CN113223179B - Method and device for determining length of selected line of pipeline - Google Patents
Method and device for determining length of selected line of pipeline Download PDFInfo
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- CN113223179B CN113223179B CN202110519336.9A CN202110519336A CN113223179B CN 113223179 B CN113223179 B CN 113223179B CN 202110519336 A CN202110519336 A CN 202110519336A CN 113223179 B CN113223179 B CN 113223179B
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Abstract
The invention provides a method and a device for determining the length of a selected line of a pipeline, 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 plane expansion diagram of the target pipeline according to the point cloud data sequence, and establishing a mapping relation between pixel points of the two-dimensional plane expansion diagram and scanning points in the three-dimensional point cloud model; acquiring pixel point information of a selected line segment in the two-dimensional plane expansion diagram; obtaining scanning point information of a selected three-dimensional line corresponding to the selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relation; and obtaining the length of the selected three-dimensional line according to the scanning point information of the selected three-dimensional line. The method has simple operation of the line in the three-dimensional pipeline diagram and accurate calculation of the length of the selected three-dimensional line.
Description
Technical Field
The invention relates to the technical field of pipelines, in particular to a method and a device for determining the length of a selected pipeline of a pipeline.
Background
In pipeline inspection, it is often necessary to model the pipeline in three dimensions and then analyze selected lines (e.g., cracks) in the three-dimensional model of the pipeline.
At present, a target line needs to be manually selected on a three-dimensional pipeline graph, and then the length of a target line needs to be calculated. However, since the pipeline is curved, the line of the target line on the three-dimensional map of the pipeline is curved along with the surface of the three-dimensional pipeline, so that the operation of the artificial target line in the three-dimensional map of the pipeline is more complicated, and the error in calculating the length of the target line is larger.
Disclosure of Invention
The invention provides a method and a device for determining the length of a selected line of a pipeline, which are used for solving the defects that in the prior art, the operation of an artificial target line in a three-dimensional pipeline graph is more complicated and the error of calculating the length of the target line is larger, so that the selected line in the three-dimensional pipeline graph can be quickly selected, and the calculation of the length of the selected line is accurate.
The invention provides a method for determining the length of a selected line of a pipeline, which 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 plane expansion diagram of the target pipeline according to the point cloud data sequence, and establishing a mapping relation between pixel points of the two-dimensional plane expansion diagram and scanning points in the three-dimensional point cloud model;
acquiring pixel point information of a selected line segment in the two-dimensional plane expansion diagram; obtaining scanning point information of a selected three-dimensional line corresponding to the selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relation;
and obtaining the length of the selected three-dimensional line according to the scanning point information of the selected three-dimensional line.
According to the method for determining the selected line length of the pipeline, provided by the invention, the point cloud data sequence of the pipeline section of the target pipeline is obtained, and the method comprises the following steps:
acquiring point cloud data of a plurality of pipeline sections along the extension direction of the target pipeline and pipeline section positions corresponding to the point cloud data of the plurality of pipeline sections;
and sequencing the point cloud data of the plurality of pipeline sections according to the pipeline section positions to obtain the point cloud data sequence.
According to the method for determining the length of the selected pipeline of the pipeline, provided by the invention, the point cloud data of the plurality of pipeline sections are sequenced according to the positions of the pipeline sections to obtain the point cloud data sequence, and the method comprises the following steps:
and sorting the point cloud data of the plurality of pipeline sections according to the pipeline section positions, and performing denoising and pipeline center correction processing according to a sorting result to obtain the point cloud data sequence.
According to the method for determining the length of the selected line of the pipeline, which is provided by the invention, a two-dimensional plane expansion diagram of the target pipeline is established according to the point cloud data sequence, and the method comprises the following steps:
acquiring point cloud data of the plurality of pipeline sections;
establishing a two-dimensional plane expansion diagram of the target pipeline according to the point cloud data of the plurality of pipeline sections by taking the crawling distance of the crawler as a horizontal coordinate and the angle values of scanning points in the point cloud data of the plurality of pipeline sections as a vertical coordinate;
the point cloud data sequence is obtained by scanning through a laser radar installed on the crawler, and the initial position of the crawler in the target pipeline is used as the origin of an abscissa axis;
the angle values of the scanning points in the point cloud data of the plurality of pipeline sections are obtained according to the following modes:
acquiring target scanning points in the point cloud data of the plurality of pipeline sections;
giving a zero-angle point in point cloud data of a pipeline section where the target scanning point is located;
connecting the target scanning point with a central point of a pipeline section where the target scanning point is located to obtain a first connecting line, connecting the zero-angle point with the central point to obtain a second connecting line, and taking an angle between the first connecting line and the second connecting line as an angle value of the target scanning point;
and obtaining angle values of the residual scanning points in the point cloud data of the plurality of pipeline sections.
According to the method for determining the length of the selected line of the pipeline provided by the invention, the scanning point information of the selected three-dimensional line corresponding to the selected line in the three-dimensional point cloud model is obtained according to the pixel point information of the selected line and the mapping relation, and the method comprises the following steps:
obtaining a three-dimensional space coordinate of a three-dimensional line starting point and a three-dimensional space coordinate of a three-dimensional line end point in the three-dimensional point cloud model according to the pixel point information of the selected line segment starting point, the pixel point information of the selected straight line end point and the mapping relation;
judging whether the selected three-dimensional line is positioned on the same pipeline section according to the three-dimensional space coordinate of the three-dimensional line starting point and the three-dimensional space coordinate of the three-dimensional line terminal point;
and if the selected three-dimensional line is judged to be positioned on the same pipeline section, acquiring a first scanning point set matched with the three-dimensional line in the pipeline section where the selected three-dimensional line is positioned, and taking the first scanning point set as the scanning point information of the selected three-dimensional line.
According to the method for determining the length of the selected line of the pipeline provided by the invention, a first scanning point set matched with the three-dimensional line in the section of the pipeline where the selected three-dimensional line is located is obtained, and the method comprises the following steps:
and searching points according to the relation between the three-dimensional space coordinate of the starting point of the three-dimensional line and the three-dimensional space coordinate of a preset scanning point in the pipeline section of the selected three-dimensional line and the relation between the three-dimensional space coordinate of the end point of the three-dimensional line and the angle value of the preset scanning point in the pipeline section of the selected three-dimensional line, so as to obtain the first scanning point set.
According to the method for determining the length of the selected pipeline of the pipeline provided by the invention, after judging whether the selected three-dimensional line is positioned on the same pipeline section according to the three-dimensional space coordinate of the starting point of the three-dimensional line and the three-dimensional space coordinate of the end point of the three-dimensional line, the method further comprises the following steps:
and if the selected three-dimensional line is judged not to be positioned on the same pipeline section, acquiring a second scanning point set intersecting the plurality of pipeline sections and the three-dimensional line according to the three-dimensional space coordinate of the starting point of the three-dimensional line and the three-dimensional space coordinate of the end point of the three-dimensional line, and taking the second scanning point set as the scanning point information of the selected three-dimensional line.
According to the method for determining the length of the selected line of the pipeline provided by the invention, the length of the selected three-dimensional line is obtained according to the scanning point information of the selected three-dimensional line, and the method comprises the following steps:
calculating the distance between all adjacent scanning points of the selected three-dimensional line;
and accumulating the distances between all adjacent scanning points of the selected three-dimensional line to obtain the length of the selected three-dimensional line.
The invention also provides a device for determining the length of the selected line of the pipeline, which comprises:
the point cloud data sequence acquisition module is used for acquiring a point cloud data sequence of the pipeline section 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 plane map establishing module is used for establishing a two-dimensional plane expansion map of the target pipeline according to the point cloud data sequence and establishing a mapping relation between a pixel point of the two-dimensional plane expansion map and a scanning point in the three-dimensional point cloud model;
the pixel point information acquisition module is used for acquiring pixel point information of a selected line segment in the two-dimensional plane expansion diagram;
the scanning point information acquisition module is used for acquiring the scanning point information of the selected three-dimensional line corresponding to the selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relation;
and the length determining module is used for obtaining the length of the selected three-dimensional texture according to the scanning point information of the selected three-dimensional line.
According to the device for determining the length of the selected line of the pipeline, provided by the invention, the point cloud data sequence acquisition module is used for acquiring the point cloud data of a plurality of pipeline sections along the extension direction of the target pipeline and the pipeline section positions corresponding to the point cloud data of the plurality of pipeline sections, and sequencing the point cloud data of the plurality of pipeline sections according to the pipeline section positions to obtain the point cloud data sequence.
According to the device for determining the length of the selected pipeline of the pipeline, provided by the invention, the point cloud data sequence acquisition module is used for sequencing the point cloud data of the plurality of pipeline sections according to the positions of the pipeline sections and carrying out denoising and pipeline center correction processing according to the sequencing result to obtain the point cloud data sequence.
According to the device for determining the length of the selected line of the pipeline, provided by the invention, the two-dimensional plane graph establishing module is used for acquiring the point cloud data of a plurality of pipeline sections in the point cloud data sequence, taking the crawling distance of a crawler as a horizontal coordinate, taking the angle values of scanning points in the point cloud data of the plurality of pipeline sections as a vertical coordinate, and establishing a two-dimensional plane expansion graph of the target pipeline according to the point cloud data of all the pipeline sections;
the point cloud data sequence is obtained by scanning through a laser radar installed on the crawler, and the initial position of the crawler in the target pipeline is used as the origin of an abscissa axis;
the two-dimensional plane graph establishing module is further used for obtaining target scanning points in the point cloud data of the plurality of pipeline sections and giving a zero-angle point in the point cloud data of the pipeline section where the target point is located; the two-dimensional plane graph establishing module is further used for connecting the target scanning point with a central point of a pipeline section where the target scanning point is located to obtain a first connecting line, connecting the zero-angle point with the central point to obtain a second connecting line, and taking an angle between the first connecting line and the second connecting line as an angle value of the target scanning point; the two-dimensional plane graph establishing module is also used for acquiring angle values of the residual scanning points in the point cloud data of the plurality of pipeline sections.
According to the device for determining the length of the selected line of the pipeline, provided by the invention, the scanning point information acquisition module is used for acquiring a three-dimensional space coordinate of a three-dimensional line starting point and a three-dimensional space coordinate of a three-dimensional line terminal point in the three-dimensional point cloud model according to the pixel point information of the starting point of the selected line segment, the pixel point information of the selected straight line terminal point and the mapping relation; the scanning point information acquisition module is also used for judging whether the selected three-dimensional line is positioned on the same pipeline section according to the three-dimensional space coordinate of the three-dimensional line starting point and the three-dimensional space coordinate of the three-dimensional line terminal point; the scanning point information obtaining module is further configured to obtain a first scanning point set, which is matched with the three-dimensional line, in the pipeline section where the selected three-dimensional line is located if it is determined that the selected three-dimensional line is located in the same pipeline section, and use the first scanning point set as the scanning point information of the selected three-dimensional line.
According to the device for determining the length of the selected pipeline of the pipeline, provided by the invention, the scanning point information acquisition module is used for searching points according to the relationship between the three-dimensional space coordinate of the starting point of the three-dimensional line and the three-dimensional space coordinate of the preset scanning point in the pipeline section where the selected three-dimensional line is located, and the relationship between the three-dimensional space coordinate of the end point of the three-dimensional line and the angle value of the preset scanning point in the pipeline section where the selected three-dimensional line is located, so that the first scanning point set is obtained.
According to the device for determining the length of the selected pipeline of the pipeline provided by the invention, the scanning point information acquisition module is used for acquiring a second scanning point set of the plurality of pipeline sections intersected with the three-dimensional line according to the three-dimensional space coordinate of the starting point of the three-dimensional line and the three-dimensional space coordinate of the end point of the three-dimensional line if the selected three-dimensional line is judged not to be positioned on the same pipeline section, and the second scanning point set is used as the scanning point information of the selected three-dimensional line.
According to the device for determining the length of the selected pipeline provided by the invention, the length determining module is used for calculating the distances between all adjacent scanning points of the selected three-dimensional pipeline and accumulating the distances between all adjacent scanning points of the selected three-dimensional pipeline to obtain the length of the selected three-dimensional pipeline.
The present invention also provides 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 determining a selected line length of a pipeline according to any one of the above methods.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method for determining a selected line length of a pipeline as described in any one of the above.
The method and the device for determining the length of the selected line of the 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 plane expansion diagram of the target pipeline according to the point cloud data sequence, and establish a mapping relation between a pixel point of the two-dimensional plane expansion diagram and a scanning point in the three-dimensional point cloud model. When a user selects a line segment in a two-dimensional plane development diagram, a selected three-dimensional line corresponding to the selected line segment can be obtained through two-dimensional to three-dimensional conversion, and the length of the selected three-dimensional line can be calculated through a scanning point included in a selected three-dimensional structure. The method has the advantages of simple operation of selecting the line in the three-dimensional pipeline diagram and accurate calculation of the length of the selected three-dimensional line.
Drawings
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 determining a selected route length of a pipeline provided by 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 schematic illustration of point cloud data at a pipeline section in one example of the invention;
FIG. 4 is a schematic view of a section of one conduit in a two-dimensional plan expanded view corresponding to FIG. 3;
FIG. 5 is a two-dimensional plan expanded view in one example of the invention;
FIG. 6 is a schematic illustration of an example of the present invention including a selected line in a two-dimensional planar expanded view;
FIG. 7 is a schematic diagram of an example of the present invention for forming a selected three-dimensional line in a three-dimensional point cloud model;
FIG. 8 is a block diagram of a device for determining selected structural parameters of a pipeline according to the present invention;
fig. 9 is a schematic structural diagram 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 method for determining the selected line length of the pipeline according to the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a schematic flow chart of a method for determining selected structural characteristic parameters of a pipeline provided by the invention. As shown in fig. 1, the method for determining selected structural characteristic parameters of a pipeline provided by the invention comprises the following steps:
s1: and acquiring a point cloud data sequence of the pipeline section 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: and acquiring the point cloud data of a plurality of pipeline sections along the extension direction of the target pipeline and pipeline section positions corresponding to the point cloud data of the plurality of pipeline sections.
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 of the plurality of pipeline sections according to the pipeline section positions to obtain a point cloud data sequence.
Following the example of step S101, the point cloud data of the plurality of pipeline sections are sorted according to the pipeline section position corresponding to the point cloud data of each pipeline section, so as to obtain a point cloud data sequence.
In one embodiment of the present invention, step S102 includes: and sorting the point cloud data of the plurality of pipeline sections according to the pipeline section positions, and performing denoising and pipeline center correction processing according to a sorting result to obtain a point cloud data sequence.
Specifically, the pipeline inner wall position information corresponding to all the point cloud data is sorted, and an initial point cloud data sequence is constructed according to all the point cloud data according to the sorted sequence of the pipeline inner wall position information. The CCTV crawler crawls in a pipeline, position information of the inner wall of the pipeline is collected, when the CCTV crawler crawls in a circular pipeline, when each crawl position is reached, a distance value of a cable reel can be obtained by utilizing the self-carried function of the CCTV crawler, and one crawl position corresponds to the position information of the inner wall of the pipeline; meanwhile, at a certain crawling position, scanning the pipeline section by using a laser radar to acquire laser radar point cloud data of the pipeline section at the current crawling position, wherein the laser radar point cloud data describes the pipeline section outline at the current crawling position, and each crawling position is the same, so that the laser radar point cloud data corresponding to the position information of the inner wall of each pipeline one by one is acquired; sequencing all the pipeline inner wall position information, wherein a target point cloud data sequence can be constructed according to all initial point cloud data (such as initially acquired laser radar point cloud data) according to the sequence from small to large of the pipeline inner wall position information and the sequence of sequencing; the data acquisition method is simple, is a three-dimensional data source compared with the traditional pipeline sequence frame data, better accords with the actual condition of an underground pipeline, and is more beneficial to building a pipeline three-dimensional model.
And denoising the initial point cloud data sequence to obtain an intermediate point cloud data sequence. In detail, point cloud data of a cross section is selected from all point cloud data of the initial point cloud data sequence, and a least square method is adopted to fit a circle to the selected point cloud data, so that the original section circle center and the section radius of the cross section corresponding to the selected point cloud data are obtained. And respectively calculating the contour distance between each contour point in the selected point cloud data and the original section circle center of the corresponding cross section, and obtaining a contour distance set according to all the contour distances. And selecting one contour distance in the contour distance set optionally, and if the selected contour distance is larger than the section radius of the cross section corresponding to the selected point cloud data, regarding the contour point corresponding to the selected contour distance as a noise point. Traversing all contour distances in the contour distance set, finding out all noise points in the selected point cloud data, and removing all noise points to obtain the denoising point cloud data corresponding to the point cloud data of the selected cross section. Traversing the point cloud data of each cross section in the initial point cloud data sequence to obtain denoising point cloud data of each cross section; and obtaining an intermediate point cloud data sequence according to all the de-noising point cloud data according to the sequence of the sorted position information of the inner walls of all the pipelines. The denoising method can efficiently and accurately screen out the noise points in the initial point cloud data, and effectively improves the data accuracy of the description pipeline.
And carrying out pipeline center correction processing on the intermediate point cloud data sequence to obtain a target point cloud data sequence. In detail, the denoising point cloud data of each cross section in the intermediate point cloud data sequence is traversed, and a least square method is adopted to fit a circle to each denoising point cloud data to obtain the circle center of the denoising cross section corresponding to each cross section one by one. And respectively calculating the tube center offset distance between the circle center of each denoising section behind the reference center and the reference center according to the sequence of the sorted position information of the inner walls of all the pipelines by taking the first cross section as the reference section, the circle center of the denoising section of the first cross section as the reference center and the denoising point cloud data corresponding to the first cross section as the reference point cloud data, and obtaining a tube center offset distance set according to all the tube center offset distances. Selecting one of the offset distances of the selected tube center, judging whether the offset distance of the selected tube center is greater than a first preset threshold value, and if so, calculating to obtain the offset between the cross section corresponding to the offset distance of the selected tube center and the reference cross section according to the offset distance of the selected tube center; and adjusting the denoising point cloud data of the cross section corresponding to the selected pipe center offset distance to the reference point cloud data according to the offset to perform integral correction, so as to obtain the correction point cloud data corresponding to the denoising point cloud data corresponding to the selected pipe center offset distance. And traversing each offset distance of the center tubes in the offset distance set of the center tubes to obtain correction point cloud data corresponding to the cross section corresponding to the eccentric distance of each center tube. And taking the reference point cloud data and all the corrected point cloud data as processing point cloud data, and obtaining a target point cloud data sequence according to all the processing point cloud data according to the sequence of the position information of the inner walls of all the pipelines after sequencing.
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 original point of a three-dimensional coordinate system, the horizontal direction passing through the central point of the pipeline is used as an X coordinate, the vertical direction passing through the central 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: and establishing a two-dimensional plane expansion diagram of the target pipeline according to the point cloud data sequence, and establishing a mapping relation between pixel points of the two-dimensional plane expansion diagram and scanning points in the three-dimensional point cloud model.
In one embodiment of the present invention, step S3 includes:
s301: and acquiring point cloud data of a plurality of pipeline sections in the point cloud data sequence.
S302: and establishing a two-dimensional plane expansion diagram of the target pipeline according to the point cloud data of the plurality of pipeline sections by taking the crawling distance of the crawler as a horizontal coordinate and the angle values of scanning points in the point cloud data of the plurality of pipeline sections as a vertical coordinate.
The angle values of the scanning points in the point cloud data of the pipeline sections are obtained according to the following modes:
and acquiring target scanning points in the point cloud data of the plurality of pipeline sections.
And giving a zero-angle point in the point cloud data of the pipeline section where the target scanning point is located.
And connecting the target scanning point and the central point of the pipeline section where the target scanning point is located to obtain a first connecting line, connecting the zero angle point and the central point to obtain a second connecting line, and taking the angle between the first connecting line and the second connecting line as the angle value of the target scanning point.
And obtaining angle values of the residual scanning points in the point cloud data of all the pipeline sections.
FIG. 3 is a schematic illustration of point cloud data at a pipeline section in one example of the invention. In this duct cross-section, the target scan points are A0, Ai, An, or other scan points on a circle, as shown in FIG. 3. In this example, a0 is defined as the zero angle point. When the target scanning point is Ai, connecting the Ai with the center point (i.e. the center of the circle) and connecting the A0 with the center point, it can be known that the angle of Ai is 180 degrees. When the target scan point is An, the angle of An may be 359 degrees.
Fig. 4 is a schematic view of a section of one pipe in a two-dimensional plan view corresponding to fig. 3, and fig. 5 is a two-dimensional plan view in an example of the present invention. The point cloud data of the pipeline cross section shown in fig. 3 can be expanded into a dotted line in a two-dimensional plane, and the two-dimensional plane expanded view shown in fig. 5 can be obtained from the point cloud data of all the pipeline cross sections.
S4: and acquiring pixel point information of the selected line segment in the two-dimensional plane expansion diagram. Wherein the selected line segment may be or include a fracture of the target conduit.
FIG. 6 is a schematic illustration of an example of the present invention including a selected line in a two-dimensional planar expanded view. As shown in fig. 6, after the user draws the selected line segment on the two-dimensional plane expansion diagram, the image of the selected line segment is processed to obtain the pixel point information of the selected line segment.
S5: and obtaining the scanning point information of the selected three-dimensional line corresponding to the selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relation.
In one embodiment of the present invention, step S5 includes:
s501: and obtaining the three-dimensional space coordinate of the three-dimensional line starting point and the three-dimensional space coordinate of the three-dimensional line terminal point in the three-dimensional point cloud model according to the pixel point information of the selected line segment starting point, the pixel point information of the selected straight line terminal point and the mapping relation.
S502: and judging whether the selected three-dimensional line is positioned on the same pipeline section according to the three-dimensional space coordinate of the three-dimensional line starting point and the three-dimensional space coordinate of the three-dimensional line terminal point.
S503: and if the selected three-dimensional line is judged to be positioned on the same pipeline section, acquiring a first scanning point set matched with the three-dimensional line in the pipeline section of the selected three-dimensional line, and taking the first scanning point set as the scanning point information of the selected three-dimensional line.
In this embodiment, a first scanning point set is obtained by searching points according to a relationship between a three-dimensional space coordinate of a starting point of a three-dimensional line and a three-dimensional space coordinate of a preset scanning point in a section of a pipeline where the selected three-dimensional line is located, and a relationship between a three-dimensional space coordinate of an end point of the three-dimensional line and an angle value of the preset scanning point in the section of the pipeline where the selected three-dimensional line is located. In detail, if the point index values of the starting point and the end point of the selected three-dimensional line are compared with the scanning points in the 90-degree direction, whether the starting point and the end point of the selected three-dimensional line are both located between 0 degree and 90 degrees in the point cloud data of the pipeline section, whether part of the selected three-dimensional line is located between 0 degree and 90 degrees, or whether the selected three-dimensional line is completely not located between 0 degree and 90 degrees is judged according to the comparison result. If the selected three-dimensional line is completely positioned between 90 degrees and 360 degrees in the point cloud data of the pipeline section, acquiring all matched scanning points according to the angle value of the pixel point of the selected three-dimensional line to form a first point set; if the selected three-dimensional line is located between 90 degrees and 360 degrees in the point cloud data of the pipeline section where a part of the selected three-dimensional line is located, and the rest of the selected three-dimensional line is located between 0 degrees and 90 degrees, a matched scanning point is found from 0 degrees to 90 degrees, the same matching point is found from 90 degrees to 360 degrees, and finally a first point set is formed.
In an embodiment of the present invention, after step S502, the method further includes:
and if the selected three-dimensional line is judged not to be positioned on the same pipeline section, acquiring a second scanning point set of the plurality of pipeline sections intersected with the three-dimensional line according to the three-dimensional space coordinate of the starting point of the three-dimensional line and the three-dimensional space coordinate of the end point of the three-dimensional line, and taking the second scanning point set as the scanning point information of the selected three-dimensional line.
FIG. 7 is a schematic diagram of an example of the present invention for forming a selected three-dimensional line in a three-dimensional point cloud model. As shown in fig. 7, when the selected three-dimensional line is not located on the same pipeline cross section, the selected straight line is intersected with the dotted line corresponding to the point cloud data of the target pipeline in the two-dimensional plane development diagram, and a second scanning point set is formed according to the scanning points corresponding to the pixel points of all the intersection points. The second set of scan points includes the intersection points of xy and all the tube sections.
S6: and obtaining the length of the selected three-dimensional line according to the scanning point information of the selected three-dimensional line. In detail, the distances between all adjacent scanning points of the selected three-dimensional line are calculated; and accumulating the distances between all adjacent scanning points of the selected three-dimensional line to obtain the length of the selected three-dimensional line.
Referring to fig. 7, in an example of the present invention, distances between all adjacent scanning points in the second scanning point set are calculated, the adjacent scanning points are connected to form a unit line segment, and the distances of all the unit line segments are calculated and then accumulated to obtain the length of the selected three-dimensional line.
The following describes the device for determining the selected line length of the pipeline provided by the present invention, and the device for determining the selected line length of the pipeline described below and the method for determining the selected line length of the pipeline described above can be referred to in correspondence with each other.
FIG. 8 is a block diagram of the apparatus for determining selected structural parameters of a pipeline according to the present invention. As shown in fig. 8, the present invention provides an apparatus for determining selected structural characteristic parameters of a pipeline, including: the system comprises a point cloud data sequence acquisition module 810, a three-dimensional point cloud model establishment module 820, a two-dimensional plane map establishment module 830, a pixel point information acquisition module 840, a scanning point information acquisition module 850 and a length determination module 860.
The point cloud data sequence obtaining module 810 is configured to obtain a point cloud data sequence of a pipeline section of a target pipeline. The three-dimensional point cloud model building module 820 is used for building a three-dimensional point cloud model of the target pipeline according to the point cloud data sequence. The two-dimensional plane map establishing module 830 is configured to establish a two-dimensional plane expansion map of the target pipeline according to the point cloud data sequence, and establish a mapping relationship between a pixel point of the two-dimensional plane expansion map and a scanning point in the three-dimensional point cloud model. The pixel point information obtaining module 840 is configured to obtain pixel point information of a selected line segment in the two-dimensional planar expansion map. The scanning point information obtaining module 850 is configured to obtain scanning point information of a selected three-dimensional line corresponding to a selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relationship. The length determining module 860 is configured to obtain the length of the selected three-dimensional texture according to the scanning point information of the selected three-dimensional line.
In an embodiment of the present invention, the point cloud data obtaining module 810 is configured to obtain point cloud data of a plurality of pipeline sections along an extending direction of the target pipeline and pipeline section positions corresponding to the point cloud data of the plurality of pipeline sections, and sort the point cloud data of the plurality of pipeline sections according to the pipeline section positions to obtain a point cloud data sequence.
In an embodiment of the present invention, the point cloud data obtaining module 810 is configured to sort the point cloud data of the plurality of pipeline sections according to the pipeline section positions, and perform denoising and pipeline center correction processing according to the sorting result to obtain a point cloud data sequence.
In an embodiment of the present invention, the two-dimensional plane map establishing module 830 is configured to obtain point cloud data of a plurality of pipeline sections in the point cloud data sequence, and establish a two-dimensional plane expansion map of the target pipeline according to the point cloud data of all the pipeline sections by using a crawling distance of the crawler as a horizontal coordinate and using angle values of scanning points in the point cloud data of the plurality of pipeline sections as a vertical coordinate.
The point cloud data sequence is obtained by scanning through a laser radar installed on a crawler, and the initial position of the crawler in a target pipeline is used as the origin of an abscissa axis.
The two-dimensional plane graph establishing module 830 is further configured to obtain target scanning points in the point cloud data of the plurality of pipeline sections, and give a zero-angle point in the point cloud data of the pipeline section where the target point is located. The two-dimensional plane graph establishing module 830 is further configured to connect the target scanning point and a central point of a cross section of the pipeline where the target scanning point is located to obtain a first connection line, and connect the zero-angle point and the central point to obtain a second connection line, where an angle between the first connection line and the second connection line is used as an angle value of the target scanning point. The two-dimensional plan view establishing module 830 is further configured to obtain angle values of remaining scanning points in the point cloud data of the plurality of pipeline sections.
In an embodiment of the present invention, the scanning point information obtaining module 850 is configured to obtain, in the three-dimensional point cloud model, a three-dimensional space coordinate of a three-dimensional line starting point and a three-dimensional space coordinate of a three-dimensional line ending point according to the pixel point information of the selected line segment starting point, the pixel point information of the selected straight line ending point and the mapping relationship. The scanning point information obtaining module 850 is further configured to determine whether the selected three-dimensional line is located on the same pipeline section according to the three-dimensional space coordinate of the three-dimensional line starting point and the three-dimensional space coordinate of the three-dimensional line ending point. The scanning point information obtaining module 850 is further configured to, if it is determined that the selected three-dimensional line is located in the same pipeline section, obtain a first scanning point set, which is matched with the three-dimensional line, in the pipeline section where the selected three-dimensional line is located, and use the first scanning point set as the scanning point information of the selected three-dimensional line.
In an embodiment of the present invention, the scanning point information obtaining module 850 is configured to search a point according to a relationship between a three-dimensional space coordinate of a starting point of the three-dimensional line and a three-dimensional space coordinate of a preset scanning point in a pipe section where the selected three-dimensional line is located, and a relationship between a three-dimensional space coordinate of an end point of the three-dimensional line and an angle value of a preset scanning point in a pipe section where the selected three-dimensional line is located, so as to obtain a first scanning point set.
In an embodiment of the present invention, the scanning point information obtaining module 850 is configured to, if it is determined that the selected three-dimensional line is not located on the same pipeline section, obtain a second scanning point set where a plurality of pipeline sections intersect with the three-dimensional line according to a three-dimensional space coordinate of a start point of the three-dimensional line and a three-dimensional space coordinate of an end point of the three-dimensional line, and use the second scanning point set as scanning point information of the selected three-dimensional line.
In an embodiment of the present invention, the length determining module 860 is configured to calculate distances between all adjacent scanning points of the selected three-dimensional line, and accumulate the distances between all adjacent scanning points of the selected three-dimensional line to obtain the length of the selected three-dimensional line.
It should be noted that, a specific implementation of the apparatus for determining a length of a selected pipeline in the embodiment of the present invention is similar to a specific implementation of the method for determining a length of a selected pipeline in the embodiment of the present invention, and specific reference is specifically made to the description of the method for determining a length of a selected pipeline, and details are not repeated for reducing redundancy.
In addition, other configurations and functions of the device for determining the length of the selected line of the pipeline 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. 9 is a schematic structural diagram of an electronic device in one example of the invention. As shown in fig. 9, the electronic device may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other via the communication bus 940. Processor 910 may invoke logic instructions in memory 930 to perform a method of determining a selected wire length of a pipe, the method comprising: 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 plane expansion diagram of the target pipeline according to the point cloud data sequence, and establishing a mapping relation between pixel points of the two-dimensional plane expansion diagram and scanning points in the three-dimensional point cloud model; acquiring pixel point information of a selected line segment in the two-dimensional plane expansion diagram; obtaining scanning point information of a selected three-dimensional line corresponding to the selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relation; and obtaining the length of the selected three-dimensional line according to the scanning point information of the selected three-dimensional line.
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.
Furthermore, the logic instructions in the memory 930 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 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 method for determining a selected line length of a pipeline, the method comprising: 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 plane expansion diagram of the target pipeline according to the point cloud data sequence, and establishing a mapping relation between pixel points of the two-dimensional plane expansion diagram and scanning points in the three-dimensional point cloud model; acquiring pixel point information of a selected line segment in the two-dimensional plane expansion graph; obtaining scanning point information of a selected three-dimensional line corresponding to the selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relation; and obtaining the length of the selected three-dimensional line according to the scanning point information of the selected three-dimensional line.
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 (8)
1. A method for determining a selected line length of a pipeline, comprising:
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 plane expansion diagram of the target pipeline according to the point cloud data sequence, and establishing a mapping relation between pixel points of the two-dimensional plane expansion diagram and scanning points in the three-dimensional point cloud model;
acquiring pixel point information of a selected line segment in the two-dimensional plane expansion diagram;
obtaining scanning point information of a selected three-dimensional line corresponding to the selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relation;
obtaining the length of the selected three-dimensional line according to the scanning point information of the selected three-dimensional line;
acquiring a point cloud data sequence of a pipeline section of a target pipeline, comprising: acquiring point cloud data of a plurality of pipeline sections along the extension direction of the target pipeline and pipeline section positions corresponding to the point cloud data of the plurality of pipeline sections; sorting the point cloud data of the plurality of pipeline sections according to the pipeline section positions to obtain a point cloud data sequence;
establishing a two-dimensional plane expansion diagram of the target pipeline according to the point cloud data sequence, wherein the two-dimensional plane expansion diagram comprises the following steps: acquiring point cloud data of the plurality of pipeline sections; establishing a two-dimensional plane expansion diagram of the target pipeline according to the point cloud data of the plurality of pipeline sections by taking the crawling distance of the crawler as a horizontal coordinate and the angle values of scanning points in the point cloud data of the plurality of pipeline sections as a vertical coordinate; the point cloud data sequence is obtained by scanning through a laser radar installed on the crawler, and the initial position of the crawler in the target pipeline is used as the origin of an abscissa axis;
the angle values of the scanning points in the point cloud data of the plurality of pipeline sections are obtained according to the following modes: acquiring target scanning points in the point cloud data of the plurality of pipeline sections; giving a zero-angle point in point cloud data of a pipeline section where the target scanning point is located; connecting the target scanning point with a central point of a pipeline section where the target scanning point is located to obtain a first connecting line, connecting the zero-angle point with the central point to obtain a second connecting line, and taking an angle between the first connecting line and the second connecting line as an angle value of the target scanning point; and obtaining angle values of the residual scanning points in the point cloud data of the plurality of pipeline sections.
2. The method of claim 1, wherein the step of sorting the point cloud data of the plurality of pipe sections according to pipe section positions to obtain the point cloud data sequence comprises:
and sequencing the point cloud data of the plurality of pipeline sections according to the pipeline section positions, and denoising and pipeline center correction processing are carried out according to sequencing results to obtain the point cloud data sequence.
3. The method for determining the length of the selected line in the pipeline according to claim 1, wherein obtaining the scanning point information of the selected three-dimensional line corresponding to the selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relationship comprises:
obtaining a three-dimensional space coordinate of a three-dimensional line starting point and a three-dimensional space coordinate of a three-dimensional line end point in the three-dimensional point cloud model according to the pixel point information of the selected line segment starting point, the pixel point information of the selected line segment end point and the mapping relation;
judging whether the selected three-dimensional line is positioned on the same pipeline section according to the three-dimensional space coordinate of the three-dimensional line starting point and the three-dimensional space coordinate of the three-dimensional line terminal point;
and if the selected three-dimensional line is judged to be positioned on the same pipeline section, acquiring a first scanning point set matched with the three-dimensional line in the pipeline section where the selected three-dimensional line is positioned, and taking the first scanning point set as the scanning point information of the selected three-dimensional line.
4. The method of claim 3, wherein obtaining a first set of scan points in a cross-section of the pipeline along which the selected three-dimensional line is located that matches the three-dimensional line comprises:
and searching points according to the relation between the three-dimensional space coordinate of the starting point of the three-dimensional line and the three-dimensional space coordinate of a preset scanning point in the pipeline section of the selected three-dimensional line and the relation between the three-dimensional space coordinate of the end point of the three-dimensional line and the angle value of the preset scanning point in the pipeline section of the selected three-dimensional line, so as to obtain the first scanning point set.
5. The method for determining the length of the selected pipeline according to claim 3, wherein after determining whether the selected three-dimensional pipeline is located on the same pipeline section according to the three-dimensional space coordinate of the starting point of the three-dimensional pipeline and the three-dimensional space coordinate of the ending point of the three-dimensional pipeline, the method further comprises:
and if the selected three-dimensional line is judged not to be positioned on the same pipeline section, acquiring a second scanning point set intersecting the plurality of pipeline sections and the three-dimensional line according to the three-dimensional space coordinate of the starting point of the three-dimensional line and the three-dimensional space coordinate of the end point of the three-dimensional line, and taking the second scanning point set as the scanning point information of the selected three-dimensional line.
6. An apparatus for determining a selected line length of a pipeline, comprising:
the point cloud data sequence acquisition module is used for acquiring a point cloud data sequence of the pipeline section 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 plane map establishing module is used for establishing a two-dimensional plane expansion map of the target pipeline according to the point cloud data sequence and establishing a mapping relation between a pixel point of the two-dimensional plane expansion map and a scanning point in the three-dimensional point cloud model;
the pixel point information acquisition module is used for acquiring pixel point information of a selected line segment in the two-dimensional plane expansion diagram;
the scanning point information acquisition module is used for acquiring the scanning point information of the selected three-dimensional line corresponding to the selected line segment in the three-dimensional point cloud model according to the pixel point information of the selected line segment and the mapping relation;
the length determining module is used for obtaining the length of the selected three-dimensional line according to the scanning point information of the selected three-dimensional line;
the point cloud data sequence acquisition module is specifically used for acquiring point cloud data of a plurality of pipeline sections along the extension direction of the target pipeline and pipeline section positions corresponding to the point cloud data of the plurality of pipeline sections; sorting the point cloud data of the plurality of pipeline sections according to the pipeline section positions to obtain a point cloud data sequence;
the two-dimensional plane graph establishing module is specifically used for acquiring point cloud data of the plurality of pipeline sections; establishing a two-dimensional plane expansion diagram of the target pipeline according to the point cloud data of the plurality of pipeline sections by taking the crawling distance of the crawler as a horizontal coordinate and the angle values of scanning points in the point cloud data of the plurality of pipeline sections as a vertical coordinate; the point cloud data sequence is obtained by scanning through a laser radar installed on the crawler, and the initial position of the crawler in the target pipeline is used as the origin of an abscissa axis;
the two-dimensional plane graph establishing module is also used for acquiring target scanning points in the point cloud data of the plurality of pipeline sections; giving a zero-angle point in point cloud data of a pipeline section where the target scanning point is located; connecting the target scanning point with a central point of a pipeline section where the target scanning point is located to obtain a first connecting line, connecting the zero-angle point with the central point to obtain a second connecting line, and taking an angle between the first connecting line and the second connecting line as an angle value of the target scanning point; and obtaining angle values of the residual scanning points in the point cloud data of the plurality of pipeline sections.
7. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, wherein said processor when executing said program performs the steps of the method for determining a selected line length for a pipeline according to any of claims 1 to 5.
8. 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 determining a selected line length for a pipeline according to any of claims 1 to 5.
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