CN116499388A - Method and device for acquiring size of pipeline recess, electronic equipment and medium - Google Patents
Method and device for acquiring size of pipeline recess, electronic equipment and medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The application provides a method and device for acquiring a pipeline depression size, electronic equipment and a medium. The method comprises the following steps: acquiring an original point cloud representing the outer surface of a composite concave pipeline by carrying out 3D laser scanning on the composite concave pipeline, wherein the composite concave pipeline comprises a concave area and a defect area; performing surface fitting on the original point cloud to obtain a first model; fitting a standard cylindrical surface according to the first model to obtain a second model; removing nodes corresponding to the defect area in the first model, and performing surface fitting on the rest nodes of the first model to obtain a third model; and obtaining deformation parameters of the concave region according to the second model and the third model. The method solves the problem that the sinking parameters of the composite sinking pipeline cannot be accurately acquired in the prior art.
Description
Technical Field
The present disclosure relates to a technology for identifying a pipe recess, and in particular, to a method and an apparatus for obtaining a size of a pipe recess, an electronic device, and a medium.
Background
Petroleum and natural gas are national energy pulse, and are used as oil and gas pipelines of a storage and transportation main body, so that the safety and reliability are important. Dishing is a localized plastic deformation caused by physical contact of the pipe with other objects, formation movement, etc. Meanwhile, the composite recess formed by combining the defect and the recess is common in actual working conditions, for example, rock foreign matters move due to stratum movement and the like when a pipeline is laid, an outer anti-corrosion layer of the pipeline is damaged, and along with the increase of the service life, the damaged position is extremely easy to corrode, and finally corrosion defects are formed. On one hand, the composite concave can reduce the bearing area of the pipeline, so that the bearing capacity of the pipeline is reduced; on the other hand, the stress concentration at the concave part can be increased, the fatigue load resistance of the pipeline is reduced, and the service safety of the pipeline is greatly compromised. Therefore, the rational evaluation of composite depressions in pipelines has become an important task for the relevant departments of oil and gas pipelines.
In the prior art, the acquisition of the size of the pipeline depression mainly adopts an internal detection technology and a grid diameter measurement method. The method is limited by the resolution of equipment or human factors, the acquired concave profile error is large, and the problem that the concave parameters of the composite concave pipeline are difficult to accurately acquire exists.
Disclosure of Invention
The application provides a method, a device, electronic equipment and a medium for acquiring the size of a pipeline recess, which are used for solving the problem that the recess parameters of a composite recess pipeline are difficult to accurately acquire.
In one aspect, the present application provides a method for obtaining a size of a recess of a pipe, including:
acquiring an original point cloud representing the outer surface of a composite concave pipeline by carrying out 3D laser scanning on the composite concave pipeline, wherein the composite concave pipeline comprises a concave area and a defect area; performing surface fitting on the original point cloud to obtain a first model;
fitting a standard cylindrical surface according to the first model to obtain a second model; removing nodes corresponding to the defect area in the first model, and performing surface fitting on the rest nodes of the first model to obtain a third model;
and obtaining deformation parameters of the concave region according to the second model and the third model.
Optionally, performing surface fitting on the original point cloud to obtain a first model, including;
performing surface fitting on the original point cloud based on a B spline surface interpolation method to obtain a first curved surface;
and dividing a plurality of first axial sections and a plurality of first annular sections on the first curved surface at equal intervals respectively, and obtaining the first model according to the intersection points of the first curved surface, the first axial sections and the first annular sections.
Optionally, the fitting the standard cylindrical surface according to the first model to obtain a second model includes:
performing central axis fitting on the original point cloud to obtain central axis parameters corresponding to the pipeline;
and fitting a standard cylindrical surface based on a nonlinear least square method according to the central axis parameter and the first model to obtain the second model.
Optionally, removing the node corresponding to the defect area in the first model, and performing surface fitting on the remaining nodes of the first model to obtain a third model, where the step includes:
obtaining the curvature of each node in the first model based on a point cloud curvature algorithm according to the first model;
taking a node with the curvature change rate exceeding a preset value as a defect characteristic point, connecting all the defect characteristic points to form a defect boundary, and dividing and deleting a region surrounded by the defect boundary, wherein the curvature change rate of the node is the change rate of the curvature of the node relative to the curvature of an adjacent node;
performing surface fitting on the rest nodes in the first model based on a B spline surface interpolation method to obtain a second curved surface;
and dividing a plurality of second axial sections and a plurality of second annular sections on the second curved surface at equal intervals respectively, and obtaining the third model according to the intersection points of the second curved surface and each second axial section and each second annular section, wherein the number of the second axial sections is the same as that of the first axial sections, and the number of the second annular sections is the same as that of the first axial sections.
Optionally, the obtaining the deformation parameter of the concave area according to the second model and the third model includes:
according to the geometric relationship, obtaining the middle plane nodes of the pipeline, which correspond to the nodes in the second model and the third model respectively, and taking the middle plane nodes as the original middle plane nodes and the concave middle plane nodes of the pipeline;
and acquiring radial displacement, annular displacement and deflection angle of each original midsurface node and corresponding inner and outer wall nodes in the pipeline sinking process as deformation parameters of the sinking region according to the original midsurface nodes and the corresponding sinking midsurface nodes.
Optionally, the method further comprises:
acquiring the axial length of the defect boundary as the defect length of the defect area;
the circumferential length of the defect boundary is obtained and is used as the defect width of the defect area;
and acquiring the radial length of the defect boundary as the defect depth of the defect area.
Optionally, before the performing surface fitting on the original point cloud to obtain the first model, the method further includes:
and carrying out noise reduction smoothing treatment on the original point cloud, and removing sharp features and burrs.
In another aspect, the present application provides a composite recess size acquisition apparatus for a pipe, comprising:
The first modeling module is used for obtaining an original point cloud representing the outer surface of the composite concave pipeline by carrying out 3D laser scanning on the composite concave pipeline, wherein the composite concave pipeline comprises a concave area and a defect area, and the original point cloud is subjected to surface fitting to obtain a first model;
the second modeling module is used for fitting a standard cylindrical surface according to the first model to obtain a second model; removing nodes corresponding to the defect area in the first model, and performing surface fitting on the rest nodes of the first model to obtain a third model;
and the acquisition module is used for obtaining the deformation parameters of the concave area according to the second model and the third model.
Optionally, the first modeling module is specifically configured to:
performing surface fitting on the original point cloud based on a B spline surface interpolation method to obtain a first curved surface;
and dividing a plurality of first axial sections and a plurality of first annular sections on the first curved surface at equal intervals respectively, and obtaining the first model according to the intersection points of the first curved surface, the first axial sections and the first annular sections.
Optionally, the second modeling module is specifically configured to:
Performing central axis fitting on the original point cloud to obtain central axis parameters corresponding to the pipeline;
and fitting a standard cylindrical surface based on a nonlinear least square method according to the central axis parameter and the first model to obtain the second model.
Optionally, the second modeling module is further specifically configured to:
obtaining the curvature of each node in the first model based on a point cloud curvature algorithm according to the first model;
taking nodes with curvature change rate exceeding a preset value as defect feature points, connecting all the defect feature points to form a defect boundary, and dividing and deleting a region surrounded by the defect boundary, wherein the curvature change rate of the nodes is the change rate of the curvature of the nodes relative to the curvature of adjacent nodes;
performing surface fitting on the rest nodes in the first model based on a B spline surface interpolation method to obtain a second curved surface;
and dividing a plurality of second axial sections and a plurality of second annular sections on the second curved surface at equal intervals respectively, and obtaining the third model according to the intersection points of the second curved surface and each second axial section and each second annular section, wherein the number of the second axial sections is the same as that of the first axial sections, and the number of the second annular sections is the same as that of the first axial sections.
Optionally, the acquiring module is specifically configured to:
according to the geometric relationship, obtaining the middle plane nodes of the pipeline, which correspond to the nodes in the second model and the third model respectively, and taking the middle plane nodes as the original middle plane nodes and the concave middle plane nodes of the pipeline;
and acquiring radial displacement, annular displacement and deflection angle of each original midsurface node and corresponding inner and outer wall nodes in the pipeline sinking process as deformation parameters of the sinking region according to the original midsurface nodes and the corresponding sinking midsurface nodes of the pipeline.
Optionally, the apparatus further includes a second acquisition module configured to:
acquiring the axial length of the defect boundary as the defect length of the defect area;
the circumferential length of the defect boundary is obtained and is used as the defect width of the defect area;
and acquiring the radial length of the defect boundary as the defect depth of the defect area.
Optionally, the acquiring module is further specifically configured to:
and carrying out noise reduction smoothing treatment on the original point cloud, and removing sharp features and burrs.
In yet another aspect, the present application provides an electronic device, including: a processor, and a memory communicatively coupled to the processor; the memory stores computer-executable instructions; the processor executes computer-executable instructions stored in the memory to implement the method as described above.
In yet another aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are configured to implement the method as described above.
In the method, the device, the electronic equipment and the medium for acquiring the pipeline concave size, the original point cloud representing the outer surface of the pipeline is acquired by carrying out 3D laser scanning on the composite concave pipeline, wherein the composite concave pipeline comprises a concave area and a defect area; performing surface fitting on the original point cloud to obtain a first model; fitting a standard cylindrical surface according to the first model to obtain a second model; removing nodes corresponding to the defect area in the first model, and performing surface fitting on the rest nodes of the first model to obtain a third model; and obtaining deformation parameters of the concave region according to the second model and the third model. The method and the device are based on the 3D laser scanning technology, geometric data and morphology of the composite pipeline recess can be accurately and rapidly obtained, errors caused by factors such as nonstandard use of measuring tools by measuring staff, vibration of the detector and the like are avoided to a great extent, meanwhile, the influence of a pipeline corrosion area in the process of calculating the pipeline recess deformation parameters is eliminated by establishing a second model representing the original state of the pipeline and a third model representing the pipeline only containing the recess, so that independent recess parameters of the composite recess pipeline can be calculated and obtained, and the calculation accuracy of the recess size of the pipeline is effectively improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic flow chart of a method for obtaining a size of a pipe recess according to an embodiment of the present application;
an exemplary diagram of a section of a pipe model provided in accordance with an embodiment of the present application is illustrated in fig. 2;
an exemplary diagram of a cross section of a pipeline model provided in accordance with an embodiment of the present application is illustrated in fig. 3;
fig. 4 schematically illustrates a first curved surface division provided in the first embodiment of the present application;
a three-dimensional exemplary diagram of a first model provided in accordance with an embodiment of the present application is schematically illustrated in fig. 5;
a side exemplary view of a first model provided in accordance with an embodiment of the present application is illustrated in fig. 6;
an exemplary diagram of a second model provided in accordance with an embodiment of the present application is illustrated in FIG. 7;
an exemplary diagram of a third model provided in accordance with an embodiment of the present application is illustrated in fig. 8;
FIG. 9 is a schematic diagram schematically illustrating calculation of deformation parameters of a pipe recess according to a first embodiment of the present application;
an exemplary diagram of a third model in a rectangular coordinate system according to the first embodiment of the present application is exemplarily shown in fig. 10;
An exemplary diagram of a third model under a cylindrical coordinate system provided in the first embodiment of the present application is exemplarily shown in fig. 11;
an exemplary diagram of a first model in a rectangular coordinate system according to the first embodiment of the present application is schematically shown in fig. 12;
fig. 13 is a schematic structural diagram schematically illustrating a pipe recess size obtaining apparatus according to a second embodiment of the present application;
fig. 14 is a schematic structural diagram of a pipe recess size obtaining electronic device according to a third embodiment of the present application.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
In recent years, with the stable increase of the demand of oil and gas resources in China, the construction and development speed of oil and gas pipelines is increased. Pipeline transportation is a relatively safe and reliable transportation mode, but pipeline accidents occur due to the problems of manufacturing and welding defects, cracks, leakage, corrosion, damage of an outer anti-corrosion layer and the like. The problem of pipeline failure not only reduces the service life of the pipeline, but also causes serious threat to the life and property safety of people.
Dishing is a localized plastic deformation caused by physical contact of the pipe with other objects, formation movement, etc. Local stress and strain concentration of the pipeline are often caused, fatigue damage is easy to cause, and the integrity of the pipeline is adversely affected. Meanwhile, the composite recess formed by combining the defect and the recess is common in actual working conditions, for example, rock foreign matters move due to stratum movement and the like when a pipeline is laid, an outer anti-corrosion layer of the pipeline is damaged, and along with the increase of the service life, the damaged position is extremely easy to corrode, and finally corrosion defects are formed. The impact extrusion to the defect part occurs during the transportation process of the pipeline, and the composite defect of corrosion depression is formed, so that the bearing capacity of the pipeline is greatly reduced, the stress concentration is increased, and finally the pipeline is invalid.
The technical solutions of the present application are illustrated in the following specific examples. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Example 1
Fig. 1 is a flow chart of a method for obtaining a size of a recess of a pipe according to an embodiment of the present disclosure. As shown in fig. 1, the method for obtaining the size of the pipe depression provided in the present embodiment may include:
s101, acquiring an original point cloud representing the outer surface of a composite concave pipeline by carrying out 3D laser scanning on the composite concave pipeline, wherein the composite concave pipeline comprises a concave area and a defect area; performing surface fitting on the original point cloud to obtain a first model;
s102, fitting a standard cylindrical surface according to the first model to obtain a second model; and removing the nodes corresponding to the defect areas in the first model, and performing surface fitting on the rest nodes of the first model to obtain a third model.
And S103, obtaining deformation parameters of the concave region according to the second model and the third model.
In practical application, the execution body of the embodiment may be a device for acquiring a recess size of a pipeline, and the device may be implemented by a computer program, for example, application software or the like; alternatively, the computer program may be implemented as a medium storing a related computer program, for example, a usb disk, a cloud disk, or the like; still alternatively, it may be implemented by a physical device, e.g., a chip, a server, etc., integrated with or installed with the relevant computer program.
Specifically, 3D laser scanning is performed on a pipe containing a composite recess, wherein the pipe containing the composite recess comprises a recess region and a defect region, and original point cloud data of the outer surface of the pipe is obtained. Performing surface fitting on the original point cloud to obtain a first model for representing a surface structure of the outer surface of the pipeline; wherein the surface fitting may be implemented in reverse engineering software (e.g., geomatic deign x, etc.), which is not limited herein.
Fitting a standard cylindrical surface according to point coordinates in the first model on the basis of the first model to obtain a second model for representing the outer surface of the pipeline without the composite recess; and removing nodes corresponding to the defect areas of the pipeline in the first model according to the point coordinates in the first model to obtain a third model which is used for representing the outer surface of the pipeline only containing the concave areas and not containing the defect areas.
According to the second model and the third model, the pipe-recessed area can be defined, thereby obtaining the deformation parameters of the pipe-recessed area.
For example, fig. 2 is an exemplary diagram of a section of a pipeline model provided in an embodiment of the present application, fig. 3 is an exemplary diagram of a section of a pipeline model provided in an embodiment of the present application, and table 1 is a pipeline parameter table provided in an embodiment of the present application, as shown in fig. 2, fig. 3 and table 1, assuming that it is currently desired to obtain a pipeline with a composite recess of a pipe model X65 for performing recess size, scanning the pipeline using a 3D laser scanning technique, obtaining an original point cloud of an outer surface of the pipeline, and performing surface fitting to obtain a first model.
Table 1 pipeline parameters
In order to improve the effectiveness of the data and reduce the difficulty of subsequent computation, in one example, before performing surface fitting on the original point cloud to obtain the first model, the method further includes:
noise reduction smoothing is carried out on the original point cloud, and sharp features and burrs are removed
Specifically, noise reduction and smoothing are carried out on the original point cloud, unnecessary sharp features are eliminated, redundant burrs at two ends of a corresponding pipeline are cut, and therefore data of the original point cloud are preprocessed, and data quality is improved.
In practical applications, there may be multiple methods for obtaining the first model, in one example, the performing surface fitting on the original point cloud to obtain the first model includes;
performing surface fitting on the original point cloud based on a B spline surface interpolation method to obtain a first curved surface;
and dividing a plurality of first axial sections and a plurality of first annular sections on the first curved surface at equal intervals respectively, and obtaining the first model according to the intersection points of the first curved surface, the first axial sections and the first annular sections.
Specifically, since the original point cloud data is scattered, it is necessary to perform regularization processing, that is, surface fitting. The method for fitting the curved surface can effectively fill the data gap of the original point cloud, and various methods for fitting the curved surface exist, wherein the B-spline curved surface interpolation method is used for fitting the curved surface of the original point cloud to obtain a first curved surface.
For data point { P i I=1, 2, …, n }, curve S fitted using a cubic B-spline function n The connection is performed because the cubic B spline function has second-order continuity, and S can be directly calculated n Curvature at any point above. Curve S n Spliced by (n-1) segment curve segments, the vertex { B } can be controlled by (n+2) i I=0, 1, …, n+1} to control its fitting accuracy.
Because of the existence of corrosion defects, the reconstructed curved surface requires higher precision, otherwise, the defect characteristic parameters are greatly influenced. S is S n Thereon with P i The corresponding point is t i It can be calculated by accumulating the chord lengths:
in the formula { L j I j=2, 3, …, n } is point P j-1 And P j The arc length between them.
The parameters of the curved surface in the three-dimensional space are expressed as:
S(u,v)＝[x(u,v),y(u,v),z(u,v)],(u,v)∈R 2
the surface is now represented by two parameters u and v, which map onto a uv planar region in three-dimensional euclidean space.
The cubic B-spline surface is expressed as:
wherein B is i,j For controlling vertices, control polygons may be connected; n (N) i,3 (u) and N j,3 (v) As a cubic B-spline basis function, according to the recurrence formula proposed by de Boor and Cox, there are:
and obtaining a first curved surface after the curved surface is reconstructed.
To facilitate subsequent data processing, the regularized mesh segmentation of the first curved surface includes: equally dividing the first curved surface into n first axial sections and p first annular sections at equal intervals, and collecting { x } intersection points of the first curved surface and each of the first axial sections and the first annular sections i,j ,y i,j ,z i I=1, 2, …, n; j=1, 2, …,2p }, as a first model.
FIG. 4 is a schematic diagram of a first curved surface division provided in an embodiment of the present application, as shown in FIG. 4, 3 first axial sections N1, N2, N3 and 2 first circumferential sections P1, P2 are equally spaced apart on the first curved surface, thereby obtaining intersection points of the first curved surface and N1, N2, N3 and P1, P2, respectively (x) 1,1 ,y 1,1 ,z 1 )，(x 1,2 ,y 1,2 ,z 1 )，(x 1,3 ,y 1,3 ,z 1 )，(x 1,4 ,y 1,4 ,z 1 )，(x 1,5 ,y 1,5 ,z 1 )，(x 1,6 ,y 1,6 ,z 1 )，(x 2,1 ,y 2,1 ,z 2 )，(x 2,2 ,y 2,2 ,z 2 )，(x 2,3 ,y 2,3 ,z 2 )，(x 2,4 ,y 2,4 ,z 2 )，(x 2,5 ,y 2,5 ,z 2 )，(x 2,6 ,y 2,6 ,z 2 ). Wherein FIG. 4 is only drawn hereThe first curved surface may be a standard cylindrical surface in practical application, and the values of n and p may be determined by the accuracy required by calculation.
To simplify the calculation, in one possible implementation, the first model may be formed by rectangular coordinates { x } i,j ,y i,j ,z i I=1, 2, …, n; j=1, 2, …,2p } to a cylindrical coordinate { R } ext,i,j ,θ def,i,j ,Z i I=1, 2, …, n; j=1, 2, …,2p }, the calculation formula is as follows:
fig. 5 is a three-dimensional illustration of a first model provided in an embodiment of the present application, and fig. 6 is a side view illustration of the first model provided in an embodiment of the present application, as shown in fig. 5 and 6, in which, as in the foregoing exemplary pipeline, a curved surface is fitted by a cubic B-spline interpolation process, and divided into a plurality of grid nodes, so as to obtain the first model.
In practical applications, the second model may be obtained in multiple ways, and in one example, the fitting a standard cylindrical surface according to the first model to obtain the second model includes:
Performing central axis fitting on the original point cloud to obtain central axis parameters corresponding to the pipeline;
and fitting a standard cylindrical surface based on a nonlinear least square method according to the central axis parameter and the first model to obtain the second model.
Specifically, the initial point cloud is subjected to central axis fitting, and central axis parameters are obtained. For the convenience of calculation, the central axis can be aligned to the Z axis of the cylindrical coordinate, and the central axis is converted into the cylindrical coordinate from the rectangular coordinate. And fitting a standard cylindrical surface according to the obtained central axis parameter and the first model to obtain a second model. There are various ways to fit the standard cylindrical surface, and a nonlinear least square method is taken as an example for illustration.
The standard cylindrical surface equation is set as follows:
in (x) 0 ,y 0 ,z 0 ) Is a point on the central axis, (i, j, k) is an axial unit vector, and R is a radius of the cylindrical section.
Using a nonlinear least square method, a straight line is defined by a point x and a direction vector α=a/|a|, a being a cylinder axis, f (x) i X, A) is the point x i Distance to a straight line. The distance function is:
D(x i )＝f-R
by calculating the objective function:
J(x,A,R)＝∑(f-R) 2
the minimum value of the cylindrical parameter R is used for obtaining a standard cylindrical surface, and the standard cylindrical surface is divided into a plurality of nodes, including: and equally dividing n first axial sections and p first annular sections on the standard cylindrical surface at equal intervals, and taking a set of intersection points of the first curved surface and each first axial section and each first annular section as a second model. For unified calculation, the division mode of the standard cylindrical surface is the same as that of the first curved surface, so that nodes in the second model are respectively corresponding to nodes in the first model.
In order to simplify the calculation, the second model may be converted from rectangular coordinates to cylindrical coordinates, and the conversion manner is as described above for the first model, which is not described herein again.
Fig. 7 is an exemplary diagram of a second model provided in an embodiment of the present application, as shown in fig. 7, in order to restore an original state of a pipeline, a central axis fitting is performed on an original point cloud, and a standard cylindrical surface is fitted according to central axis parameters and the first model and based on a nonlinear least square method, and is divided into a plurality of grid nodes to obtain the second model.
In practical applications, the obtaining manners of the third model may be multiple, in one example, the removing the node corresponding to the defect area in the first model, and performing surface fitting on the remaining nodes of the first model to obtain the third model includes:
obtaining the curvature of each node in the first model based on a point cloud curvature algorithm according to the first model;
taking a node with the curvature change rate exceeding a preset value as a defect characteristic point, connecting all the defect characteristic points to form a defect boundary, and dividing and deleting a region surrounded by the defect boundary, wherein the curvature change rate of the node is the change rate of the curvature of the node relative to the curvature of an adjacent node;
Performing surface fitting on the rest nodes in the first model based on a B spline surface interpolation method to obtain a second curved surface;
and dividing a plurality of second axial sections and a plurality of second annular sections on the second curved surface at equal intervals respectively, and obtaining the third model according to the intersection points of the second curved surface and each second axial section and each second annular section, wherein the number of the second axial sections is the same as that of the first axial sections, and the number of the second annular sections is the same as that of the first axial sections.
Because the pipeline recess is generated by pipeline deformation, the pipeline recess is smoother relative to the pipeline defect, so that the recess area of the pipeline can be determined based on the curvature change condition of each point of the pipeline. Specifically, based on a point cloud curvature algorithm, the curvature of each node in the first model is calculated, the change rate of the curvature of each node relative to the curvature of the adjacent node is further calculated, and the node with the change rate exceeding a preset value is used as a defect characteristic point. And connecting all defect characteristic points to obtain a defect boundary, wherein the region surrounded by the defect boundary is the defect region, deleting the nodes corresponding to the defect region, and carrying out surface fitting and node division on the rest nodes to obtain a third model.
Fig. 8 is an exemplary diagram of a third model provided in an embodiment of the present application, as shown in fig. 8, where, as in the foregoing exemplary pipeline, curvature abrupt points in the first model are defined as defect feature points, nodes corresponding to an area formed by surrounding the defect feature points in the first model are deleted, curved surface reconstruction is performed on remaining nodes, and the remaining nodes are divided into a plurality of grid nodes, so as to obtain the third model.
After the second model representing the original state of the pipeline and the third model only containing the pipeline recess are obtained, the pipeline recess area can be analyzed. In one example, the obtaining the deformation parameter of the concave region according to the second model and the third model includes:
according to the geometric relationship, obtaining the middle plane nodes of the pipeline, which correspond to the nodes in the second model and the third model respectively, and taking the middle plane nodes as the original middle plane nodes and the concave middle plane nodes of the pipeline;
and acquiring radial displacement, annular displacement and deflection angle of each original midsurface node and corresponding inner and outer wall nodes in the pipeline sinking process as deformation parameters of the sinking region according to the original midsurface nodes and the corresponding sinking midsurface nodes.
Specifically, taking the calculation by using the cylindrical coordinates as an example according to the geometric relationship between the second model and the third model, the original mid-plane node before the pipeline deformation corresponding to each node in the second model and the third model is obtained by calculation And the corresponding deformed concave mid-plane node +.>And calculating the displacement of the node according to the triangle geometric relationship of the nodes before and after the pipeline deformation.
Fig. 9 is a schematic diagram of calculating a deformation parameter of a pipe recess according to an embodiment of the present application, and as shown in fig. 9, a displacement calculation formula of a middle plane node is as follows:
in the formula, v m And w m The unit is mm, and the annular displacement and the radial displacement of the middle plane node are respectively;is the angle difference before and after the middle plane node is deformed.
And the wall thickness component is brought into the formulas of the circumferential displacement and the radial displacement of the middle plane node, so that the circumferential displacement, the radial displacement and the offset angle of the inner wall node and the outer wall node can be calculated.
v＝v m +t n sin(θ α )
w＝w m -t n +t n cos(θ α )
θ α ＝θ tn -θ a
Assuming that the direction of the wall thickness is still perpendicular to the outer surface after deformation of the pipe, the slope k of this direction can be obtained tv The method comprises the following steps:
defining the included angle between the wall thickness direction and the polar axis as theta tv ：
θ tv ＝|arctan(k tv )|
Wherein t is n In order to deviate from the length of the middle plane node along the normal direction of the wall thickness, t/2 is less than or equal to t n T/2, the unit is mm, when t n When the ratio is-t/2, the inner surface of the pipeline is represented, and the annular displacement, radial displacement and offset angle of the inner wall node of the pipeline are obtained by substituting the formula, and t n When t/2 is set, the outer surface of the pipeline is represented, and the annular displacement, radial displacement and offset angle of the inner wall node of the pipeline are obtained by substituting the formula; v and w are respectively the circumferential displacement and the radial displacement of the inner surface and the outer surface of the concave pipeline, and the unit is mm; θ α The deflection angle, in rad, is the deflection angle produced by the straight line along the wall thickness direction around the mid-plane node during deformation of the pipe wall unit. Thereby obtaining deformation parameters of the concave region.
Fig. 10 is an exemplary diagram of the third model in the rectangular coordinate system provided by an embodiment of the present application, and fig. 11 is an exemplary diagram of the third model in the cylindrical coordinate system provided by an embodiment of the present application, as shown in fig. 10 and fig. 11, after obtaining the third model representing the three-dimensional point cloud in the rectangular coordinate system of the concave pipeline, the rectangular coordinate data is converted into the cylindrical coordinate data by using a cylindrical coordinate conversion formula. And analyzing grid nodes of the third model under the cylindrical coordinates, extracting node coordinates of the outer surface of the pipeline recess and node coordinates before and after the middle surface is deformed, and calculating the recess depth w= 5.673mm of the pipeline containing the composite recess according to a pipeline recess deformation calculation formula.
To further evaluate the composite concavity of the pipe, in one example, the method further comprises:
acquiring the axial length of the defect boundary as the defect length of the defect area;
the circumferential length of the defect boundary is obtained and is used as the defect width of the defect area;
And acquiring the radial length of the defect boundary as the defect depth of the defect area.
Specifically, according to the defect boundary in the first model, the lengths of the axial direction, the annular direction and the radial direction of the defect boundary are respectively obtained, so that the defect length, the defect width and the defect depth of the defect area of the pipeline are obtained.
Fig. 12 is an exemplary diagram of a first model under a rectangular coordinate system according to an embodiment of the present application, where, as shown in fig. 12, the axial coordinates of the defect boundary space point are differenced to obtain a defect length l= 11.755mm of the defect area; the space point circumferential coordinates are subjected to difference, and the defect width w= 10.592mm of the defect area is obtained. In order to avoid the influence of the pipeline concave region on the defect depth, the radial coordinates of the space points of the third model and the first model in the defect region can be differed, and the maximum value is taken to obtain the defect depth d=4.83 mm.
By analyzing the third model, it is known that the indenter required to obtain the indentation should be spherical, and finite element modeling is performed in combination with the obtained indentation parameter (indentation depth w= 5.673 mm) and the obtained defect parameter. The whole analysis process is divided into four steps:
(1) An internal pressure is applied. Defining an inner surface of the pipe and applying an internal pressure load;
(2) Contact is established. And applying a small radial displacement load directed to the central axis of the pipeline on a pressure head reference point in a cylindrical coordinate system, and establishing contact between the pressure head and the pipeline. In this process, the contact stability control is utilized to resist rigid body displacement until contact is fully established;
(3) A displacement load is applied. Applying the full displacement to the ram reference point to fully recess the pipe;
(4) The depression rebounds. And applying a reverse displacement load to the concave pressure head to enable the pressure head to leave the surface of the pipeline, and analyzing the pipeline safety state in the concave rebound process under the action of pressure.
And (3) simulating the load applied by the pressure head through finite element simulation to cause the sinking process of the pipeline containing the corrosion defects, and carrying out the suitability evaluation of the composite sinking pipeline by combining the finite element calculation result.
In the method for acquiring the pipeline concave size, the original point cloud representing the outer surface of the pipeline is acquired by carrying out 3D laser scanning on the composite concave pipeline, wherein the composite concave pipeline comprises a concave area and a defect area; performing surface fitting on the original point cloud to obtain a first model; fitting a standard cylindrical surface according to the first model to obtain a second model; removing nodes corresponding to the defect area in the first model, and performing surface fitting on the rest nodes of the first model to obtain a third model; and obtaining deformation parameters of the concave region according to the second model and the third model. The method and the device are based on the 3D laser scanning technology, geometric data and morphology of the composite pipeline recess can be accurately and rapidly obtained, errors caused by factors such as nonstandard use of measuring tools by measuring staff, vibration of the detector and the like are avoided to a great extent, meanwhile, the influence of a pipeline corrosion area in the process of calculating the pipeline recess deformation parameters is eliminated by establishing a second model representing the original state of the pipeline and a third model representing the pipeline only containing the recess, so that independent recess parameters of the composite recess pipeline can be calculated and obtained, and the calculation accuracy of the recess size of the pipeline is effectively improved.
Example two
Fig. 13 is a schematic structural view of a device for obtaining a size of a recess in a pipe according to an embodiment of the present application. As shown in fig. 13, the device for obtaining the size of the pipe depression provided in the present embodiment may include:
the first modeling module 131 is configured to obtain an original point cloud representing an outer surface of a composite concave pipeline by performing 3D laser scanning on the composite concave pipeline, where the composite concave pipeline includes a concave region and a defect region, and perform surface fitting on the original point cloud to obtain a first model;
a second modeling module 132, configured to fit a standard cylindrical surface according to the first model to obtain a second model; removing nodes corresponding to the defect area in the first model, and performing surface fitting on the rest nodes of the first model to obtain a third model;
and an obtaining module 133, configured to obtain the deformation parameter of the concave area according to the second model and the third model.
In practical application, the device for acquiring the size of the pipeline recess can be realized by a computer program, for example, application software and the like; alternatively, the computer program may be implemented as a medium storing a related computer program, for example, a usb disk, a cloud disk, or the like; still alternatively, it may be implemented by a physical device, e.g., a chip, a server, etc., integrated with or installed with the relevant computer program.
Specifically, 3D laser scanning is performed on a pipe containing a composite recess, wherein the pipe containing the composite recess comprises a recess region and a defect region, and original point cloud data of the outer surface of the pipe is obtained. Performing surface fitting on the original point cloud to obtain a first model for representing a surface structure of the outer surface of the pipeline; wherein the surface fitting may be implemented in reverse engineering software (e.g., geomatic deign x, etc.), which is not limited herein.
Fitting a standard cylindrical surface according to point coordinates in the first model on the basis of the first model to obtain a second model for representing the outer surface of the pipeline without the composite recess; and removing nodes corresponding to the defect areas of the pipeline in the first model according to the point coordinates in the first model to obtain a third model which is used for representing the outer surface of the pipeline only containing the concave areas and not containing the defect areas.
According to the second model and the third model, the pipe-recessed area can be defined, thereby obtaining the deformation parameters of the pipe-recessed area.
In order to improve the validity of the data and reduce the difficulty of subsequent computation, in one example, the first modeling module may be specifically configured to:
noise reduction smoothing is carried out on the original point cloud, and sharp features and burrs are removed
Specifically, noise reduction and smoothing are carried out on the original point cloud, unnecessary sharp features are eliminated, redundant burrs at two ends of a corresponding pipeline are cut, and therefore data of the original point cloud are preprocessed, and data quality is improved.
In practical applications, there may be a plurality of methods for obtaining the first model, and in one example, the first modeling module may also be used for;
performing surface fitting on the original point cloud based on a B spline surface interpolation method to obtain a first curved surface;
and dividing a plurality of first axial sections and a plurality of first annular sections on the first curved surface at equal intervals respectively, and obtaining the first model according to the intersection points of the first curved surface, the first axial sections and the first annular sections.
Specifically, since the original point cloud data is scattered, it is necessary to perform regularization processing, that is, surface fitting. The method for fitting the curved surface can effectively fill the data gap of the original point cloud, and various methods for fitting the curved surface exist, wherein the B-spline curved surface interpolation method is used for fitting the curved surface of the original point cloud to obtain a first curved surface.
For data point { P i I=1, 2, …, n }, curve S fitted using a cubic B-spline function n The connection is performed because the cubic B spline function has second-order continuity, and S can be directly calculated n Curvature at any point above. Curve S n From (n-1) sectionsThe line segments are spliced by (n+2) control vertexes { B } i I=0, 1, …, n+1} to control its fitting accuracy.
Because of the existence of corrosion defects, the reconstructed curved surface requires higher precision, otherwise, the defect characteristic parameters are greatly influenced. S is S n Thereon with P i The corresponding point is t i It can be calculated by accumulating the chord lengths:
in the formula { L j I j=2, 3, …, n } is point P j-1 And P j The arc length between them.
The parameters of the curved surface in the three-dimensional space are expressed as:
S(u,v)＝[x(u,v),y(u,v),z(u,v)],(u,v)∈R 2
the surface is now represented by two parameters u and v, which map onto a uv planar region in three-dimensional euclidean space.
The cubic B-spline surface is expressed as:
wherein B is i,j For controlling vertices, control polygons may be connected; n (N) i,3 (u) and N j,3 (v) As a cubic B-spline basis function, according to the recurrence formula proposed by de Boor and Cox, there are:
and obtaining a first curved surface after the curved surface is reconstructed.
To facilitate subsequent data processing, the regularized mesh segmentation of the first curved surface includes: at the first stageEqually dividing the curved surface into n first axial sections and p first annular sections at equal intervals, and collecting { x } intersection points of the first curved surface and each first axial section and each first annular section i,j ,y i,j ,z i I=1, 2, …, n; j=1, 2, …,2p }, as a first model.
To simplify the calculation, in one possible implementation, the first model may be formed by rectangular coordinates { x } i,j ,y i,j ,z i I=1, 2, …, n; j=1, 2, …,2p } to a cylindrical coordinate { R } ext,i,j ,θ def,i,j ,Z i I=1, 2, …, n; j=1, 2, …,2p }, the calculation formula is as follows:
in practical applications, the second model may be obtained in multiple manners, and in one example, the second modeling module may be specifically configured to:
performing central axis fitting on the original point cloud to obtain central axis parameters corresponding to the pipeline;
and fitting a standard cylindrical surface based on a nonlinear least square method according to the central axis parameter and the first model to obtain the second model.
Specifically, the initial point cloud is subjected to central axis fitting, and central axis parameters are obtained. For the convenience of calculation, the central axis can be aligned to the Z axis of the cylindrical coordinate, and the central axis is converted into the cylindrical coordinate from the rectangular coordinate. And fitting a standard cylindrical surface according to the obtained central axis parameter and the first model to obtain a second model. There are various ways to fit the standard cylindrical surface, and a nonlinear least square method is taken as an example for illustration.
The standard cylindrical surface equation is set as follows:
In (x) 0 ,y 0 ,z 0 ) Is the upper one of the central axisPoints (i, j, k) are unit vectors in the axial direction, and R is the radius of the cylindrical section.
Using a nonlinear least square method, a straight line is defined by a point x and a direction vector α=a/|a|, a being a cylinder axis, f (x) i X, A) is the point x i Distance to a straight line. The distance function is:
D(x i )＝f-R
by calculating the objective function:
J(x,A,R)＝∑(f-R) 2
the minimum value of the cylindrical parameter R is used for obtaining a standard cylindrical surface, and the standard cylindrical surface is divided into a plurality of nodes, including: and equally dividing n first axial sections and p first annular sections on the standard cylindrical surface at equal intervals, and taking a set of intersection points of the first curved surface and each first axial section and each first annular section as a second model. For unified calculation, the division mode of the standard cylindrical surface is the same as that of the first curved surface, so that nodes in the second model are respectively corresponding to nodes in the first model.
In order to simplify the calculation, the second model may be converted from rectangular coordinates to cylindrical coordinates, and the conversion manner is as described above for the first model, which is not described herein again.
In practical applications, the third model may be obtained in multiple manners, and in one example, the second modeling module may be further configured to:
obtaining the curvature of each node in the first model based on a point cloud curvature algorithm according to the first model;
Taking a node with the curvature change rate exceeding a preset value as a defect characteristic point, connecting all the defect characteristic points to form a defect boundary, and dividing and deleting a region surrounded by the defect boundary, wherein the curvature change rate of the node is the change rate of the curvature of the node relative to the curvature of an adjacent node;
performing surface fitting on the rest nodes in the first model based on a B spline surface interpolation method to obtain a second curved surface;
and dividing a plurality of second axial sections and a plurality of second annular sections on the second curved surface at equal intervals respectively, and obtaining the third model according to the intersection points of the second curved surface and each second axial section and each second annular section, wherein the number of the second axial sections is the same as that of the first axial sections, and the number of the second annular sections is the same as that of the first axial sections.
Because the pipeline recess is generated by pipeline deformation, the pipeline recess is smoother relative to the pipeline defect, so that the recess area of the pipeline can be determined based on the curvature change condition of each point of the pipeline. Specifically, based on a point cloud curvature algorithm, the curvature of each node in the first model is calculated, the change rate of the curvature of each node relative to the curvature of the adjacent node is further calculated, and the node with the change rate exceeding a preset value is used as a defect characteristic point. And connecting all defect characteristic points to obtain a defect boundary, wherein the region surrounded by the defect boundary is the defect region, deleting the nodes corresponding to the defect region, and carrying out surface fitting and node division on the rest nodes to obtain a third model.
After the second model representing the original state of the pipeline and the third model only containing the pipeline recess are obtained, the pipeline recess area can be analyzed. In one example, the acquiring module may be specifically configured to:
according to the geometric relationship, obtaining the middle plane nodes of the pipeline, which correspond to the nodes in the second model and the third model respectively, and taking the middle plane nodes as the original middle plane nodes and the concave middle plane nodes of the pipeline;
and acquiring radial displacement, annular displacement and deflection angle of each original midsurface node and corresponding inner and outer wall nodes in the pipeline sinking process as deformation parameters of the sinking region according to the original midsurface nodes and the corresponding sinking midsurface nodes.
Specifically, taking the calculation by using the cylindrical coordinates as an example according to the geometric relationship between the second model and the third model, the original mid-plane node before the pipeline deformation corresponding to each node in the second model and the third model is obtained by calculationCorresponding deformed concave middle surfaceNode->And calculating the displacement of the node according to the triangle geometric relationship of the nodes before and after the pipeline deformation.
The displacement calculation formula of the middle plane node is as follows:
/>
in the formula, v m And w m The unit is mm, and the annular displacement and the radial displacement of the middle plane node are respectively; Is the angle difference before and after the middle plane node is deformed.
And the wall thickness component is brought into the formulas of the circumferential displacement and the radial displacement of the middle plane node, so that the circumferential displacement, the radial displacement and the offset angle of the inner wall node and the outer wall node can be calculated.
v＝v m +t n sin(θ α )
w＝w m -t n +t n cos(θ α )
θ α ＝θ tn -θ a
Assuming that the direction of the wall thickness is still perpendicular to the outer surface after deformation of the pipe, the slope k of this direction can be obtained tv The method comprises the following steps:
defining the included angle between the wall thickness direction and the polar axis as theta tv ：
θ tv ＝|arctan(k tv )|
Wherein t is n In order to deviate from the length of the middle plane node along the normal direction of the wall thickness, t/2 is less than or equal to t n T/2, the unit is mm, when t n When the ratio is-t/2, the inner surface of the pipeline is represented, and the annular displacement, radial displacement and offset angle of the inner wall node of the pipeline are obtained by substituting the formula, and t n When t/2 is set, the outer surface of the pipeline is represented, and the annular displacement, radial displacement and offset angle of the inner wall node of the pipeline are obtained by substituting the formula; v and w are respectively the circumferential displacement and the radial displacement of the inner surface and the outer surface of the concave pipeline, and the unit is mm; θ α The deflection angle, in rad, is the deflection angle produced by the straight line along the wall thickness direction around the mid-plane node during deformation of the pipe wall unit. Thereby obtaining deformation parameters of the concave region.
To further evaluate the composite concavity of the pipe, in one example, the apparatus further includes a second acquisition module to:
Acquiring the axial length of the defect boundary as the defect length of the defect area;
the circumferential length of the defect boundary is obtained and is used as the defect width of the defect area;
and acquiring the radial length of the defect boundary as the defect depth of the defect area.
Specifically, according to the defect boundary in the first model, the lengths of the axial direction, the annular direction and the radial direction of the defect boundary are respectively obtained, so that the defect length, the defect width and the defect depth of the defect area of the pipeline are obtained.
In the device for acquiring the size of the pipeline recess provided by the embodiment, the flow processing module firstly adopts a flow processing mode to perform simple flow type convergence on the network operation data acquired by the acquisition module to obtain an initial convergence result, and based on the initial convergence result, the batch processing module performs batch convergence to obtain a final processing result and provides the final processing result to the application layer. According to the scheme, the initial convergence is performed firstly, the data processing amount can be reduced, the occupation of intermediate state storage is reduced, the data amount of subsequent batch processing is obviously reduced, the subsequent convergence algorithm is simplified, and the accuracy of data convergence processing can be improved by performing primary flow convergence.
Example III
Fig. 14 is a schematic structural diagram of an electronic device provided in an embodiment of the disclosure, as shown in fig. 14, where the electronic device includes:
a processor 291, the electronic device further comprising a memory 292; a communication interface (Communication Interface) 293 and bus 294 may also be included. The processor 291, the memory 292, and the communication interface 293 may communicate with each other via the bus 294. Communication interface 293 may be used for information transfer. The processor 291 may call logic instructions in the memory 292 to perform the methods of the above-described embodiments.
Further, the logic instructions in memory 292 described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product.
The memory 292 is a computer-readable storage medium that may be used to store a software program, a computer-executable program, and program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 291 executes functional applications and data processing by running software programs, instructions and modules stored in the memory 292, i.e., implements the methods of the method embodiments described above.
Memory 292 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the terminal device, etc. Further, memory 292 may include high-speed random access memory, and may also include non-volatile memory.
The disclosed embodiments provide a non-transitory computer readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are configured to implement the method of the previous embodiments.
Example IV
The disclosed embodiments provide a computer program product comprising a computer program which, when executed by a processor, implements the method provided by any of the embodiments of the disclosure described above.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method for obtaining a recess size of a pipe, comprising:
acquiring an original point cloud representing the outer surface of a composite concave pipeline by carrying out 3D laser scanning on the composite concave pipeline, wherein the composite concave pipeline comprises a concave area and a defect area; performing surface fitting on the original point cloud to obtain a first model;
fitting a standard cylindrical surface according to the first model to obtain a second model; removing nodes corresponding to the defect area in the first model, and performing surface fitting on the rest nodes of the first model to obtain a third model;
and obtaining deformation parameters of the concave region according to the second model and the third model.
2. The method of claim 1, wherein the performing surface fitting on the original point cloud to obtain a first model comprises;
performing surface fitting on the original point cloud based on a B spline surface interpolation method to obtain a first curved surface;
And dividing a plurality of first axial sections and a plurality of first annular sections on the first curved surface at equal intervals respectively, and obtaining the first model according to the intersection points of the first curved surface, the first axial sections and the first annular sections.
3. The method of claim 2, wherein said fitting a standard cylindrical surface from said first model to obtain a second model comprises:
performing central axis fitting on the original point cloud to obtain central axis parameters corresponding to the pipeline;
and fitting a standard cylindrical surface based on a nonlinear least square method according to the central axis parameter and the first model to obtain the second model.
4. The method of claim 3, wherein the removing the node corresponding to the defect area in the first model, and performing surface fitting on the remaining nodes of the first model to obtain a third model, includes:
obtaining the curvature of each node in the first model based on a point cloud curvature algorithm according to the first model;
taking a node with the curvature change rate exceeding a preset value as a defect characteristic point, connecting all the defect characteristic points to form a defect boundary, and dividing and deleting a region surrounded by the defect boundary, wherein the curvature change rate of the node is the change rate of the curvature of the node relative to the curvature of an adjacent node;
Performing surface fitting on the rest nodes in the first model based on a B spline surface interpolation method to obtain a second curved surface;
and dividing a plurality of second axial sections and a plurality of second annular sections on the second curved surface at equal intervals respectively, and obtaining the third model according to the intersection points of the second curved surface and each second axial section and each second annular section, wherein the number of the second axial sections is the same as that of the first axial sections, and the number of the second annular sections is the same as that of the first axial sections.
5. The method of claim 4, wherein the obtaining the deformation parameters of the concave region according to the second model and the third model comprises:
according to the geometric relationship, obtaining the middle plane nodes of the pipeline, which correspond to the nodes in the second model and the third model respectively, and taking the middle plane nodes as the original middle plane nodes and the concave middle plane nodes of the pipeline;
and acquiring radial displacement, annular displacement and deflection angle of each original midsurface node and corresponding inner and outer wall nodes in the pipeline sinking process as deformation parameters of the sinking region according to the original midsurface nodes and the corresponding sinking midsurface nodes.
6. The method of claim 5, wherein the method further comprises:
acquiring the axial length of the defect boundary as the defect length of the defect area;
the circumferential length of the defect boundary is obtained and is used as the defect width of the defect area;
and acquiring the radial length of the defect boundary as the defect depth of the defect area.
7. The method according to any one of claims 1-6, wherein prior to performing surface fitting on the original point cloud to obtain a first model, further comprising:
and carrying out noise reduction smoothing treatment on the original point cloud, and removing sharp features and burrs.
8. A duct depression dimension acquisition device, comprising:
the first modeling module is used for obtaining an original point cloud representing the outer surface of the composite concave pipeline by carrying out 3D laser scanning on the composite concave pipeline, wherein the composite concave pipeline comprises a concave area and a defect area, and the original point cloud is subjected to surface fitting to obtain a first model;
the second modeling module is used for fitting a standard cylindrical surface according to the first model to obtain a second model; removing nodes corresponding to the defect area in the first model, and performing surface fitting on the rest nodes of the first model to obtain a third model;
And the acquisition module is used for obtaining the deformation parameters of the concave area according to the second model and the third model.
9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-7.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-7.
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