CN113359149B - Method, device, equipment and storage medium for positioning branch pipe and broken hole of pipeline - Google Patents
Method, device, equipment and storage medium for positioning branch pipe and broken hole of pipeline Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G01B11/285—Measuring arrangements characterised by the use of optical techniques for measuring areas using photoelectric detection means
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a method, a device, equipment and a storage medium for positioning a pipeline branch pipe and a broken hole, wherein the method comprises the following steps: acquiring a pipeline section point cloud data sequence of a target pipeline; preprocessing the pipeline section point cloud data sequence; calculating the contour area of each pipeline section of the target pipeline according to the preprocessed pipeline section point cloud data sequence; and determining the branch pipe position and the hole position of the target pipeline according to the difference value between the contour area and the standard circle area of each pipeline section of the target pipeline. The invention can position the branch pipe of the urban drainage pipeline and position the broken hole.
Description
Technical Field
The present invention relates to the field of pipeline detection technologies, and in particular, to a method, an apparatus, a device, and a storage medium for locating a branch pipe and a hole of a pipeline.
Background
Laser radar the radar using a laser as a radiation source is a product of a combination of laser technology and radar technology. The laser radar consists of a transmitter, an antenna, a receiver, a tracking frame, information processing and the like. The transmitter is a laser in various forms, such as a carbon dioxide laser, a neodymium-doped yttrium aluminum garnet laser, a semiconductor laser, a solid laser with tunable wavelength and the like; the antenna is an optical telescope; the receiver employs various forms of photodetectors such as photomultiplier tubes, semiconductor photodiodes, avalanche photodiodes, infrared and visible light multiplexed detection devices, and the like.
The positioning of the branch pipes of the urban drainage pipeline is an important evaluation standard for pipeline use and is also an important basis for later repair and maintenance of pipeline measures. How to position the branch pipe of the urban drainage pipeline is a problem to be solved urgently.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for positioning a pipeline branch pipe and a broken hole, which are used for realizing the positioning of the laser radar pipeline branch pipe.
The invention provides a positioning method of a pipeline branch pipe, which comprises the following steps: acquiring a pipeline section point cloud data sequence of a target pipeline; preprocessing the pipeline section point cloud data sequence; calculating the contour area of each pipeline section of the target pipeline according to the preprocessed pipeline section point cloud data sequence; and determining the branch pipe position and the hole position of the target pipeline according to the difference value between the contour area and the standard circle area of each pipeline section of the target pipeline.
According to the method for positioning the pipeline branch pipe and the hole, provided by the invention, the point cloud data sequence of the section of the target pipeline is obtained, and the method comprises the following steps: acquiring point cloud data of all pipeline sections of the target pipeline and pipeline section positions corresponding to the point cloud data of all pipeline sections; and ordering the point cloud data of all the pipeline sections according to the pipeline section positions to obtain the point cloud data sequence.
According to the pipeline branch pipe and the hole positioning method provided by the invention, the pretreatment comprises denoising treatment and smoothing treatment.
According to the method for positioning the branch pipe and the broken hole of the pipeline, which is provided by the invention, the contour area of each pipeline section of the target pipeline is calculated according to the preprocessed pipeline section point cloud data sequence, and the method comprises the following steps: obtaining a point cloud data sequence of the pipeline section after denoising and smoothing to obtain point cloud data of each pipeline section of the target pipeline; and connecting adjacent points in the point cloud data of each pipeline section of the target pipeline by using a straight line, and calculating the contour area of each pipeline section of the target pipeline according to the point cloud data of each pipeline section of the target pipeline after the straight line connection.
According to the method for positioning the branch pipe and the hole of the pipeline, provided by the invention, the branch pipe position and the hole position of the target pipeline are determined according to the difference value between the contour area of each pipeline section of the target pipeline and the standard circle area, and the method comprises the following steps: calculating the difference value of subtracting the standard circle area from the contour area of each pipeline section of the target pipeline; extracting all pipeline section positions of which the difference value is larger than a first preset threshold value; combining the pipeline section positions with adjacent relations in all pipeline section positions with the difference value larger than a first preset threshold value, and judging the pipeline section positions as the same branch pipe; outputting the pipeline section positions of all the branch pipes.
The positioning method of the pipeline branch pipe and the broken hole provided by the invention further comprises the following steps: calculating the diameter of a target branch pipe according to first frame point cloud data of the target branch pipe and last frame point cloud data of a corresponding branch pipe, wherein the target branch pipe is a branch pipe of the target pipeline; outputting the diameter of the target branch pipe.
According to the method for positioning the branch pipe and the broken hole of the pipeline provided by the invention, after calculating the difference value of subtracting the standard circle area from the outline area of each pipeline section of the target pipeline, the method further comprises the following steps: extracting all pipeline section positions of which the difference value is smaller than zero and the absolute value of which is larger than a second preset threshold value; combining all pipeline section positions with adjacent relations in all pipeline section positions with the absolute value of the difference value being smaller than zero and the absolute value of the difference value being larger than a second preset threshold value, and judging the pipeline section positions as the same hole; outputting the pipeline section positions of all the broken holes.
The invention also provides a positioning device for the pipeline branch pipe and the broken hole, comprising: the acquisition module is used for acquiring a pipeline section point cloud data sequence of the target pipeline; the control processing module is used for preprocessing the pipeline section point cloud data sequence, and further calculating the contour area of each pipeline section of the target pipeline according to the preprocessed pipeline section point cloud data sequence; the control processing module is also used for determining the branch pipe position and the hole position of the target pipeline according to the difference value between the contour area of each pipeline section of the target pipeline and the standard circle area.
According to the positioning device for the pipeline branch pipes and the holes, the acquisition module is used for acquiring the point cloud data of all pipeline sections of the target pipeline and the pipeline section positions corresponding to the point cloud data of all pipeline sections, and sequencing the point cloud data of all pipeline sections according to the pipeline section positions to obtain the point cloud data sequence.
According to the pipeline branch pipe and the hole positioning device provided by the invention, the pretreatment comprises denoising treatment and smoothing treatment.
According to the positioning device for the pipeline branch pipe and the broken hole, the acquisition module is further used for acquiring the point cloud data sequence of the pipeline section after denoising and smoothing to obtain the point cloud data of each pipeline section of the target pipeline; the control processing module is used for connecting adjacent point clouds in the point cloud data of each pipeline section of the target pipeline by using a straight line, and calculating the contour area of each pipeline section of the target pipeline according to the point cloud data of each pipeline section of the target pipeline after the point clouds are connected by the straight line.
The positioning device for the pipeline branch pipe and the broken hole provided by the invention further comprises: an output module; the control processing module is used for calculating the difference value of subtracting the standard circle area from the contour area of each pipeline section of the target pipeline; the control processing module is also used for extracting all pipeline section positions with the difference value larger than a first preset threshold value, merging the pipeline section positions with adjacent relations in all the pipeline section positions with the difference value larger than the first preset threshold value, and judging the pipeline section positions as the same branch pipe; the output module is used for outputting the pipeline section positions of all the branch pipes.
According to the positioning device for the pipeline branch pipe and the broken hole, the control processing module is further used for calculating the diameter of the target branch pipe according to the first frame point cloud data of the target branch pipe and the last frame point cloud data of the corresponding branch pipe, wherein the target branch pipe is a branch pipe of the target pipeline; the output module is also used for outputting the diameter of the target branch pipe.
According to the positioning device for the pipeline branch pipe and the broken hole, the control processing module is used for extracting all pipeline section positions with the difference value smaller than zero and the absolute value larger than a second preset threshold value, merging pipeline section positions with adjacent relations in all pipeline section positions with the difference value smaller than zero and the absolute value larger than the second preset threshold value, and judging that the pipeline section positions are the same broken hole; the output module is also used for outputting the pipeline section positions of all the broken holes.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method for positioning a pipe branch as described in any one of the above when executing the program.
The 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 positioning a pipe branch as described in any of the above.
According to the positioning method, the positioning device, the equipment and the storage medium for the pipeline branch pipes, when the crawler loaded with the laser radar is used for crawling in a target pipeline (such as an urban drainage pipeline), the pipeline section point cloud data sequence of the target pipeline can be obtained, the contour area of each pipeline section of the target pipeline is calculated after the pipeline section point cloud data sequence is preprocessed, and as the contour area of the pipeline section at the branch pipe is larger than the contour area of the pipeline section without the branch pipe and the hole, the contour area of the pipeline section at the hole is smaller than the contour area of the pipeline section without the branch pipe and the hole, the contour area of the point cloud data without the branch pipe and the hole is set to be the standard circle area, and the branch pipe position and the hole position of the target pipeline can be determined through the difference value between the contour area of each pipeline section of the target pipeline and the standard circle area.
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 chart of a method for locating a pipe branch and a hole according to the present invention;
FIG. 2 is a schematic diagram of a portion of a target pipeline formed from a sequence of pipeline section point cloud data in one example of the invention;
FIG. 3 is a block diagram of a pipe branch and hole locating device according to the present invention;
fig. 4 is a schematic structural view of an electronic device in one example of the invention.
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.
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 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 should be noted that the term "coupled" is to be interpreted broadly, unless explicitly stated or defined otherwise, as such, as may be directly or indirectly via an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The method of positioning the pipe branch of the present invention is described below with reference to fig. 1-2.
As shown in fig. 1, the positioning method of the pipe branch of the present invention includes:
s1: and acquiring a pipeline section point cloud data sequence of the target pipeline.
Specifically, a crawler carrying a laser radar is used for scanning when crawling in a target pipeline (such as an urban drainage pipeline), and a pipeline section point cloud data sequence of the target pipeline can be obtained.
In one embodiment of the present invention, step S1 includes:
s1-1: and acquiring point cloud data of all pipeline sections of the target pipeline and pipeline section positions corresponding to the point cloud data of all pipeline sections.
Specifically, when the crawler carrying the laser radar is used for scanning when crawling in the target pipeline, point cloud data of all pipeline sections of the target pipeline and section positions corresponding to power supply data of all sections can be obtained.
In one example of the present invention, a certain section of the target pipeline is arranged in the east-west direction, and the pipeline center point position defining the east-side starting point of the section of the pipeline is X 1 The position of the central point of the pipeline at the west end point is X n The center point of the section of the pipeline at different positions can be X i And (3) representing. 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 X corresponding to the point cloud data of each pipeline section can be obtained i 。
S1-2: and ordering the point cloud data of all the pipeline sections according to the pipeline section positions to obtain a point cloud data sequence.
Following the example of step S1-1, the pipeline section position X corresponding to the point cloud data of each pipeline section is determined i And ordering the point cloud data of all the pipeline sections, so that a point cloud data sequence can be obtained.
S2: preprocessing the pipeline section point cloud data sequence. The preprocessing includes denoising and smoothing, for example, denoising by using a neighboring point search method and smoothing by using a 7-point linear smoothing method.
S3: and calculating the contour area of each pipeline section of the target pipeline according to the preprocessed pipeline section point cloud data sequence.
In one embodiment of the present invention, step S3 includes:
s3-1: and obtaining the point cloud data sequence of the pipeline section after denoising and smoothing to obtain the point cloud data of each pipeline section of the target pipeline.
S3-2: the adjacent point clouds in the point cloud data of each pipeline section of the target pipeline are connected by straight lines to obtain a polygonal structure, for example, N points in the point cloud data of the denoising treatment and the smoothing treatment of a certain pipeline section are connected by straight lines to obtain an N-sided structure, the contour area of each pipeline section of the target pipeline is calculated according to the point cloud data of each pipeline section of the target pipeline after the straight line connection, namely, the area of the N-sided structure is calculated, and the contour area can be obtained by S i And (3) representing.
S4: and determining the position of the branch pipe and the position of the hole of the target pipeline according to the difference value between the contour area of each pipeline section of the target pipeline and the standard circle area.
In one embodiment of the present invention, step S4 includes:
s4-1: the difference of the contour area of each pipe section of the target pipe minus the standard circle area is calculated.
Specifically, the standard circle area S is calculated from the pipe diameter, or pipe radius, of the target pipe 0 . Calculating the contour area S of each pipe section of the target pipe i And standard circle area S 0 Between which are locatedIs the difference S of (2) i -S 0 。
S4-2: the extraction difference value is larger than a preset threshold H of the polygon 1 Is provided for the location of all the pipe sections.
As shown in FIG. 2, due to the difference S at the branch pipe i -S 0 Greater than 0, and S i -S 0 Will be greater than the first preset threshold H due to the presence of the branch pipe 1 Thus, the difference is greater than the first preset threshold H 1 The positions of all the branch pipes can be obtained.
S4-3: and merging the pipeline section positions with adjacent relations in all pipeline section positions with the difference value larger than a first preset threshold value, and judging the pipeline section positions as the same branch pipe.
S4-4: outputting the pipeline section positions of all the branch pipes.
In one embodiment of the present invention, after step S4-3, further comprising:
s4-5: calculating the diameter of a target branch pipe according to the first frame point cloud data of the target branch pipe and the last frame point cloud data of the corresponding branch pipe, wherein the target branch pipe is a branch pipe of a target pipeline; outputting the diameter of the target branch pipe. Thus, the diameters of all the branch pipes in the target pipeline can be obtained.
In one embodiment of the present invention, after step S4-1, further comprising:
and extracting all pipeline section positions of which the difference value is smaller than zero and of which the absolute value is larger than a second preset threshold value. Due to the difference S at the hole i -S 0 Will be less than 0 and |S i -S 0 I will be greater than a second preset threshold H due to the presence of a hole 2 Thus, the difference is greater than the second preset threshold H 2 And (3) obtaining the positions of all the holes.
And merging the pipeline section positions with adjacent relations in all pipeline section positions with the absolute value of the difference value smaller than zero and larger than a second preset threshold value, and judging the pipeline section positions as the same hole.
Outputting the pipeline section positions of all the broken holes.
The positioning device of the pipe branch provided by the invention is described below, and the positioning device of the pipe branch described below and the positioning method of the pipe branch described above can be referred to correspondingly.
As shown in fig. 3, the positioning device for a pipe branch pipe and a hole provided by the invention comprises: an acquisition module 310 and a control processing module 320.
Wherein, the obtaining module 310 is configured to obtain a pipeline section point cloud data sequence of the target pipeline. The control processing module 320 is configured to perform preprocessing on the pipeline section point cloud data sequence, and further calculate a contour area of each pipeline section of the target pipeline according to the preprocessed pipeline section point cloud data sequence. The control processing module 320 is further configured to determine a branch pipe position and a hole position of the target pipe according to a difference between a profile area and a standard circle area of each pipe section of the target pipe.
In one embodiment of the present invention, the obtaining module 310 is configured to obtain point cloud data of all pipe sections of the target pipe and pipe section positions corresponding to the point cloud data of all pipe sections, and order the point cloud data of all pipe sections according to the pipe section positions to obtain a point cloud data sequence.
In one embodiment of the present invention, the preprocessing includes denoising processing and smoothing processing.
In one embodiment of the present invention, the pipeline branch and the hole positioning device further includes an output module, and the control processing module 320 is further configured to calculate the diameter of the target branch according to the first frame point cloud data of the target branch and the last frame point cloud data of the corresponding branch, where the target branch is a branch of the target pipeline. The output module is also used for outputting the diameter of the target branch pipe.
In one embodiment of the present invention, the obtaining module 310 is further configured to obtain the point cloud data of each pipe section of the target pipe from the point cloud data sequence of the pipe section after the denoising process and the smoothing process. The control processing module 320 is configured to calculate a contour area of each pipe section of the target pipe according to the point cloud data of each pipe section of the target pipe after the point cloud data of each pipe section of the target pipe is connected in a straight line.
In one embodiment of the invention, the pipe branch and hole positioning device further comprises an output module. The control processing module 320 is configured to calculate a difference of the contour area of each pipe section of the target pipe minus the standard circle area. The control processing module 320 is further configured to extract all the pipe section positions with the difference value greater than the first preset threshold value, and determine that the same branch pipe is the same after merging the pipe section positions with the adjacent relationship in all the pipe section positions with the difference value greater than the first preset threshold value. The output module is used for outputting the pipeline section positions of all the branch pipes.
In one embodiment of the present invention, the control processing module 320 is further configured to calculate the diameter of the target branch pipe according to the first frame point cloud data of the target branch pipe and the last frame point cloud data of the corresponding branch pipe. The target branch pipe is a branch pipe of the target pipeline. The output module is also used for outputting the diameter of the target branch pipe.
In one embodiment of the present invention, the control processing module 320 is configured to extract all the pipe section positions with the difference value smaller than zero and the absolute value of the difference value larger than the second preset threshold, and combine the pipe section positions with the adjacent relationship among all the pipe section positions with the difference value smaller than zero and the absolute value of the difference value larger than the second preset threshold to determine the same hole. The output module is also used for outputting the pipeline section positions of all the broken holes.
It should be noted that, the specific implementation manner of the positioning device for a pipe branch in the embodiment of the present invention is similar to the specific implementation manner of the positioning method for a pipe branch in the embodiment of the present invention, and specifically refer to the description of the positioning method portion for a pipe branch, so that redundancy is reduced, and no description is repeated.
In addition, other structures and functions of the positioning of the pipe branch according to the embodiments of the present invention are known to those skilled in the art, and are not described in detail for reducing redundancy.
Fig. 4 is a schematic structural view of an electronic device in one example of the invention. As shown in fig. 4, the electronic device may include: processor 410, communication interface 420, memory 430, and communication bus 440, wherein processor 410, communication interface 420, and memory 430 communicate with each other via communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform a method of locating pipe branches and holes, the method comprising: acquiring a pipeline section point cloud data sequence of a target pipeline; preprocessing the pipeline section point cloud data sequence; calculating the contour area of each pipeline section of the target pipeline according to the preprocessed pipeline section point cloud data sequence; and determining the branch pipe position and the hole position of the target pipeline according to the difference value between the contour area and the standard circle area of each pipeline section of the target pipeline.
In the embodiment of the invention, the processor may be an integrated circuit chip with signal processing capability. The processor may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP for short), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), a field programmable gate array (Field Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
The disclosed methods, steps, and logic blocks 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 embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The processor reads the information in the storage medium and, in combination with its hardware, performs the steps of the above method.
Further, the logic instructions in the memory 430 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 non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-described method of locating a pipe branch and a hole, the method comprising: acquiring a pipeline section point cloud data sequence of a target pipeline; preprocessing the pipeline section point cloud data sequence; calculating the contour area of each pipeline section of the target pipeline according to the preprocessed pipeline section point cloud data sequence; and determining the branch pipe position and the hole position of the target pipeline according to the difference value between the contour area and the standard circle area of each pipeline section of the target pipeline.
The storage medium may be memory, for example, may be volatile memory or nonvolatile memory, or 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 ROM (Electrically EPROM, EEPROM), or a flash Memory.
The volatile memory may be a random access memory (Random Access Memory, RAM for short) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus RAM (Direct Rambus RAM, DRRAM).
The storage media described in embodiments of the present 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 in one or more of the examples described above, the functions described in the present invention may be implemented in a combination of hardware and software. When the software is applied, the corresponding functions may be stored in a computer-readable medium or transmitted as one or more instructions or code on the 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 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 (8)
1. A method of locating a pipe branch and a hole, comprising:
acquiring a pipeline section point cloud data sequence of a target pipeline;
preprocessing the pipeline section point cloud data sequence;
calculating the contour area of each pipeline section of the target pipeline according to the preprocessed pipeline section point cloud data sequence;
determining the position of a branch pipe and the position of a hole of the target pipeline according to the difference value between the contour area of each pipeline section of the target pipeline and the standard circle area;
wherein the determining the branch pipe position and the hole position of the target pipeline according to the difference between the contour area of each pipeline section of the target pipeline and the standard circle area comprises the following steps:
calculating the difference value of subtracting the standard circle area from the contour area of each pipeline section of the target pipeline;
extracting all pipeline section positions of which the difference value is larger than a preset threshold value of the edge;
combining the pipeline section positions with adjacent relations in all pipeline section positions with the difference value larger than a first preset threshold value, and judging the pipeline section positions as the same branch pipe;
outputting the pipeline section positions of all branch pipes;
extracting all pipeline section positions of which the difference value is smaller than zero and the absolute value of which is larger than a second preset threshold value;
combining all pipeline section positions with adjacent relations in all pipeline section positions with the absolute value of the difference value being smaller than zero and the absolute value of the difference value being larger than the second preset threshold value, and judging that the pipeline section positions are the same hole;
outputting the pipeline section positions of all the broken holes.
2. The method of locating a pipe branch and a hole according to claim 1, wherein obtaining a point cloud data sequence of a target pipe section comprises:
acquiring point cloud data of all pipeline sections of the target pipeline and pipeline section positions corresponding to the point cloud data of all pipeline sections;
and ordering the point cloud data of all the pipeline sections according to the pipeline section positions to obtain the point cloud data sequence.
3. A method of locating a pipe branch and a hole according to claim 1 or 2, wherein the pre-treatment comprises a denoising treatment and a smoothing treatment.
4. A method of locating a pipe branch and a hole according to claim 3, wherein calculating the profile area of each pipe section of the target pipe from the preprocessed pipe section point cloud data sequence comprises:
obtaining a point cloud data sequence of the pipeline section after denoising and smoothing to obtain point cloud data of each pipeline section of the target pipeline;
and connecting adjacent points in the point cloud data of each pipeline section of the target pipeline by using a straight line, and calculating the contour area of each pipeline section of the target pipeline according to the point cloud data of each pipeline section of the target pipeline after the straight line connection.
5. The method of locating a pipe branch and a hole according to claim 1, further comprising:
calculating the diameter of a target branch pipe according to first frame point cloud data of the target branch pipe and last frame point cloud data of a corresponding branch pipe, wherein the target branch pipe is a branch pipe of the target pipeline;
outputting the diameter of the target branch pipe.
6. A device for locating a pipe branch and a hole, comprising:
the acquisition module is used for acquiring a pipeline section point cloud data sequence of the target pipeline;
the control processing module is used for preprocessing the pipeline section point cloud data sequence, and further calculating the contour area of each pipeline section of the target pipeline according to the preprocessed pipeline section point cloud data sequence; the control processing module is also used for determining the position of the branch pipe and the position of the broken hole of the target pipeline according to the difference value between the contour area of each pipeline section of the target pipeline and the standard circle area;
the control processing module is also used for calculating the difference value of subtracting the standard circle area from the contour area of each pipeline section of the target pipeline; extracting all pipeline section positions of which the difference value is larger than a preset threshold value of the edge; combining the pipeline section positions with adjacent relations in all pipeline section positions with the difference value larger than a first preset threshold value, and judging the pipeline section positions as the same branch pipe; outputting the pipeline section positions of all branch pipes; extracting all pipeline section positions of which the difference value is smaller than zero and the absolute value of which is larger than a second preset threshold value; combining all pipeline section positions with adjacent relations in all pipeline section positions with the absolute value of the difference value being smaller than zero and the absolute value of the difference value being larger than the second preset threshold value, and judging that the pipeline section positions are the same hole; outputting the pipeline section positions of all the broken holes.
7. 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 performs the steps of the method for locating a pipe branch and a hole according to any one of claims 1 to 5 when the program is executed.
8. 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 locating a pipe branch and a hole according to any of claims 1 to 5.
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