CN111412884A - Three-dimensional information recovery method based on attitude information - Google Patents
Three-dimensional information recovery method based on attitude information Download PDFInfo
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Abstract
The embodiment of the invention discloses a three-dimensional information recovery method based on attitude information, which comprises the following steps: step 100, establishing a section equation of the pipeline, and running a detector along the laying direction of the pipeline to obtain measurement data; 200, modeling the pipeline based on the measurement data, establishing a two-dimensional section shape of the pipeline, and obtaining a three-dimensional model through extension of the two-dimensional section shape; step 300, checking a three-dimensional model of the pipeline by combining the direction of the central axis of the pipeline and the running attitude information of the detector to determine the type and the circumferential position of deformation; the invention can accurately acquire the three-dimensional information of the deformation point of the pipeline by measuring and quantitatively analyzing the deformation of the pipeline in the pipeline under the condition of not damaging ground covering soil, monitor the development situation of the deformation of the pipeline, and take effective measures before the pipeline is subjected to malignant deformation to avoid pipeline safety accidents.
Description
Technical Field
The embodiment of the invention relates to the technical field of pipeline detection, in particular to a three-dimensional information recovery method based on attitude information.
Background
The ideal cross section of the pipeline is circular, and the cross section of the pipeline can be changed into an irregular shape after deformation, and the pipeline can be protruded or sunken. The existing deformation detection technology of the underground pipeline can only detect the cross section of the pipeline with deformation, and cannot detect the specific position and the deformation value of the deformation on the cross section.
Furthermore, existing pipes have a large number of curved non-straight sections for various reasons, for which it is more difficult to determine whether the pipe has been deformed or broken and other connections due to changes in its parameters.
Therefore, in the prior art measurement technique, the following problems are considered in an important way: (1) the central axis of the detector and the central line of the pipeline form a certain angle in a vertical plane, such as the situation that the pipeline goes up and down a slope; (2) the detector passes through a non-flat conduit.
Due to the above problems in the measurement process, the data obtained by directly using the deformation detector to travel through the pipe may cause errors or even failures in the determination and positioning of the deformation.
Disclosure of Invention
Therefore, the embodiment of the invention provides a three-dimensional information recovery method based on attitude information, so as to solve the problem of measurement error or failure caused by an inclination angle or a non-straight pipeline in the prior art.
In order to achieve the above object, an embodiment of the present invention provides the following:
a three-dimensional information recovery method based on attitude information comprises the following steps:
step 100, establishing a section equation of the pipeline, and running a detector along the laying direction of the pipeline to obtain measurement data;
200, modeling the pipeline based on the measurement data, establishing a two-dimensional section shape of the pipeline, and obtaining a three-dimensional model through extension of the two-dimensional section shape;
and 300, checking a three-dimensional model of the pipeline by combining the direction of the central axis of the pipeline and the running attitude information of the detector to determine the type and the circumferential position of the deformation.
As a preferable aspect of the present invention, the measurement data includes attitude information of the detector itself, and specifically includes position information of the detection lever and angle information of the tilt sensor.
As a preferred embodiment of the present invention, the specific method for establishing the section equation in step 100 is as follows:
for a straight pipe, the three-dimensional coordinates O-X-Y-Z are established with the geometric center of the pipe, and the section equation can be established:
x2+y2＝R2，
wherein P (x, y) is the coordinates of the pipe wall and R is the pipe radius.
The non-straight pipeline comprises a center line of the constructed pipeline and a curved surface of the constructed pipeline.
As a preferred scheme of the invention, the specific method for constructing the pipeline center line comprises the following steps:
measuring and acquiring position information from an initial position to a terminal point of a pipeline through a pipeline positioning instrument, and projecting the information onto three coordinate planes of a three-dimensional space;
spline curves on the coordinate planes can be constructed according to the information on the coordinate planes, and then the spline curves on the three coordinate planes are converged to a three-dimensional space to obtain a pipeline central line;
as a preferred scheme of the invention, the specific method for constructing the curved surface of the pipeline comprises the following steps:
and constructing a space circle by taking any point on the center line of the pipeline as the center of a circle and taking the tangential direction of the point as a normal, wherein the radius of the pipeline is the radius of the space circle, and the space circle with the center of the circle on the center line can form the curved surface of the pipeline.
As a preferred scheme of the invention, the specific method for constructing the space circle comprises the following steps:
setting the coordinate of the circle center as (x)i，yi，zi) The radius of the pipeline and the radius of the space circle are R, and the normal vector is li＝(A，B，C)；
The method comprises the following steps of uniquely determining the position of a space circle by adopting a parameter equation:
and theta is an included angle between the central axis of the detector and the central line of the pipeline in a vertical plane.
As a preferred embodiment of the invention, the measuring lever is used for parallel data acquisition at equal mileage intervals, the measuring step length is delta L, and the measured data on a section can be expressed as a1i，2i，…，ki，…，59i，60i}(i＝1,2，…，N)，kiMeasuring the measured value of the kth detection rod on the ith measuring section, wherein N is the number of the measured sections;
the inclination angle sensor carries out data acquisition according to equal mileage intervals, the maximum output frequency is 50Hz, the measurement step length is 17 × delta L, and the detector attitude roll angle data can be expressed as follows:
{θ0,θ1,θ2,…,θn}
θ0is the inclination sensor measurement value of the initial position of the detector, thetanThe total length L of the pipe to be measured is N × Δ L for the tilt sensor measurement at the nth position of the detector.
As a preferred aspect of the present invention, the detection bar of the detector at the initial position is defined as the 1 st detection bar, which is numbered as the 2 nd to 60 th detection bars in sequence counterclockwise, and at the i-th sampling cross section L ═ i × Δ L, the point where the inner wall of the pipeline is detected by each detection bar constructs the geometric shape of the cross section of the inner wall of the pipeline, and a coordinate system with the center of the detector as the origin is established, and the polar coordinates of the top end of each detection bar are:
(k＝1,2,…，60；i＝1,2,…,N；
)
wherein r iskiThe vertical distance from the rod tip to the detector centerline is only detected for the kth cross-section,
on the ith cross section, the kth detects only the polar angle of the rod,
the roll angle of the detector at the jth cross-section sampling.
As a preferred embodiment of the present invention, the specific steps of establishing the two-dimensional cross-sectional shape of the pipeline in step 200 are as follows:
step 201, calculating to obtain the vertical distance between the detection point of the detection rod and the central axis of the detector through the output of the detection rod sensor, and setting the output quantity of each detection rod sensor measured in the ith time as:
i＝{1i，2i，…，ki，…，59i，60i}，
the distance H from the top end of each detection rod to the center line of the detectorkiExpressed as:
wherein Hk() Measuring model of kth detection rod;
step 202, calculating the rectangular coordinates of each detected point of the pipeline wall according to the polar coordinates of the top end of the detection rod:
wherein r iskiThe vertical distance from the rod tip to the detector centerline is only detected for the kth cross-section,
on the ith section, the kth detects the polar angle of the rod only;
and step 203, establishing a rectangular coordinate system with the center of the detector as an origin, and drawing the detected points of the pipeline in the same coordinate plane to form a pipeline inner wall sampling dot matrix. And the two-dimensional section geometric shape of the pipeline is drawn through smoothing treatment between every two adjacent sampling points.
As a preferred aspect of the present invention, in step 300, the specific steps of determining the type and circumferential position of the deformation by looking at the three-dimensional model of the pipe in the direction of the central axis of the pipe are as follows:
step 301, in the ith sampling section, the circle center of a section circle of the inner wall of the pipeline, which is formed by measuring points at the top end of each detection rod, is set to be (x)oi，yoi)：
The distance from the top end of the kth detection rod to the center of the cross section is set to be Rkj：
Step 302, if the radius of the detected pipeline is R, the depth of the deformation of the pipeline is:
Δdki＝|R-Rki|；
the maximum deformation depth is:
Δdm＝max{|R-Rki|}；
if the maximum depth occurrence point of the pipeline deformation is PmnThat is, the position of the rod sample is detected at the m-th sampling section of the n-th sampling section, and the circumferential azimuth angle of the point is as follows:
the embodiment of the invention has the following advantages:
the invention can accurately acquire the three-dimensional information of the deformation point of the pipeline by measuring and quantitatively analyzing the deformation of the pipeline in the pipeline under the condition of not damaging ground covering soil, monitor the development situation of the deformation of the pipeline, and take effective measures before the pipeline is subjected to malignant deformation to avoid pipeline safety accidents.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
Fig. 1 is a block diagram of the structure in the embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a three-dimensional information recovery method based on attitude information, which restores the original shape of a pipe according to a three-dimensional model of the pipe constructed from sensor data, thereby determining whether the pipe is deformed or not, and locating the existing deformation. The detector can complete the construction of the two-dimensional cross section shape of the pipeline once every time the detector collects data, and the complete pipeline model is spliced through the sequence cross sections. Because the deformation system finally positions the geographical coordinates of the deformation of the pipeline by combining the pipeline ground beacon system, after the three-dimensional reconstruction of the pipeline is carried out, the judgment of the distance between the deformation of the pipeline and the detection initial position is only needed to be completed.
The method specifically comprises the following steps:
step 100, establishing a section equation of the pipeline, and running a detector along the pipeline laying direction to obtain measurement data, wherein the measurement data comprises attitude information of the detector, and specifically comprises position information of a detection rod and angle information of an inclination angle sensor;
200, modeling the pipeline based on the measurement data, establishing a two-dimensional section shape of the pipeline, and obtaining a three-dimensional model through extension of the two-dimensional section shape;
and 300, checking the three-dimensional model of the pipeline in the direction of the central axis of the pipeline to determine the type and the circumferential position of the deformation.
The specific method for establishing the section equation in step 100 is as follows:
for a straight pipe, the three-dimensional coordinates O-X-Y-Z are established with the geometric center of the pipe, and the section equation can be established:
x2+y2＝R2，
wherein P (x, y) is the coordinates of the pipe wall and R is the pipe radius.
In the actual pipeline laying, under the influence of geographical environment and position, a large number of bent pipelines exist, and for a non-straight pipeline, the bent pipeline comprises a central line of a constructed pipeline and a curved surface of the constructed pipeline.
The concrete method for constructing the pipeline center line comprises the following steps:
measuring and acquiring position information from an initial position to a terminal point of a pipeline through a pipeline positioning instrument, and projecting the information onto three coordinate planes of a three-dimensional space;
spline curves on the coordinate planes can be constructed according to the information on the coordinate planes, and then the spline curves on the three coordinate planes are converged to a three-dimensional space to obtain a pipeline central line;
the concrete method for constructing the curved surface of the pipeline comprises the following steps:
and constructing a space circle by taking any point on the center line of the pipeline as the center of a circle and taking the tangential direction of the point as a normal, wherein the radius of the pipeline is the radius of the space circle, and the space circle with the center of the circle on the center line can form the curved surface of the pipeline.
The specific method for constructing the space circle comprises the following steps:
setting the coordinate of the circle center as (x)i，yi，zi) The radius of the pipeline and the radius of the space circle are R, and the normal vector is li＝(A，B，C)；
The method comprises the following steps of uniquely determining the position of a space circle by adopting a parameter equation:
and theta is an included angle between the central axis of the detector and the central line of the pipeline in a vertical plane.
The attitude of the equipment when running in the pipeline is an important basis in the three-dimensional modeling process of the pipeline. When the detector runs stably in a straight pipeline, the geometric center line of the detector is parallel to the center line of the pipeline. Since the detector has a large weight, the geometric center line of the detector deviates from the center line of the pipeline due to self sedimentation during operation, and the deviation distance fluctuates dynamically within a small range in the dynamic detection process.
If a pipeline coordinate system with a point on a pipeline central line as an origin is established to reconstruct a pipeline three-dimensional model, errors caused by dynamic changes of deviation distances are introduced. Therefore, the coordinate system of the detector is established by taking one point on the center line of the detector as the origin of the coordinate system, so that the detection precision can be improved, and the coordinate calculation of the pipeline wall measuring point is facilitated. The specific method is as follows:
the measuring lever collects data in parallel at equal mileage intervals, the measuring step length is delta L, and the measured data in one section can be expressed as a1i，2i，…，ki，…，59i，60i}(i＝1,2，…，N)，kiMeasuring the measured value of the kth detection rod on the ith measuring section, wherein N is the number of the measured sections;
the inclination angle sensor carries out data acquisition according to equal mileage intervals, the maximum output frequency is 50Hz, the measurement step length is 17 × delta L, and the detector attitude roll angle data can be expressed as follows:
{θ0,θ1,θ2,…,θn}
θ0is the inclination sensor measurement value of the initial position of the detector, thetanFor the tilt sensor measurement at the nth position of the detector, the total length of the pipe L measured is N × Δ L.
Defining the detection rod of the detector at the initial position as the 1 st detection rod, numbering the 2 nd to 60 th detection rods in turn anticlockwise, constructing the geometric shape of the section of the inner wall of the pipeline by the points of the detection rods, which detect the inner wall of the pipeline, at the ith sampling section L ═ i × Δ L, establishing a coordinate system with the center of the detector as the origin, and the polar coordinates of the top ends of the detection rods are as follows:
(k＝1,2,…，60；i＝1,2,…,N；
)
wherein r iskiThe vertical distance from the rod tip to the detector centerline is only detected for the kth cross-section,
on the ith cross section, the kth detects only the polar angle of the rod,
the roll angle of the detector at the jth cross-section sampling.
The specific steps for establishing the two-dimensional cross-sectional shape of the pipeline in step 200 are as follows:
step 201, calculating to obtain the vertical distance between the detection point of the detection rod and the central axis of the detector through the output of the detection rod sensor, and setting the output quantity of each detection rod sensor measured in the ith time as:
i＝{1i，2i，…，ki，…，59i，60i}，
the distance H from the top end of each detection rod to the center line of the detectorkiExpressed as:
wherein Hk() Measuring model of kth detection rod;
step 202, calculating the rectangular coordinates of each detected point of the pipeline wall according to the polar coordinates of the top end of the detection rod:
wherein r iskiThe vertical distance from the rod tip to the detector centerline is only detected for the kth cross-section,
on the ith section, the kth detects the polar angle of the rod only;
and step 203, establishing a rectangular coordinate system with the center of the detector as an origin, and drawing the detected points of the pipeline in the same coordinate plane to form a pipeline inner wall sampling dot matrix. And the two-dimensional section geometric shape of the pipeline is drawn through smoothing treatment between every two adjacent sampling points.
The three-dimensional prototype of the pipeline is drawn through the three-dimensional reconstruction of the pipeline, whether the pipeline deforms or not can be visually judged, and the mileage position and the circumferential position of the deformation of the pipeline are determined. According to the three-dimensional reconstruction concept of the pipeline, the three-dimensional pipeline takes the two-dimensional section of the pipeline as a basis, the position information of the two-dimensional section in the whole pipeline is increased, and the shape of the measured three-dimensional pipeline is restored. The sampling of the two-dimensional section shape of the pipeline is equal-interval sampling, and the two-dimensional sections obtained by sampling are arranged and spliced at equal intervals according to a sampling time sequence and are restored into a three-dimensional model of the pipeline.
In general, the pipeline to be tested includes characteristic regions such as recesses, protrusions, girth welds, and tees, in addition to most straight pipeline sections. The characteristic region of the pipe can be identified by the measurement data of the detector, and the concave-convex deformation in the pipe can be positioned.
The sunken and protruding of pipeline is different from normal straight pipeline section position, and the detector passes through, can cause the measuring value of test rod to take place great change. Therefore, the detection method specifically comprises the steps of firstly adopting a three-dimensional modeling algorithm of the pipeline, establishing a three-dimensional model of the pipeline according to the measurement data, and carrying out visualization processing on the measurement data of the detector.
By the three-dimensional geometric model of the pipeline, whether the pipeline deforms or not can be preliminarily judged, and the deformation part of the pipeline still needs to be further analyzed and calculated so as to determine deformation information such as deformation depressions or bulges, the maximum deformation depth, the deformation position, the deformation area and the like.
The specific steps of determining the type and the circumferential position of the deformation by looking up the three-dimensional model of the pipeline in the direction of the central axis of the pipeline are as follows:
step 301, in the ith sampling section, the circle center of a section circle of the inner wall of the pipeline, which is formed by measuring points at the top end of each detection rod, is set to be (x)oi，yoi)：
The distance from the top end of the kth detection rod to the center of the cross section is set to be Rkj：
Step 302, if the radius of the detected pipeline is R, the depth of the deformation of the pipeline is:
Δdki＝|R-Rki|；
the maximum deformation depth is:
Δdm＝max{|R-Rki|}；
if the maximum depth occurrence point of the pipeline deformation is PmnThat is, the position of the rod sample is detected at the m-th sampling section of the n-th sampling section, and the circumferential azimuth angle of the point is as follows:
the mileage position of the pipeline deformation is determined through the deformation gathering point, but in order to visually reflect the position and the deformation degree of the deformation, the mileage position is realized through the measuring track of the detection rod during data processing. Because the detector passes through when straight section position pipeline, the measuring rod top is at the steady slip of pipeline wall, and the dynamic measurement value of measuring rod sensor output is relatively stable, but can take place the jump when passing through the characteristic region. Therefore, the measuring track curve of a single detection rod can well reflect the characteristic area of the pipeline.
And finishing drawing a measuring track curve of the detection rod according to the measuring data. Since the roll attitude of the detector changes slowly during travel, the measured value of the detection rod at the straight section position also changes slowly. When the pipeline passes through the pipeline sunken area, the measured values of a plurality of adjacent detection rods are greatly changed, and the measurement track curve is obviously different from other positions.
The tee pipe is a connector for connecting pipelines, is used at the position where a branch pipe or a branch pipe of a main pipeline is merged into a main pipe, and is generally a tee pipe with the same diameter. When the deformation detector passes through the tee joint, the measured data is similar to the convex deformation. In order to distinguish the three-way pipe from the convex deformation, the ground mark of the combined pipe is compared with the position of the three-way pipe, and the matched three-way pipe is the three-way pipe, otherwise, the convex deformation of the pipe is the convex deformation of the pipe. The circumferential azimuth angle, the length and the width of the pipeline tee joint, the analysis algorithm and the concave-convex deformation of the pipeline are the same, and the description is omitted here.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A three-dimensional information recovery method based on attitude information is characterized by comprising the following steps:
step 100, establishing a section equation of the pipeline, and running a detector along the laying direction of the pipeline to obtain measurement data;
200, modeling the pipeline based on the measurement data, establishing a two-dimensional section shape of the pipeline, and obtaining a three-dimensional model through extension of the two-dimensional section shape;
and 300, checking a three-dimensional model of the pipeline by combining the direction of the central axis of the pipeline and the running attitude information of the detector to determine the type and the circumferential position of the deformation.
2. The method for three-dimensional information recovery based on attitude information of claim 1, wherein the measurement data includes attitude information of the detector itself, and is specifically composed of position information of the detection bar and angle information of the tilt sensor.
3. The three-dimensional information recovery method based on attitude information according to claim 1, wherein the section equation is established in step 100 by a specific method comprising:
for a straight pipe, the three-dimensional coordinates O-X-Y-Z are established with the geometric center of the pipe, and the section equation can be established:
x2+y2＝R2，
wherein P (x, y) is the coordinates of the pipeline wall, and R is the pipeline radius;
the non-straight pipeline comprises a center line of the constructed pipeline and a curved surface of the constructed pipeline.
4. The three-dimensional information recovery method based on attitude information as claimed in claim 3, wherein the concrete method for constructing the pipeline central line is as follows:
measuring and acquiring position information from an initial position to a terminal point of a pipeline through a pipeline positioning instrument, and projecting the information onto three coordinate planes of a three-dimensional space;
spline curves on the coordinate planes can be constructed according to the information on the coordinate planes, and then the spline curves on the three coordinate planes are converged to a three-dimensional space to obtain a pipeline central line.
5. The three-dimensional information recovery method based on attitude information as claimed in claim 4, wherein the concrete method for constructing the curved surface of the pipeline is as follows:
and constructing a space circle by taking any point on the center line of the pipeline as the center of a circle and taking the tangential direction of the point as a normal, wherein the radius of the pipeline is the radius of the space circle, and the space circle with the center of the circle on the center line can form the curved surface of the pipeline.
6. The three-dimensional information recovery method based on attitude information according to claim 5, wherein the specific method for constructing the space circle is as follows:
setting the coordinate of the circle center as (x)i，yi，zi) The radius of the pipeline and the radius of the space circle are R, and the normal vector is li＝(A，B，C)；
The method comprises the following steps of uniquely determining the position of a space circle by adopting a parameter equation:
and theta is an included angle between the central axis of the detector and the central line of the pipeline in a vertical plane.
7. A three-dimensional information recovery method based on pose information according to claim 2, wherein the measuring stick collects data in parallel at equal mileage intervals, the measuring step is Δ L, and the measured data on a cross section can be expressed as a1i，2i，…，ki，…，59i，60i}(i＝1,2，…，N)，kiMeasuring the measured value of the kth detection rod on the ith measuring section, wherein N is the number of the measured sections;
the inclination angle sensor carries out data acquisition according to equal mileage intervals, the maximum output frequency is 50Hz, the measurement step length is 17 × delta L, and the detector attitude roll angle data can be expressed as follows:
θ0is the inclination sensor measurement value of the initial position of the detector, thetanThe total length L of the pipe to be measured is N × Δ L for the tilt sensor measurement at the nth position of the detector.
8. The method of claim 7, wherein the test bar of the detector at the initial position is defined as the 1 st test bar, and the test bars are numbered from 2 nd to 60 th test bar in sequence counterclockwise, and at the i-th sampling section L ═ i × Δ L, the point where the inner wall of the pipeline is detected by each test bar constructs the geometry of the section of the inner wall of the pipeline, and a coordinate system with the center of the detector as the origin is established, and the polar coordinates of the top end of each test bar are:
wherein r iskiThe vertical distance from the rod tip to the detector centerline is only detected for the kth cross-section,
on the ith cross section, the kth detects only the polar angle of the rod,
the roll angle of the detector at the jth cross-section sampling.
9. The method for recovering three-dimensional information based on pose information according to claim 8, wherein the specific steps of establishing the two-dimensional cross-sectional shape of the pipeline in step 200 are as follows:
step 201, calculating to obtain the vertical distance between the detection point of the detection rod and the central axis of the detector through the output of the detection rod sensor, and setting the output quantity of each detection rod sensor measured in the ith time as:
i＝{1i，2i，…，ki，…，59i，60i}，
the distance H from the top end of each detection rod to the center line of the detectorkiExpressed as:
wherein Hk() Measuring model of kth detection rod;
step 202, calculating the rectangular coordinates of each detected point of the pipeline wall according to the polar coordinates of the top end of the detection rod:
wherein r iskiThe vertical distance from the rod tip to the detector centerline is only detected for the kth cross-section,
on the ith section, the kth detects the polar angle of the rod only;
step 203, establishing a rectangular coordinate system with the center of the detector as an origin, and drawing detected points of the pipeline in the same coordinate plane to form a pipeline inner wall sampling dot matrix; and the two-dimensional section geometric shape of the pipeline is drawn through smoothing treatment between every two adjacent sampling points.
10. The method for three-dimensional information recovery based on pose information of claim 1, wherein in step 300, the specific steps of determining the type and circumferential position of deformation by looking at the three-dimensional model of the pipe in the direction of the central axis of the pipe are:
step 301, in the ith sampling section, the circle center of a section circle of the inner wall of the pipeline, which is formed by measuring points at the top end of each detection rod, is set to be (x)oi，yoi)：
The distance from the top end of the kth detection rod to the center of the cross section is set to be Rkj：
Step 302, if the radius of the detected pipeline is R, the depth of the deformation of the pipeline is:
Δdki＝|R-Rki|；
the maximum deformation depth is:
Δdm＝max{|R-Rki|}；
if the maximum depth occurrence point of the pipeline deformation is PmnThat is, the position of the rod sample is detected at the m-th sampling section of the n-th sampling section, and the circumferential azimuth angle of the point is as follows:
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| CN113223177A (en) * | 2021-05-12 | 2021-08-06 | 武汉中仪物联技术股份有限公司 | Pipeline three-dimensional model construction method and system based on standard attitude angle correction |
| CN113223175A (en) * | 2021-05-12 | 2021-08-06 | 武汉中仪物联技术股份有限公司 | Method and system for constructing three-dimensional nonlinear model of pipeline based on true attitude angle |
| CN113932762A (en) * | 2021-10-19 | 2022-01-14 | 广东电网有限责任公司 | Cable deformation measuring method and device and computer storage medium |
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