CN113223177B - Pipeline three-dimensional model construction method and system based on standard attitude angle correction - Google Patents
Pipeline three-dimensional model construction method and system based on standard attitude angle correction Download PDFInfo
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Abstract
The invention provides a method and a system for constructing a three-dimensional model of a pipeline based on standard attitude angle correction, wherein the method comprises the following steps: setting a standard acquisition attitude angle of the pipeline robot, and marking the standard acquisition attitude angle as a standard attitude angle; placing a pipeline robot carrying an attitude determination device and an acquisition device inside a pipeline; acquiring an acquisition attitude angle of the pipeline robot at a set position through an attitude determination device; comparing the acquired attitude angle of the pipeline robot with the standard attitude angle, and directly acquiring or adjusting the acquired angle according to the comparison result and then acquiring the cross section profile of the pipeline at the current position; and establishing a pipeline three-dimensional model based on the parallel profile through the pipeline cross-section profile set of each position. The invention can establish the three-dimensional model of the pipeline with uniform acquisition view angle, avoids the influence of distortion and errors generated in the acquisition process on the accuracy of the three-dimensional model of the pipeline, and provides a good model foundation for the detection in the pipeline.
Description
Technical Field
The invention relates to the technical field of pipeline modeling, in particular to a method and a system for constructing a three-dimensional pipeline model based on standard attitude angle correction.
Background
The urban underground pipeline is an important influencing factor of healthy and happy life of urban residents, the water supply and drainage pipeline mileage is the largest in quantity in the urban underground pipeline, meanwhile, the water supply and drainage pipeline is more easily damaged relative to other pipelines, and the damage of the water supply and drainage pipeline is a source factor for causing urban underground cavity formation and collapse accidents, so that the urban water supply and drainage pipeline has important significance for improving the life safety coefficient of the urban residents, improving the life quality of the residents and reducing secondary disasters.
At present, the conventional drainage pipeline detection means mainly comprises CCTV closed-circuit television detection, the acquired information is an image of the inner surface condition of a pipeline, and the situation of damage caused by defects inside the pipeline wall and damage caused by diseases and disasters such as loosening soil around the pipeline and a cavity can not be known. The equipment for detecting the external environment of the deeply buried underground pipeline is usually ground detection by using a ground penetrating radar, wherein the ground penetrating radar detection is a detection method for determining the internal distribution rule of a medium by using high-frequency radio waves, the ground penetrating radar is a detection method for transmitting high-frequency electromagnetic waves to the ground through a transmitting antenna, receiving the electromagnetic waves reflected back to the ground through a receiving antenna, reflecting the electromagnetic waves when encountering interfaces with electrical differences when the electromagnetic waves propagate in the underground medium, and deducing the spatial position, structure, morphology and buried depth of the underground medium according to the characteristics of the received electromagnetic waves, such as the waveform, amplitude intensity and time change; in the detection, the substance components in the medium are judged according to the propagation rule of electromagnetic pulses in the medium. Ground penetrating radars employ electromagnetic waves for detection, and the propagation of electromagnetic waves in an underground medium is susceptible to a combination of permittivity, conductivity and permeability.
Therefore, the method and the system for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction can provide a more accurate and comprehensive pipeline network defect detection basis for the regular maintenance of the pipeline network, and have higher practical value and significance.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a pipeline three-dimensional model construction method and system based on standard attitude angle correction.
The invention provides a pipeline three-dimensional model construction method based on standard attitude angle correction, which comprises the following steps:
setting a standard acquisition attitude angle of the pipeline robot, and marking the standard acquisition attitude angle as a standard attitude angle;
placing a pipeline robot carrying an attitude determination device and an acquisition device inside a pipeline;
acquiring an acquisition attitude angle of the pipeline robot at a set position through an attitude determination device;
comparing the collected attitude angle of the pipeline robot with the standard attitude angle:
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set threshold, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set threshold value, acquiring the cross section profile of the pipeline at the current position through the acquisition equipment after adjusting the acquisition angle of the acquisition equipment;
and establishing a pipeline three-dimensional model based on the parallel profile through the pipeline cross-section profile set of each position.
According to the method for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction, the pipeline robot acquires the acquired attitude angle of the pipeline robot at a set position through the attitude determination equipment, and the method comprises the following steps:
acquiring three-dimensional attitude data at the acquisition time of the pipeline robot by an attitude sensor and/or an inertial measurement unit in the attitude determination equipment, and taking the three-dimensional attitude data as an acquisition attitude angle of the pipeline robot;
the three-dimensional attitude data includes any one or a combination of any one or more of pitch angle, yaw angle and roll angle; referring to the pipeline robot under the standard acquisition attitude angle, establishing a Cartesian coordinate system by taking the advancing direction of the pipeline robot as a z axis, the vertical direction as a y axis and the horizontal direction as an x axis, wherein the pitch angle is the rotation angle of the pipeline robot around the x axis; the yaw angle is an angle of rotation of the pipeline robot around a y axis; the rolling angle is an angle of rotation of the pipeline robot around the z axis.
According to the method for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction, the step of comparing the acquired attitude angle of the pipeline robot with the standard attitude angle comprises the following steps:
comparing the angle offset of the collected attitude angle of the pipeline robot and the standard attitude angle according to the pitch angle and the yaw angle in the three-dimensional attitude data:
if the angle offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set first threshold value, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the angle offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set first threshold, the attitude of the acquisition equipment is adjusted through the attitude correction equipment, so that the actual acquisition attitude of the acquisition equipment and the angle offset of the standard attitude angle are not larger than the set first threshold, and then the pipeline cross section profile of the current position is acquired through the acquisition equipment after the attitude adjustment.
According to the method for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction, the step of comparing the acquired attitude angle of the pipeline robot with the standard attitude angle comprises the following steps:
comparing the rotation offset of the collected attitude angle of the pipeline robot and the standard attitude angle according to the rolling angle in the three-dimensional attitude data:
if the rotation offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set second threshold, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the rotation offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set second threshold, the attitude of the acquisition equipment is adjusted through the attitude correction equipment, so that the actual acquisition attitude of the acquisition equipment and the rotation offset of the standard attitude angle are not larger than the set second threshold, and the pipeline cross section profile of the current position is acquired through the acquisition equipment after the attitude adjustment.
According to the pipeline three-dimensional model construction method based on standard attitude angle correction, the acquisition equipment comprises any one or a combination of any one or more of sonar, radar and image acquisition equipment.
According to the pipeline three-dimensional model construction method based on standard attitude angle correction, the set positions comprise time interval positions and/or path interval positions;
the time interval position refers to the position where the pipeline robot is located when the pipeline robot advances along a set path at a set speed and at a plurality of set moments;
the path interval position refers to the position of a plurality of set path points when the pipeline robot advances along the set path.
The invention also provides a pipeline three-dimensional model construction system based on standard attitude angle correction, which comprises a standard angle module, a robot module, an attitude angle module, a comparison module, a contour module and a model construction module:
the standard angle module can set a standard acquisition attitude angle of the pipeline robot and record the standard acquisition attitude angle as a standard attitude angle;
the robot module can place the pipeline robot carrying the gesture determining equipment and the acquiring equipment inside the pipeline;
the attitude angle module can acquire an acquisition attitude angle of the pipeline robot at a set position through an attitude determination device;
the comparison module can compare the collected attitude angle of the pipeline robot with the standard attitude angle:
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set threshold, the profile module can acquire the cross section profile of the pipeline at the current position directly through the acquisition equipment;
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set threshold value, the profile module can adjust the acquisition angle of the acquisition equipment and acquire the cross section profile of the pipeline at the current position through the acquisition equipment;
the model building module can build a pipeline three-dimensional model based on parallel profiles through the pipeline cross-section profile set of each position.
The invention also provides an electronic device comprising 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 the pipeline three-dimensional model construction method based on the standard attitude angle correction.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of constructing a three-dimensional model of a pipe based on standard attitude angle correction as described in any one of the above.
According to the method and the system for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction, the acquisition view angles of the three-dimensional model of the pipeline are unified through the pipeline cross section contour correction based on the standard attitude angle, the influence of distortion and errors generated in the acquisition process on the accuracy of the three-dimensional model of the pipeline is avoided, the three-dimensional model of the pipeline which is more in line with the actual situation can be constructed, and a good model foundation is provided for pipeline detection, especially pipeline internal detection.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow diagram of a method for constructing a three-dimensional model of a pipeline based on standard attitude angle correction;
FIG. 2 is a schematic diagram of a three-dimensional model building system for a pipeline based on standard attitude angle correction provided by the invention;
FIG. 3 is a schematic view of a three-dimensional reconstructed image of a conduit according to an embodiment of the present invention;
FIG. 4 is a schematic view of a three-dimensional reconstructed image of a conduit with errors in the prior art;
fig. 5 is a schematic structural diagram of an electronic device provided by the present invention;
reference numerals:
1: a standard angle module; 2: a robot module; 3: an attitude angle module;
4: a comparison module; 5: a profile module; 6: a model building module;
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The method for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction is described below with reference to fig. 1, 3 and 4.
As shown in fig. 1, an embodiment of the present invention provides a method for constructing a three-dimensional model of a pipeline based on standard attitude angle correction, including:
step 100, setting a standard acquisition attitude angle of the pipeline robot, and marking the standard acquisition attitude angle as a standard attitude angle;
step 200, placing a pipeline robot carrying an attitude determination device and an acquisition device inside a pipeline;
step 300, acquiring an attitude angle acquired by the pipeline robot at a set position through an attitude determination device;
step 400, comparing the collected attitude angle of the pipeline robot with the standard attitude angle:
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set threshold, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set threshold value, acquiring the cross section profile of the pipeline at the current position through the acquisition equipment after adjusting the acquisition angle of the acquisition equipment;
and 500, establishing a pipeline three-dimensional model based on parallel profiles through the pipeline cross-section profile set of each position.
The beneficial effects of this embodiment lie in:
through the correction of the cross section profile of the pipeline based on the standard attitude angle, the acquisition view angles of the three-dimensional pipeline model are unified, the influence of distortion and errors generated in the acquisition process on the accuracy of the three-dimensional pipeline model is avoided, the three-dimensional pipeline model which is more in line with the actual situation can be constructed, and a good model foundation is provided for pipeline detection, especially in-pipeline detection.
According to the above embodiment, in the present embodiment:
the step of acquiring the attitude angle acquired by the pipeline robot at the set position through the attitude determination equipment comprises the following steps:
acquiring three-dimensional attitude data at the acquisition time of the pipeline robot by an attitude sensor and/or an inertial measurement unit in the attitude determination equipment, and taking the three-dimensional attitude data as an acquisition attitude angle of the pipeline robot;
the three-dimensional attitude data includes any one or a combination of any one or more of pitch angle, yaw angle and roll angle; referring to the pipeline robot under the standard acquisition attitude angle, establishing a Cartesian coordinate system by taking the advancing direction of the pipeline robot as a z axis, the vertical direction as a y axis and the horizontal direction as an x axis, wherein the pitch angle is the rotation angle of the pipeline robot around the x axis; the yaw angle is an angle of rotation of the pipeline robot around a y axis; the rolling angle is an angle of rotation of the pipeline robot around the z axis.
The beneficial effects of this embodiment lie in:
the motion track and the gesture of the crawling robot can be acquired in real time by matching the gesture sensor and/or the inertial measurement unit with the acquisition equipment, so that the problems of visual angle distortion and error generation in the detection process of a CCTV closed-circuit television method in the prior art are avoided. A more accurate three-dimensional model of the pipe is provided.
According to any of the embodiments described above, in the present embodiment:
the step of comparing the collected attitude angle of the pipeline robot with the standard attitude angle comprises the following steps:
comparing the angle offset of the collected attitude angle of the pipeline robot and the standard attitude angle according to the pitch angle and the yaw angle in the three-dimensional attitude data:
if the angle offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set first threshold value, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the angle offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set first threshold, the attitude of the acquisition equipment is adjusted through the attitude correction equipment, so that the actual acquisition attitude of the acquisition equipment and the angle offset of the standard attitude angle are not larger than the set first threshold, and then the pipeline cross section profile of the current position is acquired through the acquisition equipment after the attitude adjustment.
The beneficial effects of this embodiment lie in:
the gesture of the acquisition equipment is adjusted through the gesture correction equipment, so that errors can be eliminated during data acquisition, more accurate and comprehensive data can be obtained, and a more accurate pipeline three-dimensional model can be obtained.
According to any of the embodiments described above, in the present embodiment:
the step of comparing the collected attitude angle of the pipeline robot with the standard attitude angle comprises the following steps:
comparing the rotation offset of the collected attitude angle of the pipeline robot and the standard attitude angle according to the rolling angle in the three-dimensional attitude data:
if the rotation offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set second threshold, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the rotation offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set second threshold, the attitude of the acquisition equipment is adjusted through the attitude correction equipment, so that the actual acquisition attitude of the acquisition equipment and the rotation offset of the standard attitude angle are not larger than the set second threshold, and the pipeline cross section profile of the current position is acquired through the acquisition equipment after the attitude adjustment.
The beneficial effects of this embodiment lie in:
the gesture of the acquisition equipment is adjusted through the gesture correction equipment, so that errors can be eliminated during data acquisition, more accurate and comprehensive data can be obtained, and a more accurate pipeline three-dimensional model can be obtained.
According to any of the embodiments described above, in the present embodiment:
the acquisition device comprises any one or a combination of any one or more of sonar, radar and image acquisition devices.
The beneficial effects of this embodiment lie in:
through the correction of the cross section profile of the pipeline based on the standard attitude angle, the acquisition view angles of the three-dimensional pipeline model are unified, the influence of distortion and errors generated in the acquisition process on the accuracy of the three-dimensional pipeline model is avoided, the three-dimensional pipeline model which is more in line with the actual situation can be constructed, and a good model foundation is provided for pipeline detection, especially in-pipeline detection.
According to any of the embodiments described above, in the present embodiment:
the set positions comprise time interval positions and/or path interval positions;
the time interval position refers to the position where the pipeline robot is located when the pipeline robot advances along a set path at a set speed and at a plurality of set moments;
the path interval position refers to the position of a plurality of set path points when the pipeline robot advances along the set path.
The beneficial effects of this embodiment lie in:
through the correction of the cross section profile of the pipeline based on the standard attitude angle, the acquisition view angles of the three-dimensional pipeline model are unified, the influence of distortion and errors generated in the acquisition process on the accuracy of the three-dimensional pipeline model is avoided, the three-dimensional pipeline model which is more in line with the actual situation can be constructed, and a good model foundation is provided for pipeline detection, especially in-pipeline detection.
According to any of the embodiments described above, in the present embodiment:
the pipeline robot travels along the extending direction of the pipeline through the pipeline robot supported laser radar and the camera, images in the pipeline are collected through the camera, two-dimensional ranging scanning is conducted on the inner surface of the pipeline through the laser radar, a plurality of ranging points (two-dimensional scanning images) in the circumferential direction of the inner portion of the pipeline are obtained through each scanning measurement, all scanning ranging points obtained in the travelling process of the pipeline robot are fused, and a three-dimensional reconstruction image of the pipeline as shown in fig. 3 is obtained. In fig. 3, a is a starting point section; n is the end point section; h is any intermediate section.
The embodiment specifically comprises the following steps:
(1) Acquiring pipeline point cloud data
In a pipeline with water environment, a crawler carrying sonar and radar continuously scans the inner surface of the pipeline in the process of crawling the pipeline, and data of the sonar and the radar are spliced to obtain continuous multi-frame complete pipeline cross-section profiles (two-dimensional scanning images);
(2) Pipeline section point cloud denoising smoothing:
denoising by using a neighboring point search method, and carrying out data fusion on measurement data returned by at least two range radars to obtain fusion data, wherein the measurement data is obtained by ranging the inner wall of a pipeline to be measured along the same scanning area by the at least two range radars positioned in the pipeline to be measured;
acquiring a distance value of a current data point in the fusion data and distance values of N adjacent data points in front of and behind the current data point, wherein N is a positive integer and is not more than half of the number of the data points of the fusion data;
and judging whether the current data point is a noise point or not according to the distance value of the current data point and the distance values of N adjacent data points in front of and behind the current data point. )
(3) Point cloud three-dimensional reconstruction
Obtaining a pipeline surface model (shown in figure 3) according to a three-dimensional grid reconstruction algorithm (i.e. splicing the obtained cross-sectional profiles) based on parallel profiles;
the advantageous effects of the present embodiment and the drawbacks of the related art will be described below.
Because the internal condition of the drainage pipeline is complex, the passing condition is bad, and the equipment is difficult to keep stable posture in the pipeline to travel and finish detection under the influence of water flow, deposition and the like in the pipeline. The equipment can change the gesture when passing through an obstacle in the process of planting, the acquired profile is an inclined section (elongated along the diameter) of the inner wall of a pipeline under the influence of a pitch angle and a yaw angle, the acquired profile can rotate in the circumferential direction under the influence of a rolling angle, the continuous section profile cannot be directly regarded as a parallel section of the pipeline to be directly used for constructing a three-dimensional model, otherwise, the splicing condition shown in figure 4 can occur because the inclined section is larger than the real section of the pipeline; in fig. 4, a is a starting point section; n is the end point section; h is any intermediate section.
Therefore, the real-time gesture of the equipment can be provided by installing the IMU on the pipeline, the three-dimensional gesture of the equipment can be presented through the pitch angle, the yaw angle and the rolling angle, and simultaneously, the radar gesture can be corrected in real time, so that the radar always scans the inner wall of the pipeline in two dimensions in the direction perpendicular to the diameter of the pipeline, the obtained two-dimensional scanning profile is always perpendicular to the diameter of the pipeline, the splicing is easier, the deviation of measurement data caused by obstacle crossing of the vehicle is avoided, and the real pipeline three-dimensional model in the figure 3 is obtained.
The system for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction, which is provided by the invention, is described below with reference to fig. 2, and the system for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction, which is described below, and the method for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction, which is described above, can be referred to correspondingly each other.
The embodiment of the invention also provides a pipeline three-dimensional model building system based on standard attitude angle correction, which comprises a standard angle module 1, a robot module 2, an attitude angle module 3, a comparison module 4, a contour module 5 and a model building module:
the standard angle module 1 can set a standard acquisition attitude angle of the pipeline robot and record the standard acquisition attitude angle as a standard attitude angle;
the robot module 2 is capable of placing a pipeline robot carrying an attitude determination apparatus and an acquisition apparatus inside a pipeline;
the attitude angle module 3 can acquire an acquisition attitude angle of the pipeline robot at a set position through an attitude determination device;
the comparison module 4 can compare the collected attitude angle of the pipeline robot with the standard attitude angle:
if the offset of the collecting attitude angle and the standard attitude angle of the pipeline robot is not greater than the set threshold, the profile module 5 can directly collect the cross section profile of the pipeline at the current position through the acquisition equipment;
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is greater than a set threshold, the profile module 5 can adjust the acquisition angle of the acquisition equipment and acquire the cross section profile of the pipeline at the current position through the acquisition equipment;
the model building module 6 is capable of building a three-dimensional model of the pipeline based on parallel profiles by means of a set of pipeline cross-sectional profiles at each location.
The beneficial effects of this embodiment lie in:
through the correction of the cross section profile of the pipeline based on the standard attitude angle, the acquisition view angles of the three-dimensional pipeline model are unified, the influence of distortion and errors generated in the acquisition process on the accuracy of the three-dimensional pipeline model is avoided, the three-dimensional pipeline model which is more in line with the actual situation can be constructed, and a good model foundation is provided for pipeline detection, especially in-pipeline detection.
Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a method of pipeline three-dimensional model construction based on standard attitude angle correction, the method comprising: acquiring a set number of pipeline cross section data by a pipeline robot carrying an attitude sensor and/or an inertial measurement unit; the pipeline cross section data comprise corresponding pipeline cross section profiles and pipeline robot acquisition attitude angles; setting a standard acquisition attitude angle of the pipeline robot, and marking the standard acquisition attitude angle as a standard attitude angle; comparing the acquired attitude angle of the pipeline robot in the cross section data of each pipeline with the standard attitude angle, and obtaining a first set and a second set according to the comparison result; the first set is a set of pipeline cross section data, wherein the attitude angle of the pipeline robot is the same as the standard attitude angle; the second set is a set of pipeline cross section data of which the attitude angle is different from the standard attitude angle acquired by the pipeline robot; aiming at the pipeline cross section data in the second set, correcting the pipeline cross section profile into a correction profile under the standard attitude angle according to the difference vector between the acquired attitude angle and the standard attitude angle of the pipeline robot; combining the correction contour and the standard attitude angle as a third set; and establishing a pipeline three-dimensional model based on the parallel profile according to the union set of the first set and the third set.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, are capable of performing the method for constructing a three-dimensional model of a pipeline based on standard attitude angle correction provided by the above methods, the method comprising: acquiring a set number of pipeline cross section data by a pipeline robot carrying an attitude sensor and/or an inertial measurement unit; the pipeline cross section data comprise corresponding pipeline cross section profiles and pipeline robot acquisition attitude angles; setting a standard acquisition attitude angle of the pipeline robot, and marking the standard acquisition attitude angle as a standard attitude angle; comparing the acquired attitude angle of the pipeline robot in the cross section data of each pipeline with the standard attitude angle, and obtaining a first set and a second set according to the comparison result; the first set is a set of pipeline cross section data, wherein the attitude angle of the pipeline robot is the same as the standard attitude angle; the second set is a set of pipeline cross section data of which the attitude angle is different from the standard attitude angle acquired by the pipeline robot; aiming at the pipeline cross section data in the second set, correcting the pipeline cross section profile into a correction profile under the standard attitude angle according to the difference vector between the acquired attitude angle and the standard attitude angle of the pipeline robot; combining the correction contour and the standard attitude angle as a third set; and establishing a pipeline three-dimensional model based on the parallel profile according to the union set of the first set and the third set.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided method of constructing a three-dimensional model of a pipeline based on standard attitude angle correction, the method comprising: acquiring a set number of pipeline cross section data by a pipeline robot carrying an attitude sensor and/or an inertial measurement unit; the pipeline cross section data comprise corresponding pipeline cross section profiles and pipeline robot acquisition attitude angles; setting a standard acquisition attitude angle of the pipeline robot, and marking the standard acquisition attitude angle as a standard attitude angle; comparing the acquired attitude angle of the pipeline robot in the cross section data of each pipeline with the standard attitude angle, and obtaining a first set and a second set according to the comparison result; the first set is a set of pipeline cross section data, wherein the attitude angle of the pipeline robot is the same as the standard attitude angle; the second set is a set of pipeline cross section data of which the attitude angle is different from the standard attitude angle acquired by the pipeline robot; aiming at the pipeline cross section data in the second set, correcting the pipeline cross section profile into a correction profile under the standard attitude angle according to the difference vector between the acquired attitude angle and the standard attitude angle of the pipeline robot; combining the correction contour and the standard attitude angle as a third set; and establishing a pipeline three-dimensional model based on the parallel profile according to the union set of the first set and the third set.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The method for constructing the three-dimensional model of the pipeline based on the standard attitude angle correction is characterized by comprising the following steps of:
setting a standard acquisition attitude angle of the pipeline robot, and marking the standard acquisition attitude angle as a standard attitude angle;
placing a pipeline robot carrying an attitude determination device and an acquisition device inside a pipeline;
acquiring an acquisition attitude angle of the pipeline robot at a set position through an attitude determination device; the step of acquiring the attitude angle acquired by the pipeline robot at the set position through the attitude determination equipment comprises the following steps: acquiring three-dimensional attitude data at the acquisition time of the pipeline robot by an attitude sensor and/or an inertial measurement unit in the attitude determination equipment, and taking the three-dimensional attitude data as an acquisition attitude angle of the pipeline robot; the three-dimensional attitude data includes any one or a combination of any one or more of pitch angle, yaw angle and roll angle; the set positions comprise time interval positions and/or path interval positions; the time interval position refers to the position where the pipeline robot is located when the pipeline robot advances along a set path at a set speed and at a plurality of set moments; the path interval positions are positions of a plurality of set path points when the pipeline robot advances along the set path;
comparing the collected attitude angle of the pipeline robot with the standard attitude angle:
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set threshold, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set threshold value, acquiring the cross section profile of the pipeline at the current position through the acquisition equipment after adjusting the acquisition angle of the acquisition equipment;
the step of comparing the collected attitude angle of the pipeline robot with the standard attitude angle comprises the following steps:
comparing the angle offset of the collected attitude angle of the pipeline robot and the standard attitude angle according to the pitch angle and the yaw angle in the three-dimensional attitude data:
if the angle offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set first threshold value, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the angle offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set first threshold, adjusting the attitude of the acquisition equipment through the attitude correction equipment so that the angle offset of the actual acquisition attitude of the acquisition equipment and the standard attitude angle is not larger than the set first threshold, and acquiring the cross section profile of the pipeline at the current position through the acquisition equipment after the attitude adjustment;
the step of comparing the collected attitude angle of the pipeline robot with the standard attitude angle comprises the following steps:
comparing the rotation offset of the collected attitude angle of the pipeline robot and the standard attitude angle according to the rolling angle in the three-dimensional attitude data:
if the rotation offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set second threshold, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the rotation offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set second threshold, adjusting the attitude of the acquisition equipment through the attitude correction equipment so that the actual acquisition attitude of the acquisition equipment and the rotation offset of the standard attitude angle are not larger than the set second threshold, and acquiring the cross section profile of the pipeline at the current position through the acquisition equipment after the attitude adjustment;
and establishing a pipeline three-dimensional model based on the parallel profile through the pipeline cross-section profile set of each position.
2. The method for constructing a three-dimensional model of a pipeline based on standard attitude angle correction according to claim 1, wherein a cartesian coordinate system is established with a forward direction of the pipeline robot being a z-axis, a vertical direction being a y-axis, and a horizontal direction being an x-axis with reference to the pipeline robot under the standard acquisition attitude angle, and the pitch angle is an angle at which the pipeline robot rotates around the x-axis; the yaw angle is an angle of rotation of the pipeline robot around a y axis; the rolling angle is an angle of rotation of the pipeline robot around the z axis.
3. The method for constructing a three-dimensional model of a pipeline based on standard attitude angle correction according to any one of claims 1 to 2, wherein the acquisition device includes any one or a combination of any one or more of a sonar, a radar, and an image acquisition device.
4. The pipeline three-dimensional model building system based on standard attitude angle correction is characterized by comprising a standard angle module, a robot module, an attitude angle module, a comparison module, a contour module and a model building module:
the standard angle module can set a standard acquisition attitude angle of the pipeline robot and record the standard acquisition attitude angle as a standard attitude angle;
the robot module can place the pipeline robot carrying the gesture determining equipment and the acquiring equipment inside the pipeline;
the attitude angle module can acquire an acquisition attitude angle of the pipeline robot at a set position through an attitude determination device; the attitude angle module acquires three-dimensional attitude data of the pipeline robot at the acquisition time through an attitude sensor and/or an inertial measurement unit in the attitude determination equipment, and takes the three-dimensional attitude data as an acquisition attitude angle of the pipeline robot; the three-dimensional attitude data includes any one or a combination of any one or more of pitch angle, yaw angle and roll angle; the set positions comprise time interval positions and/or path interval positions; the time interval position refers to the position where the pipeline robot is located when the pipeline robot advances along a set path at a set speed and at a plurality of set moments; the path interval positions are positions of a plurality of set path points when the pipeline robot advances along the set path;
the comparison module can compare the collected attitude angle of the pipeline robot with the standard attitude angle:
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set threshold, the profile module can acquire the cross section profile of the pipeline at the current position directly through the acquisition equipment;
if the offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set threshold value, the profile module can adjust the acquisition angle of the acquisition equipment and acquire the cross section profile of the pipeline at the current position through the acquisition equipment;
the step of comparing the collected attitude angle of the pipeline robot with the standard attitude angle comprises the following steps:
comparing the angle offset of the collected attitude angle of the pipeline robot and the standard attitude angle according to the pitch angle and the yaw angle in the three-dimensional attitude data:
if the angle offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set first threshold value, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the angle offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set first threshold, adjusting the attitude of the acquisition equipment through the attitude correction equipment so that the angle offset of the actual acquisition attitude of the acquisition equipment and the standard attitude angle is not larger than the set first threshold, and acquiring the cross section profile of the pipeline at the current position through the acquisition equipment after the attitude adjustment;
the step of comparing the collected attitude angle of the pipeline robot with the standard attitude angle comprises the following steps:
comparing the rotation offset of the collected attitude angle of the pipeline robot and the standard attitude angle according to the rolling angle in the three-dimensional attitude data:
if the rotation offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is not greater than a set second threshold, acquiring the cross section profile of the pipeline at the current position directly through acquisition equipment;
if the rotation offset of the acquisition attitude angle and the standard attitude angle of the pipeline robot is larger than a set second threshold, adjusting the attitude of the acquisition equipment through the attitude correction equipment so that the actual acquisition attitude of the acquisition equipment and the rotation offset of the standard attitude angle are not larger than the set second threshold, and acquiring the cross section profile of the pipeline at the current position through the acquisition equipment after the attitude adjustment;
the model building module can build a pipeline three-dimensional model based on parallel profiles through the pipeline cross-section profile set of each position.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method for constructing a three-dimensional model of a pipeline based on standard attitude angle correction as claimed in any one of claims 1 to 3 when the program is executed.
6. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the method for constructing a three-dimensional model of a pipeline based on standard attitude angle correction as claimed in any one of claims 1 to 3.
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