CN114519774A - Method for generating central line of oil-gas pipeline engineering - Google Patents

Abstract

The invention provides a method for generating a central line in oil and gas pipeline engineering. The method comprises the following steps of S1, acquiring original landform image data before pipe trench excavation, pipe trench excavation image data after pipe trench excavation and space coordinates, wherein the space coordinates comprise longitude and latitude data and elevation data; s2, constructing an original landform DEM model and a pipe trench excavation DEM model according to the original landform image data, the pipe trench excavation image data and the elevation data; and S3, matching the original landform DEM model with the pipe trench excavation DEM model according to the space coordinates, screening the position of a trench body, identifying the edge of the trench body, determining the coordinates of the boundary of the trench bottom, and calculating to generate the central line of the pipe trench. The method can acquire the actual central line condition of the pipe trench in a mode of being efficient, visual and fast and not influenced by the terrain.

Description

Method for generating central line of oil-gas pipeline engineering

Technical Field

The invention relates to the field of pipeline engineering construction, in particular to a method for generating a central line of oil-gas pipeline engineering.

Background

In the construction of oil and gas pipeline engineering, the construction project department needs to manage various construction site data such as construction progress, construction quality, construction data and the like, at present, the management and statistics are carried out in a form or mail mode, the problem that the construction project department is not intuitive and the reporting is not timely exists, and when the site problem is analyzed, a large amount of data of different channels need to be obtained to make decisions, which is time-consuming and labor-consuming. Meanwhile, in the construction process, construction units often guide and manage the site construction through drawings, and the efficiency of communication and transmission of complex and staggered construction processes through drawings cannot meet the requirements of current high-quality and high-efficiency engineering construction.

In the pipeline engineering construction, the traditional experienced personnel are simply relied on to carry out the pipe trench excavation test, so that whether the pipeline engineering implemented by a construction unit meets the specifications, standards and quality of early design or not is difficult to carry out rapid measurement in integral continuity, and if a problem exists, the pipeline engineering is timely informed of correction. There are cases where the test requires a lot of time and has a large error.

Disclosure of Invention

The present invention aims to address at least one of the above-mentioned deficiencies of the prior art. For example, it is an object of the present invention to provide a method for determining an actual centerline of an oil and gas pipeline project.

In order to achieve the purpose, the invention provides a method for generating a neutral line in oil and gas pipeline engineering. The method comprises the following steps of S1, acquiring original landform image data before pipe trench excavation, pipe trench excavation image data after pipe trench excavation and space coordinates, wherein the space coordinates comprise longitude and latitude data and elevation data; s2, constructing an original landform DEM model and a pipe trench excavation DEM model according to the original landform image data, the pipe trench excavation image data and the elevation data; and S3, matching the original landform DEM model with the pipe trench excavation DEM model according to the space coordinates, screening the position of a trench body, identifying the edge of the trench body, determining the coordinates of the boundary of the trench bottom, and calculating to generate the central line of the pipe trench.

In an exemplary embodiment, the elevation of the original landform DEM model and the elevation of the pipe trench excavation DEM model are different.

In an exemplary embodiment, the step S3 may include: s31, comparing and analyzing the elevation difference of the pipe trench on any designated section of the original landform DEM model and the pipe trench excavation DEM model, screening out the area position according with the preset rule and determining the edge of the trench body; and S32, determining the coordinates of the trench bottom boundary, and connecting the median values into a line to generate the trench central line.

In an exemplary embodiment, trench bottom boundary coordinates may be used to determine trench bottom position, calculating trench bottom width and actual trench center based on an edge recognition algorithm.

In an exemplary embodiment, after a ditch body is calculated through comparison of two stages of different height difference models (an original landform DEM model and a pipe ditch excavation DEM model), the lower bottom position of any appointed point of a pipe ditch is identified through combining an edge identification algorithm, and the middle values of two coordinates of the lower bottom of any cross section of the pipe ditch are connected into a line to generate a pipe ditch actual central line.

In an exemplary embodiment, the predetermined rule is that the elevation difference of the unearthed parts except the trench body is in a stable predetermined range, but the elevation difference begins to change obviously after entering the trench body, and the trend that the difference value increases first and then decreases is presented.

In an exemplary embodiment, the step S31 may include: s311, preliminarily determining a pipe ditch; s312, selecting any specified section of the pipe trench on the original landform DEM model and the pipe trench excavation DEM model; s313, calculating the elevation difference of each point on the original landform DEM model and the pipe trench excavation DEM model on any specified section; and S314, screening the region to be detected and determining the edge of the ditch body.

In an exemplary embodiment, the analysis method may further include displaying the trench center line in a first color and the design center line in a second color, the first color being different from the second color.

In an exemplary embodiment, the original landform image data and the trench excavation image data are obtained by aerial photography by an unmanned aerial vehicle, and the route of the original landform image data before the trench excavation and the route of the trench excavation image data after the trench excavation is completed are the same route by aerial photography by the unmanned aerial vehicle.

In an exemplary embodiment, the drone is able to adjust the altitude with terrain.

In an exemplary embodiment, the drone may not have an RTK, and the drone is flying without an image control point.

In an exemplary embodiment, the method may further include: set up like accuse point through the interval, assist unmanned aerial vehicle to accomplish oblique photography modeling.

According to the embodiment of the invention, the image control points are mainly arranged on the left and the right of the pipeline construction operation belt. For the environment with clean road surface, clear traffic marking lines and obvious corners, zebra stripes on the road surface can be selected, and the angular points of the traffic marking lines are used as the image control point positions; for the environments such as pavements, field dams and the like paved with asphalt and cement, red paint can be used for drawing marks on the pavements, the marks can be L-shaped, and the inner corner points are used as image control point positions. For the wilderness environment such as the field, the grassland and the like which are not referenced by fixed ground objects and can not be marked by paint, the image control mark can be made of spray painting cloth, and four corners of the image control mark are fixed and paved on a flat place by fixing pieces (such as iron nails or stones) at the image control point. The image control marker may be funnel-shaped.

In an exemplary embodiment, in a flat place, it is possible to work in an image-free manner; in a region with a large height difference, such as a peak, a valley, an inter-mountain region, or the like, and in a region across the projection band, since the coordinate system is largely deformed, it is preferable to perform control by arranging image control points.

In an exemplary embodiment, the method may further include: and ground control point data are utilized for correcting the data of the unmanned aerial vehicle.

In an exemplary embodiment, the method may further include: displaying the generated trench center line in a first color, and displaying the design center line in a second color, the first color being different from the second color.

In an exemplary embodiment, the method may further include: and comparing the designed central line with any point of the actual central line, and displaying the actual central line in a third color when the deviation exceeds a threshold value, wherein the third color is different from the first color and the second color.

In an exemplary embodiment, the step of comparing the design centerline with any point of the actual centerline comprises: performing buffer analysis by taking the design central line as the center and the threshold value as the radius; performing space analysis on the buffered area and the actual central line, and identifying the position, which is not in the buffering range, of the central line to be the position of deviation; the actual center line of the offset position is plotted in a third color.

In an exemplary embodiment, a corresponding design centerline is generated from the design stake mark point coordinate data.

Compared with the prior art, the beneficial effects of the invention can include: the pipe trench excavation condition can be obtained in a mode of being efficient, visual and rapid and not influenced by the terrain; the basic data of the pipeline in the trench is generated to be more complete, and the testing time and cost can be saved; the central line deviation value of a specific point can be obtained; the deviation value between the central line of the pipe trench and the design central line can be visualized; the error value of each position and/or the preset length position after the specific pipe trench is excavated can be obtained; the paperless storage and management of the flatness data of the trench bottom and the trench side slope can be realized.

Drawings

Fig. 1 shows a flowchart of a method of generating a line in oil and gas pipeline engineering according to an exemplary embodiment of the present invention.

FIG. 2 shows a schematic diagram of a DEM model obtained by modeling of a method for generating a centerline in oil and gas pipeline engineering according to an exemplary embodiment of the present invention;

FIG. 3 shows a schematic of an oil and gas pipeline line work chase of an exemplary embodiment of the present invention;

FIG. 4A shows a partial schematic of the DEM model before excavation;

FIG. 4B shows a partial schematic view of the excavation completed DEM model;

FIG. 5 is a schematic illustration of a cross-sectional comparison of elevation models at a trench body in accordance with an exemplary embodiment of the present invention;

FIG. 6 is a graph showing the cross-sectional alignment of the model of FIG. 5 (difference in elevation of each point);

FIG. 7 is a schematic illustration of a cross-sectional comparison of elevation models at a trench body in accordance with an exemplary embodiment of the present invention;

FIG. 8 is a graph showing the cross-sectional alignment (difference in elevation of each point) of the model of FIG. 7;

FIG. 9 is a schematic diagram of the regions of regular differences obtained by elevation alignment of two-stage DEM models according to an exemplary embodiment of the invention.

FIG. 10 illustrates a partial schematic of the two-phase DEM model elevation difference in accordance with an exemplary embodiment of the present invention.

FIG. 11 shows a plot comparing trench centerline to design centerline for an exemplary embodiment of the present invention.

FIG. 12 shows a plot comparing trench centerline to design centerline for an exemplary embodiment of the present invention.

Reference numerals:

1-pipe ditch, 11-ditch bottom, 12-ditch wall, 13-upper bottom, 2-elevation line of original landform DEM model, 3-elevation line of pipe ditch dug DEM model, 4-pipe ditch central line, 5-design central line and 6-third color display part.

Detailed Description

Hereinafter, the method for generating a centerline in oil and gas pipeline engineering according to the present invention will be described in detail with reference to exemplary embodiments. Herein, the terms "first," "second," and the like are used for convenience of description and for convenience of distinction, and are not to be construed as indicating or implying relative importance or order of parts.

In the invention, the elevation of the trench bottom refers to the altitude, the depth of the trench bottom is obtained by subtracting different altitudes (elevations) of the two-stage model, and the width of the trench bottom refers to the width of the trench bottom.

The oil and gas pipeline engineering line is often large in space span, the terrain and geological conditions of the passing region are complex, the crossing engineering is more, whether the pipe trench excavation is strictly performed according to the design of a construction drawing or not is determined, and in the past, most of on-site measuring personnel are used for performing pipe trench excavation tests to control the on-site actual route trend and the pipe trench excavation quality. Because the construction drawing is difficult to intuitively reflect the field environment, the field measurement work is large, the technical proficiency of measuring personnel, the responsibility is high and the like, the problems of lag and deviation exist often, the route acceptance is carried out only after the construction is completed for at most a plurality of times, the management and control of the route are not timely carried out, the actual pipeline route is inconsistent with the design of the construction drawing, and the project construction progress, quality, investment and later-period completion acceptance are influenced.

The embodiment of the invention is suitable for generating the central line in oil and gas pipeline engineering, and the execution main body of the method can be computer equipment, including but not limited to a server, a terminal and the like. Illustratively, the terminal includes, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.

According to the embodiment of the invention, the latest informatization and unmanned aerial vehicle technologies are fully utilized, the characteristics of maneuverability, flexibility, rapidness, economy and the like of the unmanned aerial vehicle are combined, the unmanned aerial vehicle is used as an aerial photography platform to rapidly and efficiently obtain high-quality and high-resolution images, meanwhile, the technical means of image data with spatial position information is output, and the oblique photography model is deeply excavated and applied, so that the intelligent identification of the pipe ditch and the drawing of the central line of the pipe ditch are realized.

According to the embodiment of the invention, an original landform model and a pipe ditch model are collected, comparison is carried out based on an intelligent construction site system, an operation area is identified, an actual center line of a pipe ditch is generated, comparison with a designed route (center line) is carried out, and route deviation is identified and judged. Pipeline sections exceeding a threshold value can be plotted and presented in different colors, and early warning prompt of construction route deviation is achieved.

Fig. 1 shows a flow chart of a method of production of a line in oil and gas pipeline engineering according to an exemplary embodiment of the present invention. As shown in fig. 1, in an exemplary embodiment, the method of the present invention comprises the steps of:

and S1, acquiring original landform image data before pipe trench excavation, pipe trench excavation image data after pipe trench excavation and space coordinates. The spatial coordinates include latitude and longitude and elevation data.

And collecting an early stage field image and a later stage field image. Here, the previous image is the original topographic image data before the trench is excavated. And the later field image is the pipe ditch excavation image data after the pipe ditch excavation is finished.

The unmanned aerial vehicle can fly to the original landform and the pipe ditch of oil gas pipeline route after excavation, and image data and elevation data are collected. Aerial survey obtains the navigation card through unmanned aerial vehicle in the field to store the locating data of sensor record such as machine-carried GPS and inertial navigation. According to an embodiment of the invention, the drone employed may be a commercially available drone, for example, a macro drone.

In an embodiment, different drones may be selected for different work area environments. In places with too large terrain height difference, if the flight altitude is set to be a fixed value, the distances between the highest and lowest measuring areas and the aerial camera are greatly different, and the final aerial photo accuracy is affected to be inconsistent. Therefore, the function of a 'variable altitude line' can be adopted in places with overlarge altitude difference, so that the unmanned aerial vehicle can adjust the flying height according to the relief of the survey area and keep flying at the same altitude with the ground.

For example, most of the crossing zones of a certain work area are relatively flat, but hills are more, and the height difference is relatively large due to the fact that the crossing zones of the certain work area are also partially cross mountainous sections, so that the unmanned aerial vehicle needs to have the function of adjusting the flight height along with the terrain, and the consistency of the resolution of the acquired images is guaranteed.

According to the embodiment of the invention, the unmanned aerial vehicle capable of simulating terrain and flying at a high altitude is adopted, so that the unmanned aerial vehicle can be suitable for aerial surveying work in pipeline construction projects.

In the embodiment of the present invention, a Digital Elevation Model (DEM for short) may be obtained by performing geographic mapping on a mapping area by using an unmanned aerial vehicle aerial survey technology, and may be obtained from a data storage device in an unmanned aerial vehicle that completes a mapping task, where the data storage device may be a memory card, for example. In other embodiments, the data may be obtained from a mapping area database that is created to store digital elevation models for each mapping area.

In this embodiment, can acquire original landform video and trench excavation video through unmanned aerial vehicle aerial photography. When carrying out oblique photography aviation flight to original landform and trench excavation through unmanned aerial vehicle, not only acquire the aviation image of flying, carry out space coordinate survey and drawing to the position that the aviation flies simultaneously. The invention is not limited to the method, and the image data and the space coordinates before and after the pipeline engineering is excavated can be acquired by other methods.

Further, the route may be planned in advance. For example, in an embodiment, after the acquisition area and various parameters are set in the flight path planning software, the software automatically plans five flight paths, including one main shooting course and 4 oblique shooting courses. The flyer selects one orthographic and any two oblique shooting routes to carry out image acquisition. After the task is uploaded to the unmanned aerial vehicle, the flyer is not required to perform other actions of air route switching and battery replacement.

The air route of the original landform video aerial-photo of the unmanned aerial vehicle and the pipe ditch excavation video is the same air route, namely, when the unmanned aerial vehicle aerial-photo the original landform video and the pipe ditch excavation video, the two air-fly driving paths are basically consistent so as to ensure that the shooting range, the angle, the definition and the like of the original landform video and the pipe ditch excavation video are kept consistent, and the error of the actual pipe ditch excavation condition of the established pipe ditch excavation DEM model is reduced.

In addition, for the requirement of subsequent modeling, the aerial survey range can be a belt-shaped range which extends along the left and right sides of the cross section by a preset distance according to a design center line, namely, on the basis of a design line, the aerial survey range respectively extends outwards by preset distances in the width direction on a certain cross section, the zigzag of the line is considered, and the preset distance can be 200-300 meters.

And S2, constructing an original landform DEM model and a pipe trench excavation DEM model according to the original landform image data, the pipe trench excavation image data and the elevation data.

Modeling is carried out twice before and after the pipe ditch is excavated through an unmanned aerial vehicle, aviation flight is carried out on the original landform and the pipe ditch excavation, the acquired image data and the acquired elevation data are uploaded to a modeling server, and a three-dimensional model of the original landform and the pipe ditch excavation is constructed.

According to an embodiment of the invention, the modeling data may include: original images and corresponding POS coordinates; the ground control point data is used for correcting the data of the unmanned aerial vehicle; camera parameters.

According to the embodiment of the invention, aerial survey processing software which can be adopted for modeling comprises InphonUASMaster, Pix4Dmap, Smart 3D (content Capture is CC for short), Dajiang intelligent graphics (DJI Terra) and the like.

The oblique photography aerial photography is modeled through modeling software, model reconstruction can be carried out on a construction site after an image file is obtained, a DEM (digital elevation model) is output firstly for model comparison measurement after modeling is completed, and then a visual model file is output for display.

The digital elevation model realizes digital simulation of the ground terrain (namely digital expression of terrain surface morphology) through limited terrain elevation data, is a solid ground model for expressing the ground elevation in a group of ordered numerical value array forms, and can be used for expressing actual terrain characteristics and spatial distribution. It is generally recognized that DTM is a spatial distribution describing a linear and nonlinear combination of various topographical factors including elevation, such as slope, direction, rate of change of slope, etc., where DEM is a zero-order simple univocal digital topographical model, and other topographical features such as slope, direction, and rate of change of slope may be derived based on DEM.

FIG. 2 shows a schematic DEM model obtained through modeling of a method for generating a central line in oil and gas pipeline engineering according to an exemplary embodiment of the invention. FIG. 4A shows a partial schematic of the DEM model before excavation; fig. 4B shows a partial schematic view of the excavation completed DEM model.

The DEM model obtained after modeling is shown in fig. 2, 4A, and 4B. DEMs are solid ground models organized together in a digital form in a structure that can be used to represent actual terrain features and spatial distributions.

S3, matching the original landform DEM model with the pipe ditch excavation DEM model according to space coordinates, screening out the position of a ditch body, identifying the edge of the ditch body, determining the coordinates of the boundary of the ditch bottom, and calculating to generate the central line of the pipe ditch.

The original landform DEM model and the pipe ditch excavation DEM model can be matched according to space coordinates and elevations mapped during aviation modeling and can be led into a data processing platform, and the original landform DEM model and the pipe ditch excavation DEM model are compared to obtain an actual pipe ditch central line.

Specifically, S31, the original landform DEM model and the pipe trench excavation three-dimensional model are guided into the system in a light weight mode, and the model is matched with the space coordinates of the aerial time surveying and mapping.

When carrying out oblique photography aviation flight to original landform and trench excavation through unmanned aerial vehicle, not only acquire the aviation image of flying, carry out space coordinate survey and drawing to the position that the aviation flies simultaneously. And implanting a data processing platform according to the space coordinates, and positioning on the three-dimensional map. When the original landform or the pipe ditch is modeled, models are large and are usually calculated according to G, for example, 10 kilometers of original landform models are usually about 10G, and a long time is needed for downloading the models. And the data processing platform carries out automatic surface reduction, compression and other processing on the model (only two G and three G are always carried out after the processing), and the rapid downloading presentation in the undistorted compression guarantee system of the 3D model is realized.

S32, comparing and analyzing the elevation difference of the pipe trench on any designated section of the original landform DEM model and the pipe trench excavation DEM model, screening out the area position according with the preset rule and determining the edge of the trench body.

The method specifically comprises the following steps:

s321, preliminarily determining the area of the trench.

And S322, selecting any designated section of the pipe trench on the original landform DEM model and the pipe trench excavation DEM model, wherein the section refers to a section cut along the direction vertical to the length direction of the pipe trench, and is a ZX plane shown in figure 3.

And S323, calculating the elevation difference of each point on the original landform DEM model and the pipe trench excavation DEM model on any specified section.

In the embodiment, because there is a certain error when the unmanned aerial vehicle without the RTK acquires the elevation and the image control point is cancelled in order to simplify the process, the altitude of the two-stage model has a certain difference, and therefore the two-stage model subtraction method cannot be used to directly obtain the trench body. Therefore, the two-phase elevation model is directly compared according to the embodiment of the invention. And performing Boolean operation on the two-stage DEM model, calculating areas with difference of the two-stage DEM model, optimizing and removing the non-construction areas, and finally screening out the construction area model.

FIG. 5 is a schematic illustration of a cross-sectional comparison of elevation models at a trench body in accordance with an exemplary embodiment of the present invention; FIG. 6 is a graph showing the cross-sectional alignment of the model of FIG. 5 (difference in elevation of each point);

as shown in fig. 5, on a certain cross section, an elevation line (first-stage model elevation line) 2 of the original landform DEM model and an elevation line (second-stage model elevation line) 3 of the pipe trench excavation DEM model are higher than the elevation line 3 of the pipe trench excavation DEM model, which illustrates that the excavation model is shown in this embodiment, and fig. 6 shows the elevation difference of each point on the original landform DEM model and the pipe trench excavation DEM model in fig. 5.

FIG. 7 is a schematic illustration of a cross-sectional comparison of elevation models at a trench body in accordance with an exemplary embodiment of the present invention; FIG. 8 is a graph showing the cross-sectional alignment (difference in elevation of each point) of the model of FIG. 7;

however, the invention is not limited thereto, for example, in another embodiment, as shown in fig. 7, the elevation line 2 of the original relief DEM model is lower than the elevation line 3 of the trench excavation DEM model, illustrating that part of this embodiment is a fill. Figure 8 shows the elevation difference of each point on the original landform DEM model and the pipe trench excavation DEM model in figure 7.

In the embodiment, in order to reduce the complexity of aerial photography measurement, no image control point is set in the flight process of the unmanned aerial vehicle, and the error of two-dimensional measurement data is within 3%, such as length and width; the related elevation measurement data has an error within 10%.

And S324, screening the area to be detected and determining the edge of the ditch body.

And (3) comparing the models with different elevations in two stages, positioning by taking the height of the rest un-excavated part outside the ditch body as a reference point, screening the area position conforming to the rule according to the height difference of the two models after the ditch body, and determining the edge of the area position. Meanwhile, the maximum area which accords with the rule is calculated by an area range calculation method, namely the construction area of the ditch body, and the depth of the pipe ditch can be calculated through the elevation difference.

As shown in fig. 6 and 8, it can be seen that the height difference of the trenchless parts except the trench is stabilized at a certain value, but the height difference of the two models starts to change obviously after entering the trench body, and the trend that the difference value increases first and then decreases is presented. Therefore, the groove body to be detected (or the actual groove body) can be screened according to the rule, the position of the groove body is determined, and the edge of the groove body is identified.

FIG. 9 is a schematic diagram of areas of regular difference obtained by elevation alignment of two-stage DEM models according to an exemplary embodiment of the invention. FIG. 10 illustrates a partial schematic of the two-phase DEM model elevation difference in accordance with an exemplary embodiment of the present invention. In fig. 9, the dark regions are the outline and position of the groove body identified after the comparison, and the light regions are other regions in which the height difference is not significantly changed. The darkest color region can be found and radiated outwards along the width direction to determine the ditch body. The elevation difference of each point after the two-stage model comparison is known, the elevation difference data of each point after the two-stage model comparison is shown in fig. 10, the elevation difference data is converted into color representation, and the deeper the color, the larger the elevation difference. And screening out the height difference data of the ditch body and each point in the ditch according to the screening result.

And S33, determining the coordinates of the trench bottom boundary, and connecting the median values into a line to generate a trench central line.

After the ditch body is identified through the comparison and calculation of the two-stage different elevation difference models, the lower bottom position of any appointed point of the pipe ditch is identified by combining an edge identification algorithm. And connecting the middle values of two coordinates of the bottom of any cross section of the pipe ditch into a line to generate an actual central line of the pipe ditch.

According to the embodiment of the invention, the original landform and the pipe ditch excavation flight of the oil-gas pipeline route are carried out by the unmanned aerial vehicle, the original landform and pipe ditch excavation three-dimensional model is constructed, and the system is guided into the system in a light weight mode according to the actual coordinate and the elevation of unmanned aerial survey, the elevation of the ditch bottom, the width of the ditch bottom and the coordinate of the border of the ditch bottom are automatically identified through the comparison of the two-stage model, and the actual central line of the pipe ditch is generated by combining the system operation.

According to the embodiment of the invention, the pipe ditches are identified through the pipe ditch model pairs in different stages, and the actual central line data of the pipe ditches are automatically calculated. The invention is not limited to the method, and further, the design central line can be matched with the actual central line generated by the unmanned aerial vehicle aerial photography model according to coordinates, and the system can respectively generate the design central line and the actual central line graph with different colors. For example, the generated trench center line is displayed in a first color, and the design center line is displayed in a second color, the first color being different from the second color. For example, the first color is red and the second color is blue.

According to an embodiment of the invention, the step of generating the design centerline comprises: and generating a standard pipe ditch model. Here, the standard trench is a design trench. The method specifically comprises the following steps: (1) determining a standard section value according to standard pipe trench section data (upper and lower bottom width, depth and the like) and a threshold; (2) determining a trench section: selecting a mileage section for generating a standard pipe trench; (3) obtaining central line data: acquiring centerline data of the selected mileage section; (4) and (3) automatically generating a standard pipe ditch model: and automatically generating a standard pipe trench model according to given conditions.

Further, the design center line may be compared with any point of the actual center line, and when the deviation exceeds a threshold, the actual center line is displayed in a third color, which is different from the first color and the second color. For example, the first color is red, the second color is blue, and the third color is green.

In an embodiment, trench centerline comparison comprises: (1) generating corresponding design center line data in a three-dimensional scene according to the coordinate data of the design pile number points; (2) performing buffer analysis by taking the design central line as the center and the threshold value as the radius; (3) performing spatial analysis on the buffered area and the identified central line, wherein the buffered area is not in the buffering range and is in an offset position; (4) red represents the design centerline and blue represents the actual centerline.

FIG. 11 shows a plot comparing trench centerline to design centerline for an exemplary embodiment of the present invention. Further, if the deviation a of the central line between the trench central line 4 and the design central line 5 at any point is greater than 2 meters, the trench central line at the point is displayed in a third color, for example, the third color display portion 6 in fig. 9 represents a portion where the deviation of the trench central line 4 and the design central line 5 is greater than 2 meters.

In this embodiment, the background operation of the system automatically compares the designed central line with any point of the actual central line, the deviation exceeds a threshold value, for example, 2 meters, the actual central line is automatically identified in different colors, and the deviation value of any point can be queried, so as to realize the comparison between the designed route and the actual route.

FIG. 12 shows a plot comparing trench centerline to design centerline for an exemplary embodiment of the present invention. Red represents design centerline data and blue represents identified centerline data.

According to the embodiment of the invention, the central line of the pipe trench is used for comparing with the design central line, whether a construction unit excavates according to the design route is judged through the central line deviation, material purchasing (steel pipes and elbows) is carried out according to the design route during pipe trench welding, the material purchasing (steel pipes and elbows) is carried out in advance by a material manufacturer, and if the change of the route causes the quantity change of purchased materials, inapplicable prefabricated materials, land acquisition cost and the like, the construction period and the cost are influenced.

According to the embodiment of the invention, an original landform model and a pipe ditch model are collected, comparison is carried out based on an intelligent construction site system, an operation area is identified, an actual center line of a pipe ditch is generated, comparison with a designed route is carried out, and a route deviation is identified and judged.

In an embodiment, the method may further include: compared results of the midline data in the selected section support the positioning and viewing of the difference points.

Alternatively, if the accuracy of data measurement is increased and the error is reduced, the data of the ground control point can be utilized for correcting the data of the unmanned aerial vehicle at the ground control point (image control point) during modeling. For example, oblique photography modeling can be assisted by setting one image control point per 100 meters, and after the image control points are increased, the measurement accuracy of corresponding two-dimensional data can reach 5cm, and the measurement accuracy of related elevation data can reach 10cm, but the increase of the image control points can also correspondingly increase the workload of aerial photography measurement.

According to the embodiment of the invention, the image control points are mainly arranged on the left and the right of the pipeline construction operation belt. I.e., on the upper top surface of the work belt in the width direction of the work belt. The image control points preferentially select highway intersections, roads with less vegetation, open flat lands such as parks, playgrounds, residential houses and dams and the like.

For example, the image control points have the following arrangement modes according to the environment:

a. for the environment with clean road surface, clear traffic marking lines and obvious corners, zebra stripes on the road surface can be selected, and the corner points of the traffic marking lines are used as the image control point positions.

b. For the environments paved with asphalt and cement, such as pavements, field dams and the like, red paint can be selected to draw marks on the pavements, the marks can be L-shaped, and the inner corner points are used as image control point positions, namely, the marks can be image control points and the marks which extend outwards from the image control points along a first direction and a second direction perpendicular to the first direction and are sprayed. The invention is not limited in this regard and other striking colors may be used in addition to red paint.

c. For the wilderness environment such as the field, the grassland and the like which are not referenced by fixed ground objects and can not be marked by paint, the image control mark can be made of spray painting cloth, and four corners of the image control mark are fixed and paved on a flat place by fixing pieces (such as iron nails or stones) at the image control point. The image control mark may be funnel-shaped, but the invention is not limited thereto, and may be cross-shaped.

Alternatively, according to the embodiment of the present invention, in a flat place, the operation can be performed in an image-control-free manner; in a region with a large height difference, such as a peak, a valley, an inter-mountain region, or the like, and in a region across the projection band, since the coordinate system is largely deformed, it is preferable to perform control by arranging image control points.

Furthermore, the system can also be implanted with design center line data and a trench excavation model to generate a pipeline design center line and an actual center line, and the pipeline design center line is compared with the actual center line. And setting a deviation threshold value through a system, automatically plotting the actual pipeline central line beyond the threshold value range, and presenting prompt early warning in different colors. The problem that engineering progress, materials, investment and later-period acceptance check cannot be controlled due to routing deviation is solved.

Further, the difference in height of each point in the groove body is obtained. But the current elevation difference includes the fixed elevation difference of the two-phase model. Therefore, the actual elevation difference before and after the trench body is excavated needs to be calculated according to the fixed elevation difference of the two models obtained by the comparison result. As shown in FIG. 5, if the height difference between the two models is 2m, the height difference of each point in the trench needs to be reduced by 2, so as to obtain the actual height difference, and also obtain the depth of the trench directly.

Furthermore, a designed pipe ditch model and a pipe ditch excavation model flying by the flying man can be guided into the system according to actual coordinate lightweight, the pipe ditch model and the designed model are overlapped and compared, the flatness of the pipe ditch bottom and the pipe ditch side slope is visually presented, and meanwhile, the system automatically displays the color of the over-digging part and the under-digging part of the pipe ditch depth, the bottom width and the upper bottom width. Meanwhile, the pile number is used as a starting point, the mileage is set to be 3(5, 10) m at will, the upper bottom, the lower bottom and the depth values of the design model and the actual model and the error values of the upper bottom, the lower bottom and the depth are automatically derived, and the management of the quality of the pipe trench is realized.

According to the embodiment of the invention, Boolean operation is carried out on different elevations of the model built by twice flight, the area of the pipe ditch and the position and elevation difference of each point in the pipe ditch are screened out, the elevation of the ditch bottom, the width of the ditch bottom and the boundary coordinates of the ditch bottom are identified, and the actual central line of the pipe ditch is generated.

In another exemplary embodiment, a method of generating a centerline for oil and gas pipeline engineering includes:

1. and (3) providing pipeline centerline coordinate data by a design unit, and implanting the pipeline centerline coordinate data into the system to generate a pipeline design route (also called a design centerline).

2. The method comprises the steps of carrying out aviation flight on original landform and pipe ditch excavation through an unmanned aerial vehicle, uploading collected image data and elevation data to a modeling server, and constructing an original landform and pipe ditch excavation three-dimensional model.

3. And (4) DEM obtained after modeling. DEMs are solid ground models organized together in a digital form in a structure that can be used to represent actual terrain features and spatial distributions.

4. And (3) leading the original landform model and the pipe trench excavation three-dimensional model into a system in a light weight manner, and matching according to space coordinates of aerial time surveying and mapping.

5. And (3) comparing the models with different elevations in two periods, positioning by taking the height of the rest non-excavated part outside the ditch body as a reference point, screening the area position conforming to the rule according to the height difference of the two models after the pit body, and determining the edge of the area position. Meanwhile, the maximum area which accords with the rule is calculated by an area range calculation method, namely the construction area of the ditch body, and the depth of the pipe ditch is calculated by the elevation difference.

6. After the ditch body is calculated through two-stage different elevation difference model comparison, the lower bottom position of any appointed point of the pipe ditch is identified by combining an edge identification algorithm. And connecting the middle values of two coordinates of the bottom of any cross section of the pipe ditch into a line to generate an actual central line of the pipe ditch. That is, an arbitrary cross section (such as an XZ plane shown in fig. 3) is taken along a direction perpendicular to the extending direction of the trench, coordinates of two end points of the trench bottom in the width direction are obtained, an intermediate value is taken, the foregoing steps are repeated, a plurality of cross sections are taken at intervals along the extending direction of the trench (Y direction in fig. 3), a plurality of intermediate values are obtained and connected, and the actual centerline of the trench can be obtained.

7. The design and actual midlines are distinguished in different colors.

8. And horizontally and vertically projecting the actual pipe ditch coordinates onto a design central line, and calculating the distance between the two points. According to a set threshold value of 2m, as a contrast value, when the deviation exceeds 2m, the system automatically marks the actual central line with different colors.

9. The deviation value of any point can be inquired, and the comparison condition of the designed route and the actual route is realized.

The system and the data processing platform are used for generating a central line in oil and gas pipeline engineering, and comprise: the data acquisition module is configured to acquire original landform image data before pipe trench excavation, pipe trench excavation image data after pipe trench excavation is completed and spatial coordinates, wherein the spatial coordinates comprise longitude and latitude and elevation data; the modeling module is configured to construct an original landform DEM model and a pipe trench excavation DEM model according to the original landform image data, the pipe trench excavation image data and the elevation data; and the data processing platform is used for matching the original landform DEM model with the pipe ditch excavation DEM model according to space coordinates, screening out the position of a ditch body, identifying the edge of the ditch body, determining the coordinates of the boundary of the ditch bottom and calculating to generate the central line of the pipe ditch.

Wherein, the data acquisition module can be unmanned aerial vehicle, the original landform image data before the unmanned aerial vehicle takes photo by plane the trench excavation and the air course of trench excavation image data after the trench excavation is accomplished are same air course, unmanned aerial vehicle does not take the RTK, unmanned aerial vehicle is when flying by plane, does not set up the image control point.

In conclusion, the original landform and pipe ditch excavation flight of the oil-gas pipeline route are carried out by the unmanned aerial vehicle, the original landform and pipe ditch excavation three-dimensional model is constructed, the system is guided in a light-weight matching mode according to the actual coordinates and the elevation of unmanned aerial survey, the system automatically identifies the trench bottom elevation, the trench bottom width and the trench bottom boundary coordinates through two-stage model comparison, and the actual center line of the pipe ditch is generated by combining system operation.

The actual central line of the pipe ditch is compared with the designed central line, the central line deviation is used for judging whether a construction unit excavates according to the designed route, material purchasing (steel pipes and elbows) is carried out according to the designed route during pipe ditch welding, the material purchasing (steel pipes and elbows) is carried out in advance by a material manufacturer, and if the change of the route causes the quantity change of purchased materials, the inapplicable prefabricated materials, the cost of land acquisition and the like, the image construction period and the cost are obtained.

According to the method, aiming at data mining of the unmanned aerial vehicle oblique photography model, an original landform model and a pipe ditch model are collected and compared, an operation area is identified, an actual central line of the pipe ditch is generated, and the deviation of the route can be identified and judged by comparing with a designed route. The problems that the excavation quality of a pipe ditch does not reach the standard, the central line of a pipeline deviates from the designed route at will and the like in the oil and gas pipeline engineering field are solved.

Although the present invention has been described above in connection with the exemplary embodiments and the accompanying drawings, it will be apparent to those of ordinary skill in the art that various modifications may be made to the above-described embodiments without departing from the spirit and scope of the claims.

Claims (10)

1. A method for generating a centerline in oil and gas pipeline engineering is characterized by comprising the following steps of:

s1, acquiring original landform image data before pipe trench excavation, pipe trench excavation image data after pipe trench excavation and space coordinates, wherein the space coordinates comprise longitude and latitude data and elevation data;

s2, constructing an original landform DEM model and a pipe ditch excavation DEM model according to the original landform image data, the pipe ditch excavation image data and the elevation data; and

s3, matching the original landform DEM model with the pipe ditch excavation DEM model according to space coordinates, screening out the position of a ditch body, identifying the edge of the ditch body, determining the coordinates of the boundary of the ditch bottom, and calculating to generate the central line of the pipe ditch.

2. The method for generating the oil and gas pipeline engineering center line according to claim 1, wherein the original landform DEM model and the pipe trench excavation DEM model are different in elevation.

3. The method for generating a centerline in oil and gas pipeline engineering according to claim 2, wherein the step S3 comprises:

comparing and analyzing the elevation difference of the pipe trench on any specified section of the original landform DEM model and the pipe trench excavation DEM model, screening out the area position according with a preset rule and determining the edge of a trench body;

and determining the coordinates of the trench bottom boundary, and connecting the intermediate values into a line to generate a trench central line.

4. The method for generating the central line in the oil and gas pipeline engineering according to claim 3, wherein the predetermined rule is that the elevation difference of the unearthed parts except the trench body is in a stable predetermined range, but the elevation difference begins to change obviously after entering the trench body, and the trend that the difference value increases first and then decreases is presented.

5. The method of creating a centerline for oil and gas pipeline engineering of claim 3, wherein the step of determining the edge of the trench comprises:

preliminarily determining the area of the pipe trench;

selecting any specified section of the pipe trench on the original landform DEM model and the pipe trench excavation DEM model;

calculating the height difference of each point on the original landform DEM model and the pipe trench excavation DEM model on any specified section; and

screening the area to be tested and determining the edge of the groove body.

6. The method for generating the centerline of oil and gas pipeline engineering according to claim 3, wherein the original geomorphologic image data and the image data of pipe trench excavation are obtained by aerial photography by an unmanned aerial vehicle, and the routes of the original geomorphologic image data before the pipe trench excavation and the image data of pipe trench excavation after the pipe trench excavation is completed by aerial photography by the unmanned aerial vehicle are the same route.

7. The method of creating a centerline for oil and gas pipeline work of claim 6, wherein the drone is free of RTK.

8. The method of creating a hydrocarbon pipeline project centerline of claim 6, further comprising: set up like accuse point through the interval, assist unmanned aerial vehicle to accomplish oblique photography modeling.

9. The method of creating a hydrocarbon pipeline project centerline of claim 6, further comprising: displaying the generated trench center line in a first color, and displaying the design center line in a second color, the first color being different from the second color.

10. The method of creating a hydrocarbon pipeline project centerline of claim 9, further comprising: and comparing the designed central line with any point of the actual central line, and displaying the actual central line in a third color when the deviation exceeds a threshold value, wherein the third color is different from the first color and the second color.

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