CN114581601A - Method and system for monitoring mound in pipeline engineering construction - Google Patents

Method and system for monitoring mound in pipeline engineering construction Download PDF

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CN114581601A
CN114581601A CN202210109396.8A CN202210109396A CN114581601A CN 114581601 A CN114581601 A CN 114581601A CN 202210109396 A CN202210109396 A CN 202210109396A CN 114581601 A CN114581601 A CN 114581601A
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pipe
mound
ditch
dimensional model
excavation
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周剑琴
杨旸
周杰
徐洪敏
蒋国志
王兴旺
郭智
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China Oil and Gas Pipeline Network Corp
National Pipeline Network Southwest Pipeline Co Ltd
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China Oil and Gas Pipeline Network Corp
National Pipeline Network Southwest Pipeline Co Ltd
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Abstract

The invention provides a method and a system for monitoring mound in pipeline engineering construction. The method comprises the following steps: acquiring original landform image data before pipe trench excavation and pipe trench excavation image data after pipe trench excavation is finished for the same mileage section; constructing an original landform three-dimensional model and a pipe trench excavation three-dimensional model; comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying the ditch opening elevation and the ditch opening boundary coordinate, and generating a ditch opening edge line in the length direction of the pipe ditch; comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a soil piling edge, and connecting the soil piling edge along the length direction of the pipe ditch to obtain a soil piling edge line; and judging the risk of the earth slip at the edge of the trench according to the distance between the edge line of the mound and the edge line of the trench opening. According to the invention, automatic identification, analysis and early warning application in the aspects of the mound height, the slope mound distance and the like can be realized.

Description

Method and system for monitoring mound in pipeline engineering construction
Technical Field
The invention relates to the field of pipeline engineering construction, in particular to a method and a system for supervising soil accumulation in pipeline engineering construction.
Background
The oil and gas pipeline engineering construction belongs to strip operation, the number of points is large, the line length is long, the area is wide, an operation construction site is often a multi-process and multi-species cross operation site, a plurality of operation points are often constructed simultaneously during construction, the quality and the equipment of operation personnel at the operation points are uneven, the responsibility center is greatly changed, the supervision and the inspection of the personnel at the HSE department are relied on for guarantee, and time, labor and carelessness are wasted and careless leakage is easy to occur. Therefore, the excavation quality problem of the pipe trench exists in some places in the pipe trench excavation process, and the problems are difficult to check and accept and find in time; when the pipe ditches are inspected and measured, the traditional manual measurement is time-consuming and labor-consuming, and the problem of each pipe ditch cannot be mastered in time.
Disclosure of Invention
The present invention is directed to addressing at least one of the above-identified deficiencies in the related art. For example, a method and a system for monitoring the dump in the pipeline engineering construction are provided, so that the risk monitoring problem of the dump slip and collapse is solved.
In order to achieve the above object, an aspect of the present invention provides a method for monitoring mound in pipeline engineering construction, the method comprising the steps of: acquiring original landform image data before pipe trench excavation and pipe trench excavation image data after pipe trench excavation are finished for the same mileage section, wherein the original landform image data and the pipe trench excavation image data have space position coordinate information; constructing an original landform three-dimensional model and a pipe trench excavation three-dimensional model according to the original landform image data and the pipe trench excavation image data; comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a ditch opening elevation and a ditch opening boundary coordinate, and generating a ditch opening edge line in the length direction of the pipe ditch; comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a soil piling edge, and connecting the soil piling edge along the length direction of the pipe ditch to obtain a soil piling edge line; and judging the risk of the slip of the earthwork at the ditch edge according to the distance between the mound edge line and the edge line of the ditch opening.
Optionally, when the distance between the mound edge line and the trench opening edge line is smaller than a lower limit threshold of slope distance, sending alarm information, wherein the alarm information is used for indicating that there is a risk of mound collapse.
Optionally, a part of the mound edge line, which is less than a lower threshold of a slope distance, is displayed in a first color, and the rest of the mound edge line is displayed in a second color, where the first color is different from the second color.
Optionally, the method may further include: and comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying the mound height, taking the highest mound point on the cross section of any point of the pipe ditch, and connecting a line along a plurality of highest mound points in the length direction of the pipe ditch, wherein the cross section is intercepted along the direction vertical to the length direction of the pipe ditch to form a mound height line.
Optionally, when the mound height exceeds a mound upper limit threshold, warning information may be sent, where the warning information is used to indicate that there is a risk of mound collapse.
Alternatively, a portion of the mound height line exceeding the upper threshold value of mound may be displayed in a third color, and the remaining portion of the mound height line may be displayed in a fourth color, the third color being different from the fourth color.
Optionally, the elevation of the original three-dimensional landform model and the elevation of the trench excavation three-dimensional model may be different.
Optionally, the step of generating a trench edge line in the trench length direction may include: selecting any specified section of the pipe trench on the original landform three-dimensional model and the pipe trench excavation three-dimensional model; calculating the height difference of each point on the original landform three-dimensional model and the pipe trench excavation three-dimensional model on any specified section; and screening an actual pipe ditch construction area according to the elevation difference, and identifying the upper bottom position of any specified section of the pipe ditch by combining an edge identification algorithm, calculating the actual length, and determining the edge of the ditch opening.
Optionally, the original landform image data and the pipe trench excavation image data may be acquired by oblique photography and aviation flight by an unmanned aerial vehicle.
In another aspect, the present invention provides a soil-piling monitoring system in pipeline engineering construction, the system comprising: an image acquisition module configured to: acquiring original landform image data before pipe trench excavation and pipe trench excavation image data after pipe trench excavation are finished for the same mileage section, wherein the original landform image data and the pipe trench excavation image data have space position coordinate information; the modeling module is configured to construct an original landform three-dimensional model and a pipe trench excavation three-dimensional model according to the original landform image data and the pipe trench excavation image data; and a data processing platform, the data processing platform comprising: an alignment module configured to: comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a ditch opening elevation and a ditch opening boundary coordinate, and generating a ditch opening edge line in the length direction of the pipe ditch; comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a mound edge and a mound height, and connecting the mound edge along the length direction of the pipe ditch to obtain a mound edge line; and an early warning module configured to: and judging the risk of trench side earthwork slip and mound collapse according to the distance between the mound edge line and the trench opening edge line and the mound height.
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; and (3) leading the designed pipe ditch model and the pipe ditch excavation model of the flying man aviation flying into the system according to the actual coordinate light weight, and realizing automatic identification, analysis and early warning application in the aspects of the mound height, the side slope mound distance and the like. The construction quality and the safety control level of mountain region pipeline are continuously promoted, and the construction cost is reduced.
Drawings
Fig. 1 shows a flowchart of a method for managing mound in pipeline construction according to an exemplary embodiment of the present invention.
Fig. 2 is a schematic view of an aerial survey range of a method for monitoring mound in pipeline construction according to an exemplary embodiment of the present invention.
Fig. 3 shows a schematic diagram of a DEM model modeled by a soil monitoring method in pipeline engineering construction according to an exemplary embodiment of the present invention.
Fig. 4A shows a partial schematic of the DEM model prior to excavation.
Fig. 4B shows a partial schematic view of the excavation completed DEM model.
FIG. 5 illustrates a cross-sectional comparison of elevation models at a trench volume for an exemplary embodiment of the present invention.
Fig. 6 shows a schematic diagram of the cross-sectional comparison result (difference in elevation of each point) of the model of fig. 5.
FIG. 7 illustrates a cross-sectional comparison of elevation models at a trench volume for an exemplary embodiment of the present invention.
Fig. 8 shows a schematic diagram of the cross-sectional comparison result (difference in elevation of each point) of the model of fig. 7.
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 shows a schematic view of a trench in accordance with an exemplary embodiment of the present invention.
Fig. 11 shows a sectional view taken along section a-a of fig. 10.
Fig. 12 shows a block diagram of a system for managing mound in a pipeline construction according to an exemplary embodiment of the present invention.
Fig. 13 shows a triangular mesh construction diagram of a method for managing mound in pipeline construction according to an exemplary embodiment.
The labels in the figure are:
1-designing a route, 11-ditch bottom, 12-ditch wall, 13-upper bottom, 2-elevation line of original landform DEM model, 3-excavating elevation line of DEM model by pipe ditch, and 4-actually excavating pipe ditch.
Detailed Description
Hereinafter, the method and system for managing mound in pipe work construction 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 method aims to solve the problems of low supervision timeliness, low efficiency, large personnel investment and the like of the mound height and the side slope distance of pipe trench excavation in pipeline construction so as to ensure the construction safety of pipeline construction. The invention discloses a light-weight importing system for an original geomorphic model of a pipe ditch aerial photographed by an unmanned aerial vehicle and a model of the pipe ditch after excavation according to actual coordinates.
According to the embodiment of the invention, the original landform of the pipe ditch and the pipe ditch excavation oblique photography model at the same position are researched, elevation data are overlapped, an area with large elevation data difference is screened out, and the pipe ditch position elevation model, namely the actual pipe ditch model data, is intercepted. And then automatically identifying the elevation and boundary coordinates of the trench opening, combining system operation to generate a trench edge, performing color plotting on the region where the trench mound is too close to the trench opening and the region where the mound height is too high, and prompting early warning.
Exemplary embodiment 1
The embodiment of the invention is suitable for monitoring the soil accumulation in the oil and gas pipeline engineering construction, 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.
Fig. 1 shows a flowchart of a method for monitoring mound in pipeline construction 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:
s100, acquiring original landform image data before pipe trench excavation, pipe trench excavation image data after pipe trench excavation is finished 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. According to the embodiment of the invention, for oil and gas pipeline engineering, oblique photography aviation flight is carried out on the same mileage section in two stages of original landform and pipe ditch forming. The original landform is put on a finishing line in a construction unit for one-time flight so as to obtain original landform image data before the pipe trench is excavated; after the pipe trench is excavated and formed, the pipe is subjected to flying again before being put into the trench so as to obtain pipe trench excavation image data after the pipe trench excavation is finished.
According to an embodiment of the present invention, the drone employed may be a commercially available drone, for example, a macro drone. 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.
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 through 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 flight path and 4 oblique shooting flight paths. 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 subsequent modeling requirement, the aerial survey range may be a belt-shaped range extending a predetermined distance along the cross section left and right according to the design centerline, for example, as shown in fig. 2, based on the design line 100, on a certain cross section a-a, each extending a predetermined distance L outwards in the width direction, considering the line meandering and the overlapping of the small lines, and the predetermined distance may be 200-300 meters.
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 to realize intelligent identification of the pipe ditch.
S200, constructing a two-stage three-dimensional model according to the two-stage image data with the space position coordinate information.
Specifically, an original landform DEM model and a pipe trench excavation DEM model are constructed according to original landform image data, pipe trench excavation image data and elevation data.
According to the embodiment of the invention, twice aerial photography modeling is carried out before and after the trench excavation through the unmanned aerial vehicle, the aerial flight is carried out on the original landform and the trench excavation, the acquired image data and the acquired elevation data are uploaded to the modeling server, and the three-dimensional model of the original landform and the trench excavation is constructed.
According to an embodiment of the invention, the modeling data may include: original images and corresponding POS coordinates; and (4) camera parameters. The present invention is not limited thereto but may include; and ground control point data used for correcting the data of the unmanned aerial vehicle, which will be described in detail later.
According to the embodiment of the invention, aerial survey processing software which can be adopted for modeling comprises InphonUASMaster, Pix4Dmapper, Smart 3D (content Capture is CC for short), Xinjiang wisdom diagram 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. 3 shows a schematic diagram of a DEM model modeled by a method for monitoring and managing mound in pipeline engineering construction according to an exemplary embodiment of the present invention. Fig. 4A shows a partial schematic of the DEM model prior to excavation. Fig. 4B shows a partial schematic view of the excavation completed DEM model.
The DEM model obtained after modeling is shown in fig. 3, 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. The DEM obtained after modeling is implanted into the system as shown in fig. 4A and 4B (DEM is a solid ground model organized together in digital form according to a certain structure and can be used for representing actual topographic features and spatial distribution). The system can directly superimpose the two-stage model and compare model data to obtain more accurate operation pipe ditch data, and screen out an actual pipe ditch construction area. Hereinafter, the detailed description will be given.
S300, comparing the two-stage three-dimensional models, screening the elevation data rule difference area, identifying the actual pipe ditch construction area, obtaining an actual pipe ditch model, identifying the ditch opening elevation and the ditch opening boundary coordinates, and generating a ditch opening edge line in the length direction 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, the space coordinates and the elevations are led into the data processing platform, the original landform DEM model and the pipe ditch excavation DEM model are compared, the position of a ditch body is screened, the edge of the ditch body is identified, the elevation and the edge coordinates of the ditch opening are determined and identified, and a ditch opening edge line in the length direction of the pipe ditch is generated. Areas with large elevation data difference can be screened out through elevation data superposition, and an elevation model of the pipe trench position is intercepted.
Specifically, S310, 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 original landform DEM model and the pipe trench excavation three-dimensional model are matched according to space coordinates of 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 coordinate to position on the three-dimensional map. When the original landform or the pipe ditch is modeled, the models are large and are usually calculated according to G, for example, 10 kilometers of original landform models are usually about 10G, and the model downloading takes a long time. 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.
S320, 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 a preset rule and determining the edge of the trench body.
The method specifically comprises the following steps:
s321, primarily determining the area of the pipe ditch.
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, a ZX plane shown in figure 10 or an A-A section.
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, according to the embodiment of the invention, the comparison is directly performed on the two-stage elevation model. 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.
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 shows a schematic diagram of the cross-sectional comparison result (point height difference) 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 at each point on the original relief DEM model and the 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 screening an actual pipe ditch construction area according to the elevation difference, identifying a ditch opening elevation and a ditch opening boundary coordinate, and identifying a ditch opening edge line in the length direction of the pipe ditch by combining an edge identification algorithm.
According to the model comparison, the height of the rest un-excavated part outside the ditch body is used as a reference point for positioning, and the position of the area conforming to the rule is screened out and the edge of the area is determined according to the height difference of the two models after the ditch body. 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. In fig. 9, the two stages of different elevations are shown, the dark areas are the outline and the position of the trench body identified after comparison, and the light areas are other areas with no obvious change in the height difference. The darkest color region can be found and radiated outwards along the width direction to determine the ditch body. At this time, the elevation difference of each point after the two-stage model comparison is already known, the elevation difference of each point after the two-stage model comparison is obtained, the elevation difference data is shown in fig. 9, the elevation difference data is converted into color representation, and the color is from light to dark, and the deeper the color is, the larger the elevation difference is. And screening out the height difference data of the ditch body and each point in the ditch according to the screening result.
Further, the method may further include: and calculating the actual height difference according to the fixed height difference of the two-stage three-dimensional model obtained by the comparison result. Specifically, the difference in elevation at each point in the groove body has been obtained as described above. 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.
S400, comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a mound edge, and connecting the mound edge along the length direction of the pipe ditch to obtain a mound edge line.
And S500, judging the risk of trench side earthwork slip and soil piling collapse according to the distance between the soil piling edge line and the trench opening edge line and the soil piling height.
FIG. 10 shows a schematic view of a trench in accordance with an exemplary embodiment of the present invention. Fig. 11 shows a sectional view taken along section a-a of fig. 10. The distance between the mound edge line and the trench edge line is L1. The height of the mound is H.
And S510, judging the risk of the earth slip at the edge of the trench according to the distance between the soil piling edge line and the edge line of the trench opening.
Specifically, when the distance between the mound edge line and the trench opening edge line is smaller than the lower limit threshold of the side slope distance, sending alarm information, wherein the alarm information is used for indicating that the risk of the mound collapse exists. Wherein, the lower limit threshold of the slope distance can be 1.0 m.
And displaying the part of the mound edge line, which is less than the lower limit threshold of the side slope distance, between the mound edge line and the ditch edge line by a first color, and displaying the rest part of the mound edge line by a second color, wherein the first color is different from the second color.
S520, comparing the original landform three-dimensional model with the pipe trench excavation three-dimensional model, identifying the mound height, taking the highest point of the mound on the cross section of any point of the pipe trench, and connecting a line along a plurality of highest points of the mound in the length direction of the pipe trench, wherein the cross section is cut along the direction vertical to the length direction of the pipe trench to form a mound height line.
As shown in fig. 11, when the mound height H exceeds the upper threshold value of the mound, alarm information is transmitted, wherein the alarm information is used to indicate that there is a risk of a collapse of the mound. Wherein, the upper limit soil-piling threshold value can be 1.5 m.
A portion of the mound height line exceeding the upper threshold value of the mound is displayed in a third color, for example, a first portion (section) of the mound height line is displayed in red, and the remaining portion of the mound height line is displayed in a fourth color, for example, a second portion (section) of the mound height line is displayed in green, and the third color is different from the fourth color.
According to the embodiment of the invention, the original landform is compared with the elevation data of the pipe ditch excavation model, the elevation of the ditch opening and the coordinates of the border of the ditch opening are automatically identified, the edge of the pipe ditch is generated by combining system operation, whether the soil pile slips or collapses is judged, the sections which are possible to slip or collapse are plotted, and early warning is prompted. The construction quality of engineering construction is improved, and the problems of soil piling, ditch edge earthwork slip and the like are solved.
Exemplary embodiment 2
In the past, construction units often have difficulty in accurately calculating the earth and stone volume due to low measurement precision of pipe ditches during settlement of oil and gas pipeline projects, so that most of earth and stone volume is estimated by combining design drawings when reported to management units, and effective data support cannot be provided. Project management units and supervision units cannot send a large number of hands to check, usually several points are found for spot check and calculation, and the reported quantity and the verification data have large deviation. During settlement, due to the fact that the reported earth volume is large and data support is lacked, an auditing unit often disputes with a construction unit due to the problem of the rock volume, and the settlement progress of a project and final actions such as closing and auditing are influenced.
According to another exemplary embodiment of the present invention, on the basis of the above exemplary embodiment 1, in an exemplary embodiment, the method may further include: and automatically calculating the section data and the volume of earth and stone. Through comparison of models in different stages, height difference of each point is automatically calculated and counted, pipe cross section data and earth and stone volume in a construction area are measured and calculated, and quality inspection and earth and stone volume settlement are assisted.
a. Trench cross section calculation
And intercepting and taking out the elevation model of the position of the line pipe trench from the two-stage model according to the screening result.
And calculating the actual height difference before and after the pipe trench is excavated according to the fixed height difference of the two models obtained by the comparison result. The actual elevation difference is obtained, and the depth of the ditch body can be directly obtained.
b. Automatic calculation of earth and stone volume
Fig. 13 is a schematic view of a triangular mesh construction of a method for managing mound in pipeline construction according to an exemplary embodiment. As shown in fig. 13, a triangular mesh is constructed with the same sampling distance in the pre-excavation model. And accumulating the volumes in the excavation range by taking the height difference at the grid as an integral height and the area of the unit grid as an integral unit to obtain the earth and stone volume. The mathematical expression is as follows.
Formula 1:
h(x,y)＝ZB(x,y)-ZW(x,y)
formula 2:
V＝∫∫Σh(x,y)dx
in formulas 1 and 2: h (x, y) is the grid point height difference; z is a radical ofB(x, y) is the elevation of the surface grid point; z is a radical ofw(x, y) is the elevation of the grid point of the excavation surface; sigma is a calculation area; ds ═ Δx 2As an integration unit (grid area); v is the accumulated excavation amount.
However, the present invention is not limited to this, and the earth volume may be measured by a cross-sectional method for a relatively regular trench, and the calculation formula is as follows.
Formula 3:
Figure RE-GDA0003622224250000111
in formula 3, a1 and a2 represent cross sectional areas, and D represents a distance between cross sections of two selected points. That is, a1 is the cross-sectional area of the first selected point along the length of the pipe, a2 is the cross-sectional area of the second selected point along the length of the pipe, and D is the distance between the cross-sectional areas of the first selected point and the second selected point.
According to the embodiment of the invention, the construction area is automatically identified through the comparison of the two stage models, and the cross section data of any point position of the pipe trench and the earth and stone volume of any section in the construction area are measured and calculated. And (4) assisting a project manager in checking the quality of the pipe ditches and settling the earth and stone volume of the line construction.
Exemplary embodiment 3
According to another exemplary embodiment of the present invention, on the basis of the above exemplary embodiment 1, in order to increase the accuracy of data measurement and reduce errors, ground control point data may be used for calibrating the data of the drone 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 such as pavements and field dams paved with asphalt and cement, red paint can be selected for marking 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 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 distinctive colors may be used in addition to red paint.
c. For the field environment without fixed ground object reference and unable paint mark in the fields, grasslands, etc., the photo-control sign can be made of spray painting cloth, and four corners of the photo-control sign are fixed and paved on a flat place by fixing pieces (such as iron nails or stones) at the photo-control point. The image-controlled sign may be funnel-shaped, but the invention is not limited thereto, and may also be cross-shaped.
Alternatively, in a flat place, an image-control-free manner may be adopted according to an embodiment of the present invention; 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.
The above embodiments will be described with reference to a preferred embodiment.
1. And (4) providing pipeline centerline coordinate data by a design unit, and implanting the pipeline centerline coordinate data into a system to generate a pipeline design routing model.
2. The method comprises the steps of carrying out aviation flight on original landforms and pipe ditch excavation through an unmanned aerial vehicle, uploading acquired image data and elevation data to a modeling server, and constructing a three-dimensional model of the original landforms and the pipe ditch excavation.
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. And after the ditch bodies at the positions are contrasted and screened through the models with different elevation differences in the two stages, the edge recognition algorithm is combined to recognize the elevation of the ditch and the coordinates of the boundary of the ditch, and the edge of the pipe ditch is generated.
7. Through the comparison of the original landform and the pipe ditch excavation three-dimensional model at the same position, the soil piling edge and the soil piling height are identified, and the soil piling edge is connected. Meanwhile, a connecting line of the highest points of the bulldozer at any point is taken.
8. Setting an upper limit threshold value of 1.5m for the mound height; the system automatically calculates, and early warning is carried out by connecting lines with another color if the distance exceeds 1.5 m.
9. And comparing the edge line of the trench edge of the pipe trench with the edge line of the piled soil, setting a lower limit threshold value of 1.0m, and performing early warning by connecting lines in another color when the lower limit threshold value is lower than 1 m.
10. The highest point of the soil pile is taken as a central point to be connected, the part which can be over-height can be connected by different color marks, the edge point of the soil pile is measured by being close to the pipe ditch to be connected by the same method, and the point is plotted by another color when the distance is less than 1.0 m.
According to the embodiment of the invention, the mound height and the mound distance are calculated through the difference between the original landform at the same position and the height of the pipe ditch model, the threshold value of the mound height is set to be 1.5m according to the design requirement, the distance between the mound height and the pipe ditch is 1.0m, the height exceeds 1.5m, and the mound distance is less than 1.0m, so that the pipe ditch is easy to collapse, and the operators at the bottom of the ditch are easily injured.
Fig. 12 shows a block diagram of a trench bottom and trench slope flatness identification and analysis system according to an exemplary embodiment of the present invention.
As shown in fig. 12, according to an exemplary embodiment of another aspect of the present invention, there is also provided a trench bottom and trench slope flatness identification and analysis system, the system including: an image acquisition module 100, a modeling module 200, and a data processing platform 300.
The image acquisition module 100 is configured to acquire two-stage image data with spatial position coordinate information, where the two-stage image data is acquired by performing oblique photography and flight of the unmanned aerial vehicle at different stages of pipe trench construction for the same mileage section. The unmanned aerial vehicle oblique photography aviation flight is respectively carried out in the two stages of original landform and pipe ditch forming, and image data with space position coordinate information is obtained.
In this embodiment, the image obtaining module 100 is configured to obtain an earlier-stage field image, which is original landform image data before the trench is excavated, a later-stage field image, which is trench excavation image data after the trench is excavated, and spatial coordinates, which include longitude and latitude and elevation data.
Wherein, the image 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 not set up the image control point when flying by plane.
As described above, the two-stage image data includes: an early live image and a late live image. Acquiring the early-stage live image comprises the following steps: and (4) putting a line at a construction unit for carrying out first unmanned aerial vehicle oblique photography aviation flight so as to obtain original landform image data before pipe trench excavation. Acquiring the later stage live image comprises the following steps: and after the pipe trench is excavated and formed and before the pipeline is placed in the trench, performing second navigation to obtain pipe trench excavation image data after the pipe trench excavation is finished.
The modeling module 200 is configured to construct a two-phase three-dimensional model from the two-phase image data with spatial position coordinate information. The two-stage three-dimensional model comprises an original landform three-dimensional model and a pipe trench excavation three-dimensional model. The three-dimensional model of the original landform is different from the three-dimensional model of the pipe trench excavation in elevation. And constructing an original landform model according to the original landform video, and constructing a pipe trench excavation model according to the pipe trench excavation video.
The data processing platform 300 is configured to: and comparing and analyzing the elevation difference of the pipe trench on any specified section of the original landform three-dimensional model and the pipe trench excavation three-dimensional model, screening out the area position according with the preset rule, determining the edge of the trench body, identifying the construction area of the actual trench body, and obtaining the actual pipe trench model.
The data processing platform 300 includes a comparison module and an early warning module. The alignment module is configured to: comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a ditch opening elevation and a ditch opening boundary coordinate, and generating a ditch opening edge line in the length direction of the pipe ditch; and comparing the original landform three-dimensional model with the pipe trench excavation three-dimensional model, identifying the mound edge and the mound height, and connecting the mound edge along the length direction of the pipe trench to obtain a mound edge line. The early warning module is configured to: and judging the risk of the slippage of the earthwork at the ditch edge and the risk of the collapse of the earthwork at the ditch edge according to the distance between the mound edge line and the ditch opening edge line and the height of the mound.
Specifically, the unmanned aerial vehicle can be used for flying an original landform and a pipe ditch of an oil-gas pipeline route in a flying mode, a three-dimensional model of the original landform and the pipe ditch is built, a light-weight importing system is matched according to actual coordinates and elevations of unmanned aerial survey, the system automatically identifies a ditch opening elevation and a ditch opening boundary coordinate through model comparison in two phases, and a pipe ditch edge is generated by combining system operation.
Through the comparison of the original landform and the pipe ditch excavation three-dimensional model at the unified position, the soil piling edge and the soil piling height are identified, and the soil piling edge is connected. Meanwhile, a connecting line of the highest points of the bulldozer at any point is taken.
Setting an upper limit threshold value of 1.5m for the mound height; the system automatically calculates, and performs early warning by connecting lines with another color if the distance exceeds 1.5m
And comparing the edge line of the trench edge of the pipe trench with the edge line of the piled soil, setting a lower limit threshold value of 1.0m, and performing early warning by connecting lines in another color when the lower limit threshold value is lower than 1 m.
In conclusion, the unmanned aerial vehicle is used for navigating and flying the original landform and the pipe ditch of the oil and gas pipeline route, the original landform and pipe ditch excavation three-dimensional models are built, the light-weight importing system is matched according to the actual coordinates and the elevation of unmanned aerial survey, the system automatically identifies the elevation of the ditch mouth and the coordinates of the boundary of the ditch mouth through two-stage model comparison, the oblique photography model data of the unmanned aerial vehicle are deeply excavated, and the automatic identification, analysis and early warning application in the aspects of the mound height, the side slope mound distance and the like are realized. The construction quality and the safety control level of mountain region pipeline are continuously promoted, and the construction cost is reduced.
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 monitoring mound in pipeline engineering construction is characterized by comprising the following steps:
acquiring original landform image data before pipe trench excavation and pipe trench excavation image data after pipe trench excavation are finished for the same mileage section, wherein the original landform image data and the pipe trench excavation image data have space position coordinate information;
constructing an original landform three-dimensional model and a pipe trench excavation three-dimensional model according to the original landform image data and the pipe trench excavation image data;
comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a ditch opening elevation and a ditch opening boundary coordinate, and generating a ditch opening edge line in the length direction of the pipe ditch;
comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a soil piling edge, and connecting the soil piling edge along the length direction of the pipe ditch to obtain a soil piling edge line; and
and judging the risk of the earth slip at the edge of the trench according to the distance between the soil piling edge line and the edge line of the trench opening.
2. The method for supervising mound in pipeline engineering construction according to claim 1, wherein when the distance between the mound edge line and the trench opening edge line is less than a lower threshold of a slope distance, an alarm message is sent, wherein the alarm message is used for indicating a risk of a mound collapse.
3. The method of supervising mound in pipeline construction according to claim 2, wherein a portion of the mound edge line which is less than a lower threshold of a side slope distance from the trench opening edge line is displayed in a first color, and the remaining portion of the mound edge line is displayed in a second color, the first color being different from the second color.
4. The method for supervising the soil accumulation in the pipeline engineering construction according to claim 1, wherein the method further comprises: and comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying the mound height, taking the highest mound point on the cross section of any point of the pipe ditch, and connecting a line along a plurality of highest mound points in the length direction of the pipe ditch, wherein the cross section is intercepted along the direction vertical to the length direction of the pipe ditch to form a mound height line.
5. The method for monitoring the soil accumulation in the pipeline engineering construction according to claim 4, wherein when the soil accumulation height exceeds an upper soil accumulation threshold value, a warning message is sent, wherein the warning message is used for indicating that the risk of soil accumulation collapse exists.
6. The method of supervising mound in pipeline engineering construction according to claim 5, wherein a portion of the mound height line exceeding an upper threshold value of mound is displayed in a third color, and the remaining portion of the mound height line is displayed in a fourth color, the third color being different from the fourth color.
7. The method for supervising the soil accumulation in the pipeline engineering construction according to claim 1, wherein the original landform three-dimensional model and the pipe trench excavation three-dimensional model are different in elevation.
8. The method for monitoring mound in pipeline engineering construction according to claim 1, wherein the step of generating a trench opening edge line in a length direction of the trench comprises:
selecting any specified section of the pipe trench on the original landform three-dimensional model and the pipe trench excavation three-dimensional model;
calculating the height difference of each point on the original landform three-dimensional model and the pipe trench excavation three-dimensional model on any specified section; and
and screening an actual pipe ditch construction area according to the elevation difference, and identifying the upper bottom position of any specified section of the pipe ditch by combining an edge identification algorithm, calculating the actual length, and determining the edge of a ditch opening.
9. The method according to claim 1, wherein the original landform image data and the trench excavation image data are acquired by oblique photography and aerial flight by an unmanned aerial vehicle.
10. A system for monitoring soil accumulation in pipeline engineering construction, the system comprising:
the image acquisition module is configured to acquire original landform image data before pipe trench excavation and pipe trench excavation image data after pipe trench excavation is completed for the same mileage section, wherein the original landform image data and the pipe trench excavation image data have space position coordinate information;
the modeling module is configured to construct an original landform three-dimensional model and a pipe trench excavation three-dimensional model according to the original landform image data and the pipe trench excavation image data; and
a data processing platform, the data processing platform comprising:
an alignment module configured to: comparing the original landform three-dimensional model with the pipe ditch excavation three-dimensional model, identifying a ditch opening elevation and a ditch opening boundary coordinate, and generating a ditch opening edge line in the length direction of the pipe ditch; comparing the original landform three-dimensional model with the pipe trench excavation three-dimensional model, identifying a mound edge and a mound height, and connecting the mound edge along the length direction of the pipe trench to obtain a mound edge line; and
an early warning module configured to: and judging the risk of trench side earthwork slip and mound collapse according to the distance between the mound edge line and the trench opening edge line and the mound height.
CN202210109396.8A 2022-01-28 2022-01-28 Method and system for monitoring mound in pipeline engineering construction Pending CN114581601A (en)

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