CN111400891A - Method, device and equipment for acquiring deviation degree of pipeline inspection point and storage medium - Google Patents
Method, device and equipment for acquiring deviation degree of pipeline inspection point and storage medium Download PDFInfo
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- CN111400891A CN111400891A CN202010168523.2A CN202010168523A CN111400891A CN 111400891 A CN111400891 A CN 111400891A CN 202010168523 A CN202010168523 A CN 202010168523A CN 111400891 A CN111400891 A CN 111400891A
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Abstract
The application provides a method, a device, equipment and a storage medium for acquiring deviation degree of pipeline inspection points, and relates to the technical field of pipeline inspection. The method comprises the following steps: according to a preset rule, a plurality of core points are arranged on a pipeline middle line, a continuous planning area is formed according to the coordinate information of each core point and the radius corresponding to each core point, and the deviation between each preset key point and the pipeline in the planning area is calculated by adopting a preset algorithm. The method can obtain the inspection points which are uniformly distributed, and improves the accuracy of inspection results.
Description
Technical Field
The invention relates to the technical field of pipeline inspection, in particular to a method, a device, equipment and a storage medium for acquiring deviation degree of pipeline inspection points.
Background
Along with the continuous development of urban construction, the demand on fuel gas is also increasing day by day for the operation requirement to long oil and gas pipeline is also higher and higher, and wherein, pipeline inspection technique can in time know pipeline running state, also is the most basic and most effective means of guarantee pipeline safe operation.
At present, the inspection method of long-distance pipelines basically depends on a manual mode, and a plurality of inspection points are set at important positions along the pipeline by operators with abundant experience to realize daily inspection and maintenance of the pipeline.
However, by adopting the prior art, the manually set routing inspection points are distributed randomly, and the problem of inaccurate routing inspection results is caused.
Disclosure of Invention
The present invention aims to provide a method, an apparatus, a device and a storage medium for acquiring deviation of a pipeline inspection point, so as to solve the problem of poor accuracy of inspection results caused by uneven distribution of set inspection points in the prior art.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a method for acquiring deviation degree of a pipeline inspection point, where the method includes:
setting a plurality of core points on the central line of the pipeline according to a preset rule;
forming a continuous planning area according to the coordinate information of each core point and the radius corresponding to each core point;
and calculating the deviation between each preset key point in the planning area and the pipeline by adopting a preset algorithm.
Optionally, the calculating, by using a preset algorithm, a deviation between each preset key point in the planned area and the pipeline includes:
determining a buffering surface with a preset width by taking the central line of the pipeline as an axis;
calculating the minimum distance between each preset key point in the planning area and the edge of the buffer surface;
and determining the deviation between each preset key point and the pipeline according to the minimum distance.
Optionally, the forming a continuous planning area according to the coordinate information of each core point and the radius corresponding to each core point includes:
forming a plurality of intersected areas according to the coordinate information of each core point and the radius corresponding to each core point;
and forming the continuous planning area according to the intersection point of the areas.
Optionally, before calculating the deviation between each preset key point in the planned area and the pipeline by using a preset algorithm, the method further includes:
judging whether the number of the preset key points is larger than a preset threshold value or not;
if the deviation is larger than the preset threshold, eliminating preset key points exceeding the preset threshold according to the deviation, and remaining the preset key points of the preset threshold.
Optionally, the setting a plurality of core points on the pipeline centerline according to a preset rule includes:
and sequentially determining a plurality of core points on the pipeline middle line according to a preset starting point and the corresponding radius of each core point.
In a second aspect, an embodiment of the present application further provides a device for acquiring deviation degree of a pipeline inspection point, where the device includes: the device comprises a setting module, a processing module and a calculating module.
The setting module is used for setting a plurality of core points on the pipeline center line according to a preset rule;
the processing module is used for forming a continuous planning area according to the coordinate information of each core point and the radius corresponding to each core point;
the calculation module is used for calculating the deviation between each preset key point in the planning area and the pipeline by adopting a preset algorithm.
Optionally, the calculation module is specifically configured to:
determining a buffering surface with a preset width by taking the central line of the pipeline as an axis;
calculating the minimum distance between each preset key point in the planning area and the edge of the buffer surface;
and determining the deviation between each preset key point and the pipeline according to the minimum distance.
Optionally, the processing module is specifically configured to:
forming a plurality of intersected areas according to the coordinate information of each core point and the radius corresponding to each core point;
and forming the continuous planning area according to the intersection point of the areas.
Optionally, the apparatus further comprises: an analysis module, the analysis module specifically configured to:
judging whether the number of the preset key points is larger than a preset threshold value or not;
if the deviation is larger than the preset threshold, eliminating preset key points exceeding the preset threshold according to the deviation, and remaining the preset key points of the preset threshold.
Optionally, the setting module is configured to:
and sequentially determining a plurality of core points on the pipeline middle line according to a preset starting point and the corresponding radius of each core point.
In a third aspect, an embodiment of the present application further provides a processing device, including: the pipeline inspection point deviation degree acquiring method comprises a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, when a processing device runs, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to execute the pipeline inspection point deviation degree acquiring method provided by the first aspect.
In a fourth aspect, an embodiment of the present application further provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the method for acquiring deviation degree of a pipeline inspection point according to the first aspect is executed.
The beneficial effect of this application is:
the application provides a method, a device, equipment and a storage medium for acquiring deviation degree of pipeline inspection points, wherein the method comprises the following steps: the method comprises the steps of setting a plurality of core points on a pipeline middle line according to a preset rule, forming a continuous planning area according to coordinate information of each core point and the radius corresponding to each core point, calculating the deviation between each preset key point and the pipeline in the planning area by adopting a preset algorithm, and analyzing and determining whether the preset key points are uniformly distributed or not according to the deviation, wherein the key points are inspection points, so that the inspection points uniformly distributed on the pipeline can be obtained, and the accuracy of an inspection result is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a method for acquiring deviation degree of a pipeline inspection point according to an embodiment of the present application;
fig. 2 is a schematic diagram of forming a continuous planning region according to an embodiment of the present application;
fig. 3 is a schematic diagram of a plurality of preset key points set in a planning area according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a method for calculating deviations between preset key points and pipelines in a planned area according to an embodiment of the present application;
FIG. 5 is a schematic diagram of determining deviation of each preset key point from a pipeline according to an embodiment of the present application;
fig. 6 is a schematic flow chart of a method for acquiring a pipeline inspection point according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a device for acquiring deviation degree of a pipeline inspection point according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of another device for acquiring deviation degree of a pipeline inspection point according to an embodiment of the present application;
fig. 9 is a schematic diagram of another device for acquiring deviation degree of a pipeline inspection point according to an embodiment of the present application.
Icon: 10-a pipeline; 11-planning a region; 12-key point.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
In order to inspect the pipeline better, the embodiment of the application needs to acquire the deviation between the key point for inspection and the pipeline.
Fig. 1 is a schematic flow chart of a method for acquiring deviation degree of a pipeline inspection point according to an embodiment of the present application, where an execution main body of the method may be a device that can perform data processing, such as a computer, a server, a processor, and a mobile terminal, and as shown in fig. 1, the method includes:
and S10, setting a plurality of core points on the pipeline center line according to preset rules.
During the operation of the pipeline, a large amount of daily recording, monitoring and detecting data can be generated, and due to the difference of different types of data in content, format and precision, partial data cannot be associated and matched, and efficient management and application of the data cannot be realized. The spatial distribution of the pipeline has obvious linear characteristics, generally, a linear reference means is adopted in the process of constructing a model to describe the spatial position of an object in a pipeline system, the most important object forming a pipeline body in the model is a pipeline central line, which is called a pipeline central line for short, and the pipeline central line is often used as the basis of data matching, GIS display and characteristic positioning in the pipeline management process.
Optionally, longitude and latitude information of the specified pipeline is acquired, a geographic data model of the pipeline can be acquired, the geographic data model is projected to a cartesian coordinate system according to gaussian forward calculation, a plan view of the pipeline model is acquired, namely a pipeline central line is acquired, and then a plurality of core points p1, p2, p3 and pn are manually and randomly arranged along the pipeline central line in sequence.
The geographic data model is a data model for representing geographic information by adopting a standard relational database technology, and supports the storage and management of the geographic information in a standard database management system table. Gaussian normal calculation is to solve Gaussian plane coordinates according to geodetic coordinates, namely a Gaussian plane coordinate system is a Cartesian coordinate system.
It should be noted that the coordinates referred to in the embodiments of the present application may all be based on a cartesian coordinate system.
And S11, forming a continuous planning area according to the coordinate information of each core point and the radius corresponding to each core point.
Fig. 2 is a schematic diagram of forming a continuous planning region according to an embodiment of the present application, and as shown in fig. 2, a core point starting point p1 is set along a centerline of a pipeline on a pipeline 10, and a plurality of core points p2, p3, and. The plurality of core points may be randomly arranged, or may be arranged according to a preset rule, such as a given step interval or an indefinite step interval, which is not limited herein.
The radii corresponding to the plurality of core points may be acquired by other acquisition instruments, which are not specifically limited herein, and then a continuous planning region 11 is formed according to the coordinate information of each core point and the radii R1, R2, ·.
And S12, calculating the deviation between each preset key point and the pipeline in the planning area by adopting a preset algorithm.
Fig. 3 is a schematic diagram of a plurality of preset key points set in a planning region according to an embodiment of the present application, as shown in fig. 3, a plurality of key points k1, k2, k3, k4, a.
After the preset key points in the planned area are determined, a preset algorithm can be used to calculate the deviation between each preset key point in the planned area and the pipeline, for example, the deviation number can be used to calculate the deviation between each preset key point in the planned area and the pipeline, and the preset algorithm can be specifically set according to the actual situation, which is not limited to this.
After the deviation number is calculated, if the calculated deviation number is equal to or less than 0, indicating that the preset key point is in the pipeline, and keeping the preset key point as the inspection point, and if the deviation number is more than 0, indicating that the preset key point is outside the pipeline, and rejecting the preset key point, so that inspection points which are uniformly distributed on the pipeline can be obtained, and the accuracy of the inspection result is improved.
To sum up, the pipeline inspection point deviation degree obtaining method provided by the embodiment of the application can set up a plurality of core points on the pipeline middle line according to the preset rules, form a continuous planning area according to the coordinate information of each core point and the corresponding radius of each core point, adopt the preset algorithm, calculate the deviation of each preset key point and pipeline in the planning area, analyze and determine whether the preset key point is evenly distributed according to the deviation, wherein, the key point is the inspection point, the inspection point that can obtain evenly distributed is realized, and the accuracy of the inspection result is improved.
Fig. 4 is a schematic flow chart of a method for calculating deviations between preset key points and pipelines in a planned area according to an embodiment of the present application, and as shown in fig. 4, a preset algorithm is used to calculate deviations between the preset key points and the pipelines in the planned area, and the specific steps are as follows:
and S20, determining a buffering surface with a preset width by taking the central line of the pipeline as an axis.
Specifically, with the pipeline central line that acquires as the axis, furtherly, set up preset width along the pipeline central line, this preset width can be the diameter of this pipeline, also can be greater than or be less than the diameter of this pipeline, this preset width can be set up according to actual conditions demand is nimble specifically, assume, the preset width that sets up is the diameter of pipeline, then the buffering face of confirming according to presetting the width is just equivalent to the cross section of this pipeline, if the preset width that sets up is greater than the diameter of this pipeline, then the buffering face of confirming is just greater than the cross section of this pipeline, according to actual conditions demand also confirms the environmental information around the pipeline promptly, if the preset width that sets up is less than the diameter of this pipeline again, then the buffering face of confirming is just limited on this pipeline, need not go to confirm the regional information in this pipeline boundary.
And S21, calculating the minimum distance between each preset key point in the planning area and the edge of the buffer surface.
Assuming that the preset width is W and the edge of the buffer surface is H, the method comprises the following steps of setting a plurality of key points in the planning area: k1, k2, k3, k4, and k.a., and k n, and calculating the vertical distances H1, H2, … and Hn information corresponding to the key points k1, k2, k3, k4, and k.a.. a., and k n to the edge H of the buffer surface respectively. The minimum distance is generally a vertical distance, the vertical distance from each key point to the edge of the buffer surface is calculated according to a Euclidean distance formula, the vertical distance Hi corresponding to the key point ki inside the buffer surface is a negative value, the vertical distance Hj corresponding to the key point kj outside the buffer surface is a positive value, and after the vertical distances from the key points to the edge H of the buffer surface are respectively calculated, the vertical distances are used as the minimum distances from preset key points in the planning area to the edge of the buffer surface.
And S22, determining the deviation between each preset key point and the pipeline according to the minimum distance.
Fig. 5 is a schematic diagram of determining a deviation between each preset key point and a pipeline according to an embodiment of the present application, and as shown in fig. 5, after a minimum distance between each preset key point and an edge of a buffer surface in a planned area is obtained, the deviation between each preset key point and the pipeline may be determined according to minimum distance information. The obtained minimum distances H1, H2, H3, H4, … and Hn may be sequentially added to obtain the deviation between each preset key point and the pipeline, so as to analyze and determine whether the preset key points are uniformly distributed according to the deviation.
Optionally, the forming a continuous planning area according to the coordinate information of each core point and the radius corresponding to each core point includes: forming a plurality of intersected areas according to the coordinate information of each core point and the radius corresponding to each core point; and forming continuous planning areas according to the intersection points of the areas.
Specifically, as shown in fig. 3, a plurality of intersecting regions (for example, a plurality of intersecting circles shown in fig. 3) are formed on the pipeline 10 according to a plurality of core points p1, p2, p3, and radii R1, R2, and radii R3526, R2, and R.
Fig. 6 is a schematic flow chart of a method for acquiring a pipeline inspection point according to an embodiment of the present application, and as shown in fig. 6, before calculating a deviation between each preset key point and a pipeline in a planned area by using a preset algorithm, the method further includes the following steps:
and S40, judging whether the number of the preset key points is larger than a preset threshold value.
After a plurality of preset key points are set in the planning area, a preset threshold (for example, the minimum sample point number MinPointCnt) is set in advance, and whether the number of the key points in the planning area is larger than the preset threshold is calculated in a circulating manner.
And S41, if the deviation is larger than the preset threshold, eliminating the preset key points exceeding the preset threshold according to the deviation, and remaining the preset key points with the preset threshold.
For example, 10 key points are set in the region, the preset threshold is 3, then, whether the number of the key points in the region is greater than the preset threshold is judged, that is, 10>3, further, the deviation between the 10 key points and the pipeline is obtained, and the preset key points exceeding the preset threshold are removed according to the deviation from large to small, that is, 7 key points are removed. Further, the preset threshold value in the area can be continuously adjusted, and the remaining key points are key points uniformly distributed on the pipeline, namely, the remaining key points are used as inspection points on the pipeline.
Optionally, a plurality of core points are provided on the pipeline centerline, including: and sequentially determining a plurality of core points on the pipeline middle line according to a preset starting point and the corresponding radius of each core point.
In the specific implementation process, a circle Cj-1 formed by the core point pj-1 and the corresponding radius Rj-1 and neighborhoods connected between the core point pj and the circle Cj formed by the corresponding radius Rj are used, continuous neighborhoods are connected to form a planning area C, all the core points and the corresponding radii are projected into a cartesian coordinate system according to the gaussian normal calculation, a plurality of circles formed by the core points and the corresponding radii of the core points can be formed, and a plurality of core points can be sequentially determined according to a preset starting point and the corresponding radii of the core points.
For example, a starting point of the core point, i.e., a first core point p1, is first set on the pipeline centerline, a starting point circle centered on the core point p1 is formed according to a radius R1 (visual mileage value) corresponding to p1 and is marked as C1, a second core point p2 is then set according to C1 and based on a point of intersection with C1 in the pipeline centerline direction, and a distance less than or equal to the next R2 and a mileage in the pipeline centerline direction, a second circle centered on the core point p2 and having a radius R2 is formed according to the current R2 and is marked as C2, a third core point p3 is then set according to C2 and based on a point of intersection with C2 in the pipeline centerline direction and a distance less than or equal to the next R3 and a mileage in the pipeline centerline direction, and so on.
The radii R1, R2,. and Rn corresponding to the core points, i.e., the visual mileage values, may be obtained by a total station, but not limited thereto.
In summary, in the method for acquiring deviation degrees of inspection points of a pipeline provided in the embodiments of the present invention, a plurality of core points are set on a pipeline centerline according to a preset rule, a continuous planning region is formed according to coordinate information of each core point and a radius corresponding to each core point, whether the number of the preset key points is greater than a preset threshold is determined, if yes, the preset key points exceeding the threshold are removed, and the remaining preset key points meeting the preset threshold are calculated by using a preset algorithm, so that whether the preset key points are uniformly distributed can be determined according to the deviation, and then the inspection points uniformly distributed can be acquired, thereby improving accuracy of the inspection result.
Fig. 7 is a schematic structural diagram of a device for acquiring deviation degree of a pipeline inspection point according to an embodiment of the present application; it should be noted that the basic principle and the generated technical effect of the inspection point deviation degree obtaining device 700 provided in the present embodiment are the same as those of the corresponding method embodiments described above, and for a brief description, the corresponding contents in the method embodiments may be referred to for the parts not mentioned in the present embodiment. The device 700 for acquiring deviation degree of pipeline inspection points comprises a setting module S701, a processing module S702 and a calculating module S703.
The setting module S701 is configured to set a plurality of core points on a pipeline centerline according to a preset rule.
The processing module S702 is configured to form a continuous planning area according to the coordinate information of each core point and the radius corresponding to each core point.
The calculating module S703 is configured to calculate, by using a preset algorithm, a deviation between each preset key point and a pipeline in the planned area.
Optionally, the calculating module S703 is specifically configured to:
determining a buffering surface with a preset width by taking a pipeline center line as an axis;
calculating the minimum distance between each preset key point in the planning area and the edge of the buffer surface;
and determining the deviation between each preset key point and the pipeline according to the minimum distance.
Optionally, the processing module S702 is specifically configured to:
forming a plurality of intersected areas according to the coordinate information of each core point and the radius corresponding to each core point;
and forming continuous planning areas according to the intersection points of the areas.
Optionally, fig. 8 is a schematic structural diagram of another device for acquiring deviation degree of a pipeline inspection point according to an embodiment of the present application; as shown in fig. 8, the apparatus 700 further includes: the analysis module S704 is specifically configured to:
judging whether the number of the preset key points is larger than a preset threshold value or not;
if the deviation is larger than the preset threshold, the preset key points exceeding the preset threshold are removed according to the deviation, and the preset key points with the preset threshold are remained.
Optionally, the setting module S701 is specifically configured to:
and sequentially determining a plurality of core points on the pipeline middle line according to a preset starting point and the corresponding radius of each core point.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 9 is a schematic diagram of another apparatus for acquiring deviation degree of a pipeline inspection point according to an embodiment of the present disclosure, where the apparatus may be integrated in a terminal device or a chip of the terminal device, and the terminal may be a computing device with a data processing function. The device includes: a processor 901, a memory 902.
The memory 902 is used for storing programs, and the processor 901 calls the programs stored in the memory 902 to execute the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present invention also provides a storage medium, for example a computer-readable storage medium, comprising a program which, when executed by a processor, is adapted to perform the above-described method embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (10)
1. A method for acquiring deviation degree of pipeline inspection points is characterized by comprising the following steps:
setting a plurality of core points on the central line of the pipeline according to a preset rule;
forming a continuous planning area according to the coordinate information of each core point and the radius corresponding to each core point;
and calculating the deviation between each preset key point in the planning area and the pipeline by adopting a preset algorithm.
2. The method of claim 1, wherein calculating the deviation of each predetermined key point in the planned area from the pipeline using a predetermined algorithm comprises:
determining a buffering surface with a preset width by taking the central line of the pipeline as an axis;
calculating the minimum distance between each preset key point in the planning area and the edge of the buffer surface;
and determining the deviation between each preset key point and the pipeline according to the minimum distance.
3. The method of claim 1, wherein forming a continuous planning region based on the coordinate information of each of the core points and the radius corresponding to each of the core points comprises:
forming a plurality of intersected areas according to the coordinate information of each core point and the radius corresponding to each core point;
and forming the continuous planning area according to the intersection point of the areas.
4. The method of claim 1, wherein before calculating the deviation of each predetermined key point in the planned area from the pipeline using the predetermined algorithm, the method further comprises:
judging whether the number of the preset key points is larger than a preset threshold value or not;
if the deviation is larger than the preset threshold, eliminating preset key points exceeding the preset threshold according to the deviation, and remaining the preset key points of the preset threshold.
5. The method of claim 1, wherein the setting a plurality of core points on the pipeline centerline according to a predetermined rule comprises:
and sequentially determining a plurality of core points on the pipeline middle line according to a preset starting point and the corresponding radius of each core point.
6. The utility model provides a pipeline patrols and examines some deviation degree acquisition device which characterized in that, the device includes: the device comprises a setting module, a processing module and a calculating module;
the setting module is used for setting a plurality of core points on the pipeline center line according to a preset rule;
the processing module is used for forming a continuous planning area according to the coordinate information of each core point and the radius corresponding to each core point;
the calculation module is used for calculating the deviation between each preset key point in the planning area and the pipeline by adopting a preset algorithm.
7. The apparatus of claim 6, wherein the computing module is specifically configured to:
determining a buffering surface with a preset width by taking the central line of the pipeline as an axis;
calculating the minimum distance between each preset key point in the planning area and the edge of the buffer surface;
and determining the deviation between each preset key point and the pipeline according to the minimum distance.
8. The apparatus of claim 6, wherein the processing module is specifically configured to:
forming a plurality of intersected areas according to the coordinate information of each core point and the radius corresponding to each core point;
and forming the continuous planning area according to the intersection point of the areas.
9. A processing device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, when a processing device runs, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to execute the pipeline patrol point deviation degree acquisition method according to any one of claims 1 to 5.
10. A storage medium having stored thereon a computer program which, when executed by a processor, executes the method for acquiring a deviation degree of a pipeline patrol point according to any one of claims 1 to 5.
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