy of this technical method meet the accuracy requirements, see the following table for details:

Table 2 "Donghuang Double Line" pipeline test area

It can be seen from Table 2 that the measurement of the plane position and the depth of burial can meet the requirements of the relevant specifications. Both the plane error and the burial depth error show that the greater the burial depth, the greater the error value, which is also in line with The physical reality that bathymetric signals are less likely to be detected as the depth increases.

After burying the pipelines in the deep trench test area, use the combined device to locate the coordinates of the known pipeline points and compare them with the coordinates before burying. The corresponding data are shown in the following table:

Table 3 Comparative analysis of coordinate positioning data in the test area

As can be seen from Table 3, the gap between the measured coordinate value and the actual coordinate value of the detection equipment adopted by the depth sounder in the present invention meets the relevant accuracy requirements (≤5cm).

Table 3.1 Detection data of seamless steel pipes

Table 3.2 Galvanized pipe cross detection data

Table 3.3 Square tube cross detection data

Example 2

A method for precise positioning of ultra-deep underground pipelines, comprising the following steps:

(1) First conduct environmental impact tests around underground pipelines;

In the section where the Xuanning Line crosses the Dawen River pipe section and the Donghuang Double Line crosses the South Outer Ring Road pipe section of Shouguang City, more than 100 pipeline detection tests were carried out in chronological order.

In order to ensure the accuracy of the data, multiple instruments are used to check each other. The pipeline detector and high-density detector are mainly used for pipeline detection on the bank and in the riverbed; the ground radar SIR-20 is used for the detection data of the high-density detector pipeline detector. Carry out inspection; the pipeline detector McLavran G2 is mainly used for the detection of underwater pipelines;

In this embodiment, the detection is completed through the 0.87km Dawen River section, which is divided into land pipeline detection (ie pipeline detection on the river bank and in the river bed) and underwater pipeline detection (ie pipeline detection on the water surface). The experiment determined the correction parameters of the influence of the difference of physical properties of different media around the underground pipeline on the detection data and the influence coefficient of the surrounding environment of the underground pipeline on the sensitivity of the detection data.

The completed detection test of the pipeline crossing the South Outer Ring Road of Shouguang City on the Donghuang Double Line was combined with the pipeline excavation project, using the RD8100 detector to detect pipelines with different diameters and different media environments, and at the excavation verification point Data verification was carried out to ensure the accuracy of the data.

A large amount of measured data was collected through four tests, including the numerical changes of underground pipeline detection under different metal pipe diameters, and the pipeline detection data under the influence of different surrounding environments and different media of underground pipelines.

The detection of underground pipelines follows the process from known to unknown, from simple to complex. The onshore and underwater pipeline detection was carried out in this test area. In order to obtain the buried depth of the pipeline more accurately, combined with the material and buried depth of the pipeline in this test area, the research team conducted an in-depth comparative analysis of various detection equipment and methods, and concluded The advantages and disadvantages of various detection methods were analyzed, and a more reasonable method was selected to carry out the test to ensure the reliability of the test data. The comparison results of geophysical prospecting methods are shown in the table below:

Table 4 Comparative analysis of underground pipeline detection methods

Combined with the comparative study of comprehensive geophysical prospecting methods, this test has completed the detection of the position of the pipeline crossing the Dawen River section of the Xuanning Line and the buried depth of the pipeline at 0.87km by using comprehensive geophysical prospecting methods such as high-density detectors, geological radars, and McLaughlin G2 pipe detectors. The test content is divided into land pipeline detection and underwater pipeline detection.

The instrument adopted in the present invention, the contriver carries out inspection, before the test, carries out instrument consistency check and detection method test to the high-density detector pipeline instrument of drop-in, the U.S.-produced McLaughlan G2 type pipe detector, obtains by method test Draw the following conclusions:

1. One set of McLaughlin G2 instrument and one high-density detector instrument made in the United States, the working frequency is: 8kHz, 33kHz, 65kHz, etc. These two types of instruments have stable performance, high detection accuracy and high resolution. There are a variety of sending and receiving frequencies and detection methods for selection, which can meet the relevant technical requirements.

2. One high-density detector instrument is an improved new generation pipeline instrument, the working frequency is: 8kHz, 33kHz, 65kHz, 83kHz, 131kHz, 200kHz, etc. This type of instrument has stable performance, high efficiency and good precision, and can be used for metal pipelines And the detection of power and communication pipelines. The excitation methods mainly adopt direct method, induction method and clamp method, and the detection method is mainly active source method, and passive source method (P wave method, R wave method) can also be used.

3. The consistency of the instruments to be put into use is good. It can be seen from this test that the positioning and depth determination accuracy of each instrument is very high, and it is only necessary to correct the buried depth of the exploration center to the top of the pipe.

4. Due to the interference of the primary field of the transmitter of the instrument, when using the induction method to detect, the minimum transceiver distance of the McLavran G2 and high-density detectors is not less than 13m. When using the instrument to determine the depth, try to use the 70% method. The direct reading method is only used as a reference, and then combined with the nearby obvious points for comparison and correction.

(2) Detection

S1 high-density pipeline detector detection

This pipe section is a natural gas pipeline, and the pipeline material is steel pipe. Use the high-density pipeline detector to detect the position and buried depth of pipelines in river banks and riverbeds. The detection method adopts the direct connection method, and the working frequency is 33kHz. The test piles connected to the excitation station are the test pile No. 133 on the north bank of the river and the test pile No. 54 on the south bank of the river.

The depth determination method mainly adopts the 70% method and the translation method, and the direct reading method is used as a reference.

Through the field detection of high-density detectors, the detection depth of the water line from the north side of the Dawen River to the test pile 133 is 2.97m; the deepest detection depth is about 530m away from the test pile 133, and the detection depth is about 14.3m. From the south side of the Dawen River to CSZ54, the detection depth of the water line is 3.50m; the deepest detection depth is about 124m away from the test pile 54, and the detection depth is 16.4m.

S2 ground radar detection

On the basis of the detection of the center line by the high-density pipeline detector, the detection results of the high-density pipeline detector are checked by using ground radar.

Due to the different sounding capabilities of different frequency antennas, the lower the frequency, the greater the detection depth. This detection uses 100MHz and 200MHz shielded antennas respectively. The layout of the ground penetrating radar survey line is as follows: the approximate position of the pipeline is initially determined, the detection line is arranged perpendicular to the direction of the pipeline, the distance between the detection lines is about 2.0m, and continuous detection is carried out along the detection line.

The detection profile is shown in Figures 4 and 5.

The results can be inferred from Figure 4: the survey line is detected from west to east, and a pipeline anomaly develops about 3m from west to east, and the depth of the top spot is about 9.5m.

The results can be inferred from Figure 5: the survey line is detected from west to east, and a pipeline anomaly develops about 3m from west to east, and the depth of the top spot is about 5m.

The distance from the test pile 133 is about 950m after checking, and the buried depth of the pipeline is about 5m. This result is consistent with the result of the high-density detector.

Through the inspection, the distance from the test pile 133 is about 815m, and the buried depth of the pipeline is about 9.5m. At this depth, different geological layers are detected at the same time. This result is consistent with the result of the high-density detector.

S3 underwater pipeline detection test

Detection instrument

The instrument used in this detection is the American McLaughlan G2 pipeline detector with better stability. The domestic Huace i70 RTK is used for coordinate data collection for the measurement, and the water depth detection uses the brazing for water depth detection.

detection method

According to the water depth of the riverbed (the water depth of this section of the Dawen River is about 1 to 3m), the following two situations were dealt with:

1. When the water level is shallow and the depth is less than 1m, the detectors can directly detect the pipe depth. The detector is placed above the water surface to detect the buried depth, and the drill is used to detect the water depth. The buried depth value detected by the detector minus the water depth is the actual depth of the pipeline. The RTK is used to directly measure the pipeline position and record the buried depth.

2. When the water depth is between 1 and 3m, the method of joint operation of ships, drill pipes, pipe probes and RTK is adopted. The ship is generally driven above the pipeline, and the operator uses the drill to detect the water depth at any time, and generally grasps the water depth around the pipeline, uses the G2 pipe detector to detect on the water surface, repeatedly detects and measures the buried depth and position of the pipeline, and finally uses RTK to determine the pipeline position The measurement and record of buried depth. The actual depth of the pipeline is obtained by subtracting the water depth from the buried depth detected by the detector.

underwater detection results

Due to the particularity of water surface detection and the reason that the ship cannot stay still, the detection accuracy is slightly poor, but it can meet the accuracy requirements of hidden pipeline points.

Obtained by calculation: the error in the plane position of the pipeline point is ±0.20m, and the error in the buried depth is ±0.30m.

Through on-the-spot detection, the maximum buried depth of the pipeline passing through the water surface is located at a distance of about 735m from the test pile 54, with a buried depth of about 6.25m, and the minimum buried depth is located at a distance of about 1050m from the test pile 133, with a buried depth of about 5.70m; The deepest water depth is about 2.00m, and the shallowest part is about 0.30m.

(3) Collect data

Material selection of different metal pipe diameters

In order to accurately obtain the influence of different metal pipe diameters on the burial depth of ultra-deep underground pipelines, this study selected steel pipes, seamless steel pipes, and galvanized pipes from various aspects such as pipe diameters, styles, physical properties, and electrical conductivity of metal materials. , square tube, cable as the test object. At the same time, the test method was improved, from a single pipeline to a parallel pipeline and a pipeline crossing configuration.

After the excavation of the tunnel is completed, use measuring equipment such as tape measure and RTK to check whether the depth and width of the tunnel meet the design requirements. Then obtain the excavation tunnel top elevation and bottom elevation and plane coordinates. Select metal materials with different pipe diameters, lay them on the bottom of the pit, and then backfill them. Use the pipeline detector and RTK to detect the depth of the pipeline and measure the plane coordinates. The buried data.

Test Conclusions

Through the above tests, the buried data of metal pipelines such as steel pipes, seamless steel pipes, galvanized pipes, square pipes, and cables in soft soil environments were obtained. Through the comparative analysis of the measured data and the actual data, different metal pipe diameters and different medium physical properties have inconsistent effects on the buried depth. In general: 1. The pipe diameter is proportional to the buried depth accuracy. The larger the pipe diameter, the higher the detection accuracy. 2. The shape of the pipeline has a certain influence on the detection data. The shape of the pipeline is circular, and the detection accuracy is higher, followed by the square; 3. The intersection point of the pipeline and the parallel pipeline are greatly disturbed by the change of the magnetic field signal, and the detection accuracy is not good. Ideal; 4. The conductivity of the pipeline is inversely proportional to the influence of the detection accuracy.

During the test, the US-made McLaughlan G2 pipe probe was used to verify the buried depth, and the verification results were basically consistent with the experimental results. The verification results are shown in Figure 7. In Figure 7, the east-west roadside water pipe is detected, with a pipe diameter of 400mm; in Figure 8, the 270M antenna detects the pipeline from south to north, and the cross-sectional views are shown in Figures 8 and 9. The 400M antenna detects the pipeline from south to north, and the cross-sections are shown in Figures 10, 11 and 12;

(4) Organize and analyze the data in (3)

According to the basic data collected in the test area in (1), data analysis was carried out, and a mathematical model was established to determine the sensitivity and influence correction coefficient of different metal pipe diameters, different medium physical properties and different surrounding environments on the detection data. The impact sensitivity and correction coefficient of the detection data and the actual pipeline position data are analyzed and processed, the data analysis and processing system is established, and the ultra-deep underground pipeline detection calculation analysis system is formed;

Through the above-mentioned system, not only can the measured pipeline data be intelligently corrected according to the environment, but also the pipeline data can be edited and processed, map matching, position registration, identification code assignment, 2D and 3D display, etc., which greatly improves the quality of underground pipelines. Efficiency and utilization of data processing.

Through the analysis of this experiment carried out by comprehensive geophysical prospecting methods, different geophysical prospecting methods are closely related to the environment in which the pipeline is located. In the terrestrial environment, the data obtained by different geophysical prospecting methods are basically consistent, and the difference does not exceed the limit. The comparison with the actual buried depth data is shown in Table 5:

Table 5 Comparison of measured data and actual data by comprehensive geophysical prospecting method

It can be seen from the above table that the measurement of the plane position and the depth of burial can meet the requirements of the relevant specifications. Both the plane error and the burial depth error show that the greater the burial depth, the greater the error value, which is also in line with The physical reality that bathymetric signals are less likely to be detected as the depth increases.

In the water body environment, the detection accuracy decreases with the increase of water depth, and the detection results are shown in the table below:

Table 6 Comparative analysis of measured data and actual data of water body environment

The purpose of the present invention is to obtain the calibration of the correction coefficient of the influence of different metal pipe diameters on the underground pipeline detection data, use the RD8100 pipeline detector and the US-made McLaughlin G2 type pipe detector to carry out pipeline buried depth detection, and use Huacei i70 to carry out pipeline point detection. Measure, and then obtain the actual buried depth and position of pipeline points through excavation. After statistical analysis of a large amount of data, the correction coefficient is calibrated under the mathematical model. The inventor excavated a deep ditch with a width of 2m, a length of 3-5m and a depth of 6-8m as the test site.

In the present invention, the technical problem solved and the technical effect achieved are as follows:

1. Through experiments, the factors that affect the detection accuracy of ultra-deep pipelines are quantitatively studied. Through the calibration of the influence coefficients, the problems of different metal pipe diameters, differences in physical properties of different media, and different surrounding environments in the detection of ultra-deep pipelines are solved. The correction of buried depth improves the accuracy of ultra-deep pipeline detection, which has certain promotion and application value.

2. The combined device of RTK mobile terminal and underground pipeline detection receiver innovatively solves the problem of inconsistency between pipeline detection points and measurement points caused by separate pipeline detection and coordinate positioning in the field measurement process, greatly improving the accuracy of detection data . At the same time, the operation mode is changed, and the work that needs at least three people to complete the traditional field work is concentrated to one person, which improves the operation efficiency and saves labor costs.

The method of the invention plays a guiding role in the detection of underground pipelines, and is of great significance for rationally utilizing urban underground space resources and ensuring normal production, life and social development. The results produced by the invention have high value, great potential for popularization and application, and remarkable effects in terms of economic and social benefits.

Claims (10)

1. A method for precise positioning of ultra-deep underground pipelines, comprising the following steps: S1: Select the detection address according to the position of the pipeline Select the ground with a buried depth greater than or equal to 5 meters as the land pipeline detection address; select the address above 5 meters at the bottom of the river bed as the underwater pipeline detection address; S2: Dig deep trenches, fill metal pipes and detect S2.1 For the ground, excavate a deep trench with a width of 2m, a length of 3-5m, and a depth of 6-8m in the underground pipeline detection test by excavation, and use the detector to measure the buried depth, and measure the pipeline points at the same time. Obtain the actual buried depth and position of pipeline points, and conduct data analysis; S2.2: When the depth of the water level is less than 1m, the detector personnel directly detect the pipe depth, place the detector above the water surface to detect the buried depth, and use the drill to detect the water depth. The actual depth of the pipeline = the buried depth detected by the detector - the water depth, directly Determine the location of the pipeline and record the buried depth; When the water depth is between 1m and 3m, use the method of combining the ship, drill probe, pipe probe and RTK detection system to drive the ship roughly above the pipeline, and the operator can use the drill drill to detect the water depth at any time to grasp the water depth around the pipeline , use the pipe probe to detect on the water surface, repeatedly detect and measure the buried depth and position of the pipeline, and finally measure the position of the pipeline and record the buried depth. The actual depth of the pipeline = the buried depth detected by the detector - the water depth; S3: Landfilling of metal pipes, backfilling of deep trenches, detection data Bury metal pipes in deep trenches, use detection equipment to measure metal pipe fittings, record detection data, then backfill deep trenches, detect after backfill, and record detected data; For underwater detection points, according to different water depths and pipeline buried depths, record detection data and compare data; S4: Compare the buried depth obtained by detection with the actual buried depth to verify the detection accuracy; S5: Accurate pipeline buried depth data is obtained based on a large amount of detection data and precision analysis results obtained in S2-S4. 2. A method for precise positioning of ultra-deep underground pipelines as claimed in claim 1, characterized in that, in said S2.1, when the detectors are used for depth detection, RD8100 underground pipeline detectors, ultra-deep Connecting devices are used for the precise positioning of deep underground pipelines for underground pipeline detection, and the McLaughlin G2 pipe detector is used for underwater pipeline detection. 3. A method for precise positioning of ultra-deep underground pipelines according to claim 1, characterized in that, in said S2.1, when measuring the pipeline points, the Huace i70 equipment is used. 4. A method for precise positioning of ultra-deep underground pipelines as claimed in claim 1, characterized in that, in S2.2, the measuring equipment selects the Huace i70 type RTK detection system for coordinate data collection, and uses the drill for water depth detection . 5. A method for precise positioning of ultra-deep underground pipelines according to claim 1, characterized in that, in S2.2, RTK is used to directly measure the position of the pipeline and record the buried depth. 6. A method for precise positioning of ultra-deep underground pipelines as claimed in claim 1, characterized in that, in S2.1 and S5, during data analysis, the following methods are used to correct: Data preparation: Under the same conditions, complete N groups of tests, record the test sequence and test results, and record them as array A; query the range of dielectric constant e and conductivity μ of the medium in the test, initialize the algorithm engine, and preset the initial stages of each filtering algorithm value, parameter and e-value; Linearization: Calculating Electromagnetic Wave Transit Time

The result is array B; array B satisfies the linearity requirement; Median filtering: sort the array B from small to large, and the sorted array is C; take the data with the subscript N/2 in the array C, and record the data as the median M; delete C according to the preset value k If the data is greater than (1+k)*M and (1-k)*M, an array D is generated; is the number of array D greater than 0.6*N? If so, perform the following steps: Kalman filter, sort the array D according to the index number from small to large, and the sorted array is E; preset Kalman filter parameters Q, R, and perform Kalman filter calculations one by one; calculate after the last one , get the data t; get the final result according to the formula

If not, change the values of k and e, 0<k<0.2, and e increases by 0.1 from the minimum value of the range. 7. A method for precise positioning of ultra-deep underground pipelines according to claim 1, characterized in that the connection device for precise positioning of ultra-deep underground pipelines is provided with a current emitting device. 8. A method for precise positioning of ultra-deep underground pipelines as claimed in claim 7, wherein the structure of the current emitting device is as follows: It includes a fixed frame (1) and two magnet plates (2) arranged inside the fixed frame (1), a magnetic field is formed between the two magnet plates (2), and it is characterized in that: the fixed frame (1) A cutting device (4) for cutting magnetic induction lines is provided inside, and a driving device (3) for driving the cutting device (4) to rotate is provided on both sides of the fixed frame (1), and the fixed frame (1) includes There are magnetic slots (13) on both sides close to the bottom and top, and the magnet plate (2) is slidably inserted into the magnetic slots (13), and the two magnetic slots (13) are arranged between There is an arc-shaped arc chute (11), and the driving device (3) includes a driving motor (31) and a rotating disc (32) fixed on the rotating shaft of the driving motor (31), and the rotating disc (32) One side is fixed with pin shaft (33) near the position of edge, and described cutting device (4) comprises two metal rods (41) and is connected in metal rod (41) two ends and is connected with the wire ( 42), the metal rod (41) is arranged inside the fixed frame (1), and runs through the fixed frame (1) through the arc-shaped chute (11) and extends out to be fixedly connected with one end of the driving rod (43), so The driving rod (43) is a hollow driving rod (43) in the middle, and the pin shaft (33) is slidably inserted into the inside of the driving rod (43), and the other end of the driving rod (43) is installed on the on the side wall of the fixing frame (1). 9. A method for precise positioning of ultra-deep underground pipelines as claimed in claim 8, characterized in that, The outside of the drive motor (31) is sheathed with a positioning frame (34), and the rotating shaft of the drive motor (31) is fixed at the center of the rotating disk (32); The outside of the drive device (3) is provided with an adjustment device (5), the adjustment device (5) includes a buffer frame (51) and a positioning device (52), and the buffer frame (51) includes a bottom receiving plate (511 ) and the upper connecting plate (512), the bottom receiving plate (511) and the upper connecting plate (512) are connected by several connecting columns. 10. A method for precise positioning of ultra-deep underground pipelines according to claim 9, characterized in that, during the detection process, the detection accuracy can be greatly improved by cooperating with 4kHz CD current direction detection.

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