CN113223176A - Method and device for acquiring multi-dimensional pipeline characteristic parameters - Google Patents
Method and device for acquiring multi-dimensional pipeline characteristic parameters Download PDFInfo
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Abstract
The invention provides a method and a device for acquiring multi-dimensional pipeline characteristic parameters, wherein the method comprises the following steps: acquiring a point cloud data sequence of a pipeline section of a target pipeline; establishing a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence; establishing a two-dimensional chromatogram of the target pipeline according to the distance between the laser radar and the scanning point in the point cloud data sequence and the ratio relation between the distance and the color index; establishing a first mapping relation between pixel points of the two-dimensional chromatogram and three-dimensional points in the three-dimensional point cloud model; acquiring pixel point information of a polygon region selected in the two-dimensional chromatogram; obtaining three-dimensional point information of a selected three-dimensional structure corresponding to the polygonal area in the three-dimensional point cloud model according to the pixel point information of the polygonal area and the mapping relation; and obtaining the characteristic parameters of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure. The method has high calculation efficiency and high accuracy on the characteristic parameters of the selected structure of the pipeline, and the selection mode of the selected structure of the pipeline is simple.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a method and a device for acquiring multi-dimensional pipeline characteristic parameters.
Background
In pipeline inspection, the pipeline is usually modeled in three dimensions and then analyzed for a specified structure (e.g., a defect structure) in the three-dimensional model of the pipeline.
In the related art, it is cumbersome to operate the specified structure in the three-dimensional view of the pipeline, and because the three-dimensional view of the pipeline only shows a part at one viewing angle, if the selected specified structure part includes a partial structure at the current viewing angle and partial structures at other viewing angles, it is necessary to select while adjusting the viewing angle. In addition, since the pipe is curved, the lines for selecting the structure on the three-dimensional diagram of the pipe need to be curved along with the surface of the three-dimensional pipe, and the calculation of the characteristic parameters of the selected structure is very complicated.
Disclosure of Invention
The invention provides a method and a device for acquiring multi-dimensional pipeline characteristic parameters, which are used for solving the defects that the operation of a specified area in a pipeline three-dimensional graph is complicated and the calculation of the characteristic parameters of a selected structure is very complicated in the related technology, realizing the rapid selection of the specified structure in the pipeline three-dimensional graph and realizing the simple calculation of the characteristic parameters of the specified structure.
The invention provides a method for acquiring multi-dimensional pipeline characteristic parameters, which comprises the following steps: acquiring a point cloud data sequence of a target based on a radar ranging method; the point cloud data sequence comprises a plurality of groups of point cloud data, wherein each group of point cloud data represents a group of distance values obtained after a radar at the current measuring position scans and measures distance of a plurality of scanning points on the inner circumference of the target pipeline; establishing a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence; determining a measurement radius of each scanning point according to the point cloud data sequence, and establishing a two-dimensional chromatogram of the target pipeline based on a preset relationship between the measurement radius and the color index; establishing a first mapping relation between the pixel points of the two-dimensional chromatogram and the three-dimensional points in the three-dimensional point cloud model; acquiring pixel point information of a polygon region selected in the two-dimensional chromatogram; obtaining three-dimensional point information of a selected three-dimensional structure corresponding to the polygonal area in the three-dimensional point cloud model according to the pixel point information of the polygonal area and the mapping relation; and obtaining the characteristic parameters of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure.
According to the method for acquiring the multi-dimensional pipeline characteristic parameters, before acquiring the pixel point information of the polygonal area selected in the two-dimensional chromatogram, the method further comprises the following steps: acquiring a panoramic image of the inner wall of the target pipeline; establishing a two-dimensional live-action plane expansion diagram of the target pipeline based on the panoramic image; establishing a second mapping relation between pixel points in the two-dimensional real scene plane expanded image and pixel points of the two-dimensional chromatogram; establishing a third mapping relation between the pixel points in the two-dimensional live-action plane expansion image and the three-dimensional points in the three-dimensional point cloud model; and according to a selection instruction and a movement instruction of the three-dimensional point cloud model or the two-dimensional chromatogram or the two-dimensional live-action plane expansion map, selecting a corresponding area and moving a corresponding scale on the two-dimensional chromatogram and the two-dimensional live-action plane expansion map, or the three-dimensional point cloud model and the two-dimensional chromatogram.
According to the method for acquiring the multi-dimensional pipeline characteristic parameters, after the two-dimensional real scene plane expansion diagram of the target pipeline is established based on the panoramic image, the method further comprises the following steps: displaying the two-dimensional live-action plane expansion diagram; receiving a local amplification instruction of a specified area of a two-dimensional live-action plane expansion diagram; and carrying out local amplification on the specified area of the two-dimensional live-action plane expansion map according to the local amplification instruction.
According to the method for acquiring the characteristic parameters of the multi-dimensional pipeline, provided by the invention, the point cloud data sequence of the target pipeline is acquired, and the method comprises the following steps: acquiring point cloud data at a plurality of measurement positions at equal intervals along the extension direction of the target pipeline; and sequencing the point cloud data according to the sequence of the plurality of measuring positions to obtain the point cloud data sequence.
According to the method for acquiring the characteristic parameters of the multi-dimensional pipeline provided by the invention, the characteristic parameters of the selected three-dimensional structure are obtained according to the three-dimensional point information of the selected three-dimensional structure, and the method comprises the following steps:
sequencing all three-dimensional points included by the selected three-dimensional structure according to the measurement sequence of scanning points in the corresponding point cloud data to obtain a three-dimensional point set of the selected three-dimensional structure on a plurality of pipeline cross sections; calculating the area of the selected three-dimensional structure on a plurality of pipeline cross sections according to the three-dimensional point set; and accumulating the occupied areas of the selected three-dimensional structure on the plurality of pipeline cross sections to obtain the volume of the selected three-dimensional structure.
The method for acquiring the multi-dimensional pipeline characteristic parameters further comprises the following steps: acquiring the total number of pixel points contained in the two-dimensional chromatogram by the polygonal area; and obtaining the surface area of the selected three-dimensional structure according to the relationship among the total number of the pixel points, the pixel points and the real point coordinates.
According to the method for acquiring the multi-dimensional pipeline characteristic parameters, after the three-dimensional point information of the selected three-dimensional structure corresponding to the polygonal area in the three-dimensional point cloud model is obtained according to the pixel point information of the polygonal area and the mapping relation, the method further comprises the following steps: and labeling the selected three-dimensional structure in the three-dimensional point cloud model.
The invention also provides a device for acquiring the multi-dimensional pipeline characteristic parameters, which comprises: the point cloud data sequence acquisition module is used for acquiring a point cloud data sequence of a target based on a radar ranging method; the point cloud data sequence comprises a plurality of groups of point cloud data, wherein each group of point cloud data represents a group of distance values obtained after a radar at the current measuring position scans and measures distance of a plurality of scanning points on the inner circumference of the target pipeline; the three-dimensional point cloud model establishing module is used for establishing a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence; the two-dimensional chromatogram establishing module is used for determining the measuring radius of each scanning point according to the point cloud data sequence and establishing the two-dimensional chromatogram of the target pipeline based on the relation between the preset measuring radius and the color index; the mapping relation establishing module is used for establishing a first mapping relation between the pixel point of the two-dimensional chromatogram and a three-dimensional point in the three-dimensional point cloud model; the pixel point information acquisition module is used for acquiring pixel point information of a polygon area selected in the two-dimensional chromatogram; the three-dimensional point information acquisition module is used for acquiring three-dimensional point information of a selected three-dimensional structure corresponding to the polygonal area in the three-dimensional point cloud model according to the pixel point information of the polygonal area and the mapping relation; and the characteristic parameter acquisition module is used for acquiring the characteristic parameters of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure.
The device for acquiring the multi-dimensional pipeline characteristic parameters provided by the invention further comprises: the panoramic image acquisition module is used for acquiring a panoramic image of the inner wall of the target pipeline; the two-dimensional live-action plane expansion map establishing module is used for establishing a two-dimensional live-action plane expansion map of the target pipeline based on the panoramic image; the instruction operation module is used for selecting corresponding areas and moving corresponding scales on the two-dimensional chromatogram map and the two-dimensional live-action plane expanded view, or the three-dimensional point cloud model and the two-dimensional live-action plane expanded view according to a selected instruction and a moving instruction of the three-dimensional point cloud model or the two-dimensional chromatogram map or the two-dimensional live-action plane expanded view; the mapping relation establishing module is further used for establishing a second mapping relation between the pixel points in the two-dimensional real scene plane expanded image and the pixel points of the two-dimensional chromatogram, and establishing a third mapping relation between the pixel points in the two-dimensional real scene plane expanded image and the three-dimensional points in the three-dimensional point cloud model.
The device for acquiring the multi-dimensional pipeline characteristic parameters provided by the invention further comprises: the display module is used for displaying the two-dimensional live-action plane expansion diagram; and the local amplification module is used for receiving a local amplification instruction for the specified area of the two-dimensional real scene plane expansion map and carrying out local amplification on the specified area of the two-dimensional real scene plane expansion map according to the local amplification instruction.
According to the device for acquiring the multi-dimensional pipeline characteristic parameters, the point cloud data sequence acquisition module is used for acquiring point cloud data at a plurality of measurement positions at equal intervals along the extension direction of the target pipeline; and sequencing the point cloud data according to the sequence of the plurality of measuring positions to obtain the point cloud data sequence.
According to the device for acquiring the multi-dimensional pipeline characteristic parameters, provided by the invention, the characteristic parameter acquisition module is used for sequencing all three-dimensional points included by the selected three-dimensional structure according to the measurement sequence of scanning points in corresponding point cloud data to obtain a three-dimensional point set of the selected three-dimensional structure on a plurality of pipeline sections; the characteristic parameter acquisition module is also used for calculating the occupied area of the selected three-dimensional structure on a plurality of pipeline cross sections according to the three-dimensional point set; the characteristic parameter acquisition module is further used for accumulating the occupied area of the selected three-dimensional structure on a plurality of pipeline cross sections to obtain the volume of the selected three-dimensional structure.
According to the device for acquiring the multi-dimensional pipeline characteristic parameters, provided by the invention, the characteristic parameter acquisition module is further used for acquiring the total number of pixel points contained in the two-dimensional chromatogram map of the polygonal area and acquiring the surface area of the selected three-dimensional structure according to the relationship among the total number of the pixel points, the pixel points and the real point coordinates.
According to the device for acquiring the multi-dimensional pipeline characteristic parameters, the display module is further used for marking the selected three-dimensional structure in the three-dimensional point cloud model so as to realize highlight display.
The invention further provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of any one of the above methods for acquiring the multi-dimensional pipeline characteristic parameters.
The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method for obtaining multi-dimensional pipeline characteristic parameters according to any one of the above.
The method and the device for acquiring the characteristic parameters of the multi-dimensional pipeline provided by the invention scan when a crawler carrying a laser radar crawls in a target pipeline (such as an urban drainage pipeline), can obtain a point cloud data sequence of a pipeline section of the target pipeline, respectively establish a three-dimensional point cloud model and a two-dimensional chromatogram of the target pipeline according to the point cloud data sequence, and establish a mapping relation between a pixel point of the two-dimensional chromatogram and a scanning point in the three-dimensional point cloud model. After a user draws a polygonal area in the two-dimensional chromatogram, a selected three-dimensional structure corresponding to the polygonal area can be obtained through two-dimensional to three-dimensional conversion, the characteristic parameters of the selected three-dimensional structure can be calculated through three-dimensional points included in the selected three-dimensional structure, and the method is high in calculation efficiency and high in accuracy.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for acquiring multi-dimensional pipeline characteristic parameters according to the present invention;
FIG. 2 is a schematic diagram of a three-dimensional point cloud model in one example of the invention;
FIG. 3 is a grayscale diagram of a two-dimensional chromatogram in one example of the invention;
FIG. 4 is a schematic diagram of an example of the present invention for forming a selected three-dimensional structure in a three-dimensional point cloud model;
FIG. 5 is a block diagram of a device for acquiring multi-dimensional pipeline characteristic parameters according to the present invention;
fig. 6 is a schematic diagram of the structure of an electronic device in one example of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
It should be appreciated that reference throughout this specification to "an embodiment" or "one embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrase "in an embodiment" or "in one embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, e.g. as either directly or indirectly through intervening media. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following describes the method for acquiring the multi-dimensional pipeline characteristic parameters according to the present invention with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for acquiring multi-dimensional pipeline characteristic parameters provided by the present invention. As shown in fig. 1, the method for obtaining multi-dimensional pipeline characteristic parameters provided by the present invention includes:
s1: and acquiring a point cloud data sequence of the target pipeline based on a radar ranging method. The point cloud data sequence includes a number of sets of point cloud data. Each group of point cloud data represents a group of distance values obtained after the radar at the current measuring position scans and measures the distance of a plurality of scanning points on the inner circumference of the target pipeline.
Specifically, when a crawler carrying a laser radar is used for scanning when the crawler crawls in a target pipeline (such as a city drainage pipeline), a pipeline section point cloud data sequence of the target pipeline can be obtained.
In one embodiment of the present invention, step S1 includes:
s101: point cloud data (a group of distance values obtained by scanning and ranging a plurality of scanning points on the inner circumference of the target pipeline by a radar) at a plurality of measuring positions at equal intervals along the extension direction of the target pipeline are obtained.
Specifically, when a crawler carrying a laser radar is used for scanning during crawling in a target pipeline, point cloud data of all pipeline sections of the target pipeline and section positions corresponding to the point cloud data of all the sections can be obtained.
In one example of the present invention, a certain segment of the target pipeline is set in the east-west direction, and a pipeline center point position defining the east-side starting point of the segment of the pipeline is a, and a pipeline center point position defining the west-side end point of the segment of the pipeline is N. When the laser radar on the crawler is used for scanning the section of pipeline, the point cloud data of each pipeline section and the pipeline section position corresponding to the point cloud data of each pipeline section can be obtained.
S102: and sequencing the point cloud data according to the sequence of the plurality of measuring positions to obtain a point cloud data sequence.
S2: and establishing a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence.
FIG. 2 is a schematic diagram of a three-dimensional point cloud model in one example of the invention. As shown in fig. 2, a is a first pipe section of the target pipe, and N is a last pipe section of the target pipe, each pipe section having corresponding point cloud data. The initial position of the crawler is used as the origin of a three-dimensional coordinate system, the horizontal direction passing through the center point of the pipeline is used as an X coordinate, the vertical direction passing through the center point of the pipeline is used as a Y coordinate, the crawling distance of the crawler is used as a Z coordinate, and a three-dimensional point cloud model of the target pipeline is constructed according to the point cloud data sequence.
S3: determining a measurement radius of each scanning point according to the point cloud data sequence, and establishing a two-dimensional chromatogram of the target pipeline based on a preset relationship between the measurement radius and the color index;
specifically, a positioning device is arranged on the laser radar. When the crawler crawls in the pipeline, if the laser radar is not located at the center (circle center) of the cross section of the pipeline, the position of the laser radar is adjusted to enable the laser radar to be located at the center of the cross section of the pipeline, and therefore the distance value (namely the measurement radius r) of each scanning point from the center of the cross section of the pipeline is determined.
Or after a group of distance values obtained after the radar scans and ranges the distance of a plurality of scanning points on the inner circumference of the target pipeline are obtained, circle fitting is carried out, the center of the section of the pipeline is obtained based on the circle after fitting, and the distance value (namely the measurement radius r) of each scanning point from the center of the section of the pipeline is determined.
On the premise that the laser radar is located at the center of the cross section of the pipeline, point cloud data of a current frame of the laser radar, namely the point cloud data of the cross section of the pipeline where the laser radar is located, are obtained. And establishing a two-dimensional chromatogram of the target pipeline by using the distance (hereinafter referred to as point-to-center distance) between the scanning point in the point cloud data of the current frame of the laser radar and the center of the pipeline of the current frame and the color index.
In a preferred embodiment, when the two-dimensional chromatogram is established, the deformation rate of each scanning point can be determined according to the point cloud data sequence and a standard radius of a target pipeline obtained in advance, and the two-dimensional chromatogram of the target pipeline is established based on a ratio relation between the deformation rate and the color index.
The scheme of the embodiment is to analyze the state of the pipeline. In the embodiment, the deformation rate of each measurement point can be obtained by comparing the measurement radius R obtained by analyzing the target pipeline with the standard radius R of the target pipeline, the color index of each measurement point is determined based on the preset ratio relationship between the deformation rate and the color index, and the two-dimensional chromatogram of the target pipeline is established based on the position relationship among all the measurement points and the color index of the measurement point; so that the deformed position shows different colors on the two-dimensional chromatogram, and the defect position can be accurately positioned.
In the deformation rate calculation, the following formula can be used: 2 pi (R-R)/R. When the corresponding relation of the color indexes is established, the scanning points with different deformation rates can be colored through the corresponding relation of the deformation rates and the color levels.
As a preferred embodiment, the scanning spot can also be colored directly by the correspondence between the radius of the scanning spot and the color level.
And if the snack distances of all the scanning points of the current frame are equal or the difference value is within the range of the preset distance difference value, displaying the snack distances on the two-dimensional chromatogram map by using the same color.
And if the difference value between the snack distance of a certain scanning point and the snack distances of other scanning points is larger than a preset threshold value, highlighting the scanning point of which the difference value is larger than the preset threshold value on the two-dimensional chromatogram map by using a pixel value different from that of the other scanning points.
When a defect such as a bulge is present on the inner wall of the target channel, highlighting is performed on the two-dimensional chromatogram.
S4: and establishing a first mapping relation between the pixel point of the two-dimensional chromatogram and the three-dimensional point in the three-dimensional point cloud model. The two-dimensional chromatogram and the three-dimensional point cloud model are both established through point cloud data in the point cloud data sequence, so that the first mapping relation can be established.
S5: and acquiring pixel point information of the polygon region selected in the two-dimensional chromatogram. Wherein the polygonal area is user-selected, for example by means of a preset software. The polygonal area may be or include a defective area of the target pipe.
Fig. 3 is a gray scale diagram corresponding to a two-dimensional chromatogram in an example of the present invention, wherein the right side of the diagram shows the corresponding relationship between the color level and the deformation rate, and the defect position, namely the black (after gray scale processing) display part in the diagram, can be obviously obtained. As shown in fig. 3, the rectangular area indicated by the arrow may be a polygonal area including a defective area of the target pipe.
S6: and obtaining the three-dimensional point information of the selected three-dimensional structure corresponding to the polygonal area in the three-dimensional point cloud model according to the pixel point information of the polygonal area and the mapping relation.
In one embodiment of the present invention, step S6 includes:
s601: and acquiring three-dimensional space coordinates of all side length starting points and three-dimensional space coordinates of all side length end points of the corresponding polygon in the three-dimensional point cloud model.
Specifically, based on the first mapping relationship, the three-dimensional space coordinates of all the side length start points and the three-dimensional space coordinates of all the side length end points of the polygon can be obtained according to the pixel coordinates of all the side length start points and all the side length end points of the polygon in the two-dimensional chromatogram.
S602: and determining the minimum bounding box of the selected three-dimensional structure according to the three-dimensional space coordinates of all the side length starting points and the three-dimensional space coordinates of all the side length end points.
FIG. 4 is a schematic diagram of an example of the present invention for forming a selected three-dimensional structure in a three-dimensional point cloud model. As shown in fig. 4, for any one side of the polygon, such as side qw.
And determining the pipeline cross section where the starting point q and the end point w of the edge are located, taking the scanning point of the pipeline cross section where the starting point and the end point of the edge are located or the nearest scanning point as the scanning point of the starting point and the end point of the edge, and obtaining the corresponding scanning points of all the points on the edge based on the same mode. The points on all sides of the polygon are processed in the above manner, and finally a point set corresponding to the polygon can be obtained, for example, the point set includes all scanned points from x to y in the polygon.
And calculating the maximum value and the minimum value of the point set corresponding to the polygonal area in the three-dimensional coordinate system, thereby obtaining the cuboid bounding box of the three-dimensional defect structure.
S603: and in the three-dimensional point cloud model, performing plane projection on the scanning point in the minimum bounding box to the direction of the pipe wall of the target pipeline.
Specifically, the corresponding point set in the minimum bounding box is subjected to plane projection towards the pipe wall direction of the target pipeline.
S604: and determining three-dimensional point information of the three-dimensional structure according to the plane projection result.
Specifically, intersection judgment is carried out according to straight lines of the polygonal area on the projection surface, and if the number of intersection points is an odd number, the point is represented to be in the polygonal area; if the number of intersections is even, it indicates that the point is outside the polygon area. In this way, the present embodiment obtains the scanning points inside the polygonal area in the three-dimensional point cloud model.
S7: and obtaining the characteristic parameters of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure.
Specifically, all scanning points included in the three-dimensional structure are sequenced according to the crawling direction of the crawler (corresponding to the measurement sequence of the scanning points in the point cloud data), and a three-dimensional point set of the three-dimensional structure on a plurality of pipeline sections is obtained. And calculating the occupied area of the selected three-dimensional structure on the plurality of pipeline cross sections according to the three-dimensional point set. In this embodiment, the area occupied by each cross section of the pipe is calculated according to a double integral method. And accumulating (integrating) the occupied area of the three-dimensional structure on a plurality of cross sections to obtain the volume of the three-dimensional structure, and taking the volume of the three-dimensional structure as a pipeline characteristic parameter of the three-dimensional structure.
In an embodiment of the present invention, before step S5, the method further includes: acquiring a panoramic image of the inner wall of a target pipeline; establishing a two-dimensional live-action plane expansion diagram of the target pipeline based on the panoramic image; and displaying the two-dimensional live-action plane expansion diagram.
Specifically, a panoramic camera is installed on the crawler, and when the crawler crawls in a target pipeline, a panoramic image of the inner wall of the target pipeline can be shot through the panoramic camera. And performing pixel point splicing on the panoramic image to obtain a two-dimensional live-action plane expanded view of the target pipeline, and then displaying the two-dimensional live-action plane expanded view. In this embodiment, a mapping relationship between the two-dimensional live-action plane expanded view and the three-dimensional point cloud model may also be established, and the two-dimensional live-action plane expanded view may be attached to the inner wall of the three-dimensional point cloud model for display, so as to realize panoramic representation inside the pipeline.
Further, before step S5, the method further includes: establishing a second mapping relation between pixel points in the two-dimensional real scene plane expansion image and pixel points of the two-dimensional chromatogram; receiving a local amplification instruction of a specified area of a two-dimensional live-action plane expansion diagram; and carrying out local amplification on the specified area of the two-dimensional live-action plane expansion map according to the local amplification instruction.
Specifically, after obtaining the two-dimensional chromatogram and the two-dimensional real image plane expansion map, the user can see highlighted pixel regions from the two-dimensional chromatogram, which are likely to be defective regions on the target channel, such as raised regions on the inner wall of the target channel. The user can finally select the polygon area in step S5 by performing the partially enlarged observation and measurement on the area on the two-dimensional live-action plane development map corresponding to the highlighted pixel area on the two-dimensional chromatogram map.
The method for acquiring the multi-dimensional pipeline characteristic parameters further comprises the following steps: establishing a third mapping relation between pixel points in the two-dimensional live-action plane expansion image and three-dimensional points in the three-dimensional point cloud model; and selecting corresponding areas and moving corresponding scales on the two-dimensional chromatogram and the two-dimensional live-action plane expansion map, or the three-dimensional point cloud model and the two-dimensional live-action plane expansion map according to the selection instruction and the movement instruction of the three-dimensional point cloud model or the two-dimensional chromatogram or the two-dimensional live-action plane expansion map.
In an embodiment of the present invention, the method for obtaining multi-dimensional pipeline characteristic parameters further includes: acquiring the total number of pixel points contained in the two-dimensional chromatogram of the polygonal area; and obtaining the surface area of the selected three-dimensional structure according to the relationship among the total number of the pixel points, the pixel points and the real point coordinates, and taking the surface area of the three-dimensional structure as another pipeline characteristic parameter.
The following describes the device for acquiring the multi-dimensional pipeline characteristic parameters provided by the present invention, and the device for acquiring the multi-dimensional pipeline characteristic parameters described below and the method for acquiring the multi-dimensional pipeline characteristic parameters described above may be referred to in correspondence with each other.
Fig. 5 is a block diagram of a device for acquiring multi-dimensional pipeline characteristic parameters provided by the present invention. As shown in fig. 5, the apparatus for obtaining multi-dimensional pipeline characteristic parameters provided by the present invention includes: a point cloud data sequence acquisition module 510, a three-dimensional point cloud model establishment module 520, a two-dimensional chromatogram establishment module 530, a mapping relation establishment module 540, a pixel point information acquisition module 550, a three-dimensional point information acquisition module 560, and a characteristic parameter acquisition module 570.
The point cloud data sequence acquiring module 510 is configured to acquire a point cloud data sequence of a pipeline section of a target pipeline. The three-dimensional point cloud model building module 520 is used for building a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence. The two-dimensional chromatogram establishing module 530 is configured to establish a two-dimensional chromatogram of the target pipeline according to a distance between the laser radar and a scanning point in the point cloud data sequence, and a ratio relationship between the distance and the color index. The point cloud data sequence is obtained by scanning through a laser radar installed on the crawler. The mapping relationship establishing module 540 is configured to establish a first mapping relationship between a pixel point of the two-dimensional chromatogram and a three-dimensional point in the three-dimensional point cloud model. The pixel point information obtaining module 550 is configured to obtain pixel point information of a polygon region selected in the two-dimensional chromatogram. The three-dimensional point information obtaining module 560 is configured to obtain three-dimensional point information of a selected three-dimensional structure corresponding to the polygon region in the three-dimensional point cloud model according to the pixel point information of the polygon region and the mapping relationship. The characteristic parameter obtaining module 570 is configured to obtain a characteristic parameter of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure.
In one embodiment of the present invention, further comprising: and the panoramic image acquisition module is used for acquiring the panoramic image of the inner wall of the target pipeline. And the two-dimensional live-action plane expanded view establishing module is used for establishing a two-dimensional live-action plane expanded view of the target pipeline based on the panoramic image. The instruction operation module is used for selecting corresponding areas and moving corresponding scales on the two-dimensional chromatogram and the two-dimensional live-action plane expansion map, or the three-dimensional point cloud model and the two-dimensional live-action plane expansion map according to a selection instruction and a movement instruction of the three-dimensional point cloud model or the two-dimensional chromatogram or the two-dimensional live-action plane expansion map; the mapping relationship establishing module 540 is further configured to establish a second mapping relationship between a pixel point in the two-dimensional real scene plane expanded view and a pixel point of the two-dimensional chromatogram, and establish a third mapping relationship between a pixel point in the two-dimensional real scene plane expanded view and a three-dimensional point in the three-dimensional point cloud model.
In one embodiment of the present invention, further comprising: and the display module is used for displaying the two-dimensional live-action plane expansion diagram. And the local amplification module is used for receiving a local amplification instruction for the specified area of the two-dimensional real scene plane expansion map and carrying out local amplification on the specified area of the two-dimensional real scene plane expansion map according to the local amplification instruction.
In one embodiment of the present invention, the point cloud data sequence acquisition module 510 is configured to acquire point cloud data at a plurality of measurement positions equally spaced along the extension direction of the target pipeline; and sequencing the point cloud data according to the sequence of the plurality of measuring positions to obtain a point cloud data sequence.
In an embodiment of the present invention, the characteristic parameter obtaining module 570 is configured to sort all three-dimensional points included in the selected three-dimensional structure according to a crawling direction of the crawler, so as to obtain a three-dimensional point set of the selected three-dimensional structure at a plurality of pipeline sections. The characteristic parameter obtaining module 570 is further configured to calculate an area occupied by the selected three-dimensional structure on the plurality of cross-sections according to the three-dimensional point set. The characteristic parameter obtaining module 570 is further configured to accumulate areas occupied by the selected three-dimensional structure on the plurality of cross sections to obtain a volume of the selected three-dimensional structure.
In an embodiment of the present invention, the characteristic parameter obtaining module 570 is further configured to obtain a total number of pixel points included in the two-dimensional chromatogram of the polygonal region, and obtain the surface area of the selected three-dimensional structure according to a relationship between the total number of pixel points and coordinates of the pixel points and real points.
In one embodiment of the invention, the display module is further configured to highlight the selected three-dimensional structure in the three-dimensional point cloud model.
It should be noted that, a specific implementation manner of the apparatus for acquiring multidimensional pipeline characteristic parameters in the embodiment of the present invention is similar to a specific implementation manner of the method for acquiring multidimensional pipeline characteristic parameters in the embodiment of the present invention, and specific reference is specifically made to the description of the method for acquiring multidimensional pipeline characteristic parameters, and details are not repeated in order to reduce redundancy.
In addition, other configurations and functions of the apparatus for acquiring multi-dimensional pipeline characteristic parameters according to the embodiment of the present invention are known to those skilled in the art, and are not described in detail for reducing redundancy.
Fig. 6 is a schematic diagram of the structure of an electronic device in one example of the invention. As shown in fig. 6, the electronic device may include: the processor 610, the communication interface 620, the memory 630 and the communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 are communicated with each other through the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a method of obtaining multidimensional pipeline feature parameters, the method comprising: acquiring a point cloud data sequence of a target based on a radar ranging method; the point cloud data sequence comprises a plurality of groups of point cloud data, wherein each group of point cloud data represents a group of distance values obtained after a radar at the current measuring position scans and measures distance of a plurality of scanning points on the inner circumference of the target pipeline; establishing a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence; determining a measurement radius of each scanning point according to the point cloud data sequence, and establishing a two-dimensional chromatogram of the target pipeline based on a preset relationship between the measurement radius and the color index; establishing a first mapping relation between the pixel points of the two-dimensional chromatogram and the three-dimensional points in the three-dimensional point cloud model; acquiring pixel point information of a polygon region selected in the two-dimensional chromatogram; obtaining three-dimensional point information of a selected three-dimensional structure corresponding to the polygonal area in the three-dimensional point cloud model according to the pixel point information of the polygonal area and the mapping relation; and obtaining the characteristic parameters of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure.
In an embodiment of the invention, the processor may be an integrated circuit chip having signal processing capability. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processor reads the information in the storage medium and completes the steps of the method in combination with the hardware.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method 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.
In another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to execute the above-mentioned methods for acquiring multi-dimensional pipeline characteristic parameters, the method including: acquiring a point cloud data sequence of a target based on a radar ranging method; the point cloud data sequence comprises a plurality of groups of point cloud data, wherein each group of point cloud data represents a group of distance values obtained after a radar at the current measuring position scans and measures distance of a plurality of scanning points on the inner circumference of the target pipeline; establishing a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence; determining a measurement radius of each scanning point according to the point cloud data sequence, and establishing a two-dimensional chromatogram of the target pipeline based on a preset relationship between the measurement radius and the color index; establishing a first mapping relation between the pixel points of the two-dimensional chromatogram and the three-dimensional points in the three-dimensional point cloud model; acquiring pixel point information of a polygon region selected in the two-dimensional chromatogram; obtaining three-dimensional point information of a selected three-dimensional structure corresponding to the polygonal area in the three-dimensional point cloud model according to the pixel point information of the polygonal area and the mapping relation; and obtaining the characteristic parameters of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure.
The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.
The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (ddr Data Rate SDRAM), Enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM).
The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that the functionality described in the present invention may be implemented in a combination of hardware and software in one or more of the examples described above. When software is applied, the corresponding functionality may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for acquiring multi-dimensional pipeline characteristic parameters is characterized by comprising the following steps:
acquiring a point cloud data sequence of a target pipeline based on a radar ranging method; the point cloud data sequence comprises a plurality of groups of point cloud data, wherein each group of point cloud data represents a group of distance values obtained after a radar at the current measuring position scans and measures distance of a plurality of scanning points on the inner circumference of the target pipeline;
establishing a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence;
determining a measurement radius of each scanning point according to the point cloud data sequence, and establishing a two-dimensional chromatogram of the target pipeline based on a preset relationship between the measurement radius and the color index;
establishing a first mapping relation between the pixel points of the two-dimensional chromatogram and the three-dimensional points in the three-dimensional point cloud model;
acquiring pixel point information of a polygon region selected in the two-dimensional chromatogram;
obtaining three-dimensional point information of a selected three-dimensional structure corresponding to the polygonal area in the three-dimensional point cloud model according to the pixel point information of the polygonal area and the mapping relation;
and obtaining the characteristic parameters of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure.
2. The method for acquiring multi-dimensional pipeline characteristic parameters according to claim 1, before acquiring pixel point information of a polygon region selected in the two-dimensional chromatogram, further comprising:
acquiring a panoramic image of the inner wall of the target pipeline;
establishing a two-dimensional live-action plane expansion diagram of the target pipeline based on the panoramic image;
establishing a second mapping relation between pixel points in the two-dimensional real scene plane expanded image and pixel points of the two-dimensional chromatogram;
establishing a third mapping relation between the pixel points in the two-dimensional live-action plane expansion image and the three-dimensional points in the three-dimensional point cloud model;
and according to a selection instruction and a movement instruction of the three-dimensional point cloud model or the two-dimensional chromatogram or the two-dimensional live-action plane expansion map, selecting a corresponding area and moving a corresponding scale on the two-dimensional chromatogram and the two-dimensional live-action plane expansion map, or the three-dimensional point cloud model and the two-dimensional chromatogram.
3. The method for acquiring the multi-dimensional pipeline characteristic parameters according to claim 2, wherein after the two-dimensional live-action plane expansion diagram of the target pipeline is established based on the panoramic image, the method further comprises the following steps:
displaying the two-dimensional live-action plane expansion diagram;
receiving a local amplification instruction of a specified area of a two-dimensional live-action plane expansion diagram;
and carrying out local amplification on the specified area of the two-dimensional live-action plane expansion map according to the local amplification instruction.
4. The method for acquiring the multi-dimensional pipeline characteristic parameters according to claim 1, wherein acquiring a point cloud data sequence of a target pipeline comprises:
acquiring point cloud data at a plurality of measurement positions at equal intervals along the extension direction of the target pipeline;
and sequencing the point cloud data according to the sequence of the plurality of measuring positions to obtain the point cloud data sequence.
5. The method for acquiring the multi-dimensional pipeline characteristic parameters according to claim 1, wherein obtaining the characteristic parameters of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure comprises:
sequencing all three-dimensional points included by the selected three-dimensional structure according to the measurement sequence of scanning points in the corresponding point cloud data to obtain a three-dimensional point set corresponding to the selected three-dimensional structure at a plurality of measurement positions;
calculating the area of the selected three-dimensional structure on a plurality of pipeline cross sections according to the three-dimensional point set;
and accumulating the occupied area of the selected three-dimensional structure on a plurality of pipeline cross sections to obtain the volume of the selected three-dimensional structure.
6. The method for acquiring the multi-dimensional pipeline characteristic parameters according to claim 1, further comprising:
acquiring the total number of pixel points contained in the two-dimensional chromatogram by the polygonal area;
and obtaining the surface area of the selected three-dimensional structure according to the relationship among the total number of the pixel points, the pixel points and the real point coordinates.
7. The method according to claim 1, wherein after obtaining the three-dimensional point information of the selected three-dimensional structure corresponding to the polygon region in the three-dimensional point cloud model according to the pixel point information of the polygon region and the first mapping relationship, the method further comprises:
and labeling the selected three-dimensional structure in the three-dimensional point cloud model.
8. The utility model provides an acquisition device of multidimension degree pipeline characteristic parameter which characterized in that includes:
the point cloud data sequence acquisition module is used for acquiring a point cloud data sequence of a target based on a radar ranging method; the point cloud data sequence comprises a plurality of groups of point cloud data, wherein each group of point cloud data represents a group of distance values obtained after a radar at the current measuring position scans and measures distance of a plurality of scanning points on the inner circumference of the target pipeline;
the three-dimensional point cloud model establishing module is used for establishing a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence;
the two-dimensional chromatogram establishing module is used for determining the measuring radius of each scanning point according to the point cloud data sequence and establishing the two-dimensional chromatogram of the target pipeline based on the relation between the preset measuring radius and the color index;
the mapping relation establishing module is used for establishing a first mapping relation between the pixel point of the two-dimensional chromatogram and a three-dimensional point in the three-dimensional point cloud model;
the pixel point information acquisition module is used for acquiring pixel point information of a polygon area selected in the two-dimensional chromatogram;
the three-dimensional point information acquisition module is used for acquiring three-dimensional point information of a selected three-dimensional structure corresponding to the polygonal area in the three-dimensional point cloud model according to the pixel point information of the polygonal area and the mapping relation;
and the characteristic parameter acquisition module is used for acquiring the characteristic parameters of the selected three-dimensional structure according to the three-dimensional point information of the selected three-dimensional structure.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method for obtaining multi-dimensional pipe characteristic parameters according to any one of claims 1 to 7.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the method for obtaining multidimensional pipe characteristic parameters according to any one of claims 1 to 7.
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