CN117372623A - Corrosion pipeline refined modeling method based on three-dimensional point cloud - Google Patents
Corrosion pipeline refined modeling method based on three-dimensional point cloud Download PDFInfo
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Abstract
The invention discloses a corrosion pipeline refined modeling method based on three-dimensional point cloud, which comprises the following steps: acquiring point cloud data of a corrosion pipeline, performing macroscopic noise reduction on the point cloud data, and performing microscopic noise reduction; performing visual processing on the point cloud data after noise reduction to generate a corrosion defect contour map; modeling according to elevation data obtained from the corrosion defect contour map to generate a corrosion defect seal model; and establishing a corrosion defect-free pipeline model, placing the corrosion defect seal model at a position where the surface of the pipeline in the corrosion defect-free pipeline model is corroded, and executing a preset cutting instruction to obtain a target corrosion defect model. By adopting the method, the corrosion pipeline model can be truly and finely constructed.
Description
Technical Field
The invention relates to the field of modeling, in particular to a corrosion pipeline refined modeling method based on three-dimensional point cloud.
Background
The urban underground water supply pipeline bears the water transmission and distribution task of the whole city, is an important ring in urban life line engineering, and is an important guarantee for urban domestic water. With the increase of the service time, the water supply network has poor health condition, frequent defects, leakage of the water supply network and the like, and huge water resource waste and economic loss can be caused each year due to the influences of the quality of the pipe, the construction level and the like. Corrosion is one of the main factors affecting the structural integrity and safe operation of water supply pipelines, corrosion outside pipelines is a main cause of pipeline failure, and although the corrosion process is relatively slow, the corrosion can cause the reduction of the bearing capacity of the pipeline wall, so that the failure probability of the pipelines is increased, and the pipelines are leaked and burst, thereby bringing great potential safety hazards to the life and economy of people. Therefore, developing an assessment of the mechanical properties of a corrosion pipeline has important economic and social values for pipeline operation and management.
The existing conditions temporarily cannot monitor and protect the water supply network in real time, corrosion damage to the pipeline is unavoidable, no matter what type of damage can affect the operation safety of the water supply network, and therefore, the mechanical properties of the corroded pipeline are required to be specifically evaluated, so that the risk of the pipeline operation is determined, and the corresponding water supply pipeline is maintained or replaced in time.
In the current research, the pipeline corrosion modeling is mostly in a regular shape, however, the real corrosion defect is usually in an irregular shape with extreme points of different depths, and is not in a regular cuboid. Because of factors of the pipe, corrosion defect size and the like, uneven corrosion morphology is caused, if a corrosion defect simplified model is built according to the traditional mode with the maximum corrosion depth, actual corrosion cannot be truly reflected, a final calculation result is affected, and subsequent evaluation of mechanical properties of the corroded pipe is affected.
In summary, the existing corrosion pipeline modeling method cannot accurately simulate the actual corrosion condition, and has the problems that the morphology of the corrosion defect cannot be well reflected, details are lost, and the like, so that the invention is urgent to provide a precise corrosion pipeline modeling method which meets the actual condition.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a corrosion pipeline refined modeling method based on three-dimensional point cloud, which can truly and finely construct a corrosion pipeline model.
Based on the method, the invention provides a corrosion pipeline refined modeling method based on three-dimensional point cloud, which comprises the following steps:
acquiring point cloud data of a corrosion pipeline, performing macroscopic noise reduction on the point cloud data, and performing microscopic noise reduction;
performing visual processing on the point cloud data after noise reduction to generate a corrosion defect contour map;
modeling according to elevation data obtained from the corrosion defect contour map to generate a corrosion defect seal model;
and establishing a corrosion defect-free pipeline model, placing the corrosion defect seal model at a position where the surface of the pipeline in the corrosion defect-free pipeline model is corroded, and executing a preset cutting instruction to obtain a target corrosion defect model.
The method for acquiring the point cloud data of the corrosion pipeline comprises the following steps: and acquiring the surface point cloud of the corrosion defect pipeline by a three-dimensional laser scanning technology or a depth camera.
Wherein macro noise reduction of the point cloud data comprises:
preprocessing the point cloud data by adopting a noise reduction function preset by first point cloud processing software to remove noise points and outliers, wherein the first point cloud processing software comprises: cloudCompare, 3DReshaper.
Wherein performing microscopic noise reduction on the point cloud data comprises:
and adopting an improved and optimized algorithm based on a least square filtering algorithm to reduce noise of the point cloud data and remove outliers of the point cloud data.
The specific steps of denoising the point cloud data by adopting an improved and optimized algorithm based on a least square filtering algorithm are as follows:
performing curve fitting by adopting a least square method to obtain an objective function with minimum residual square sum;
wherein E is a fitted objective function, and x, y and z are the horizontal axis, the vertical axis and the vertical axis coordinates of the point cloud data respectively;
based on the least square criterion, the curve fitting coefficient a can be obtained 0 ，a 1 ，a 2 ：
δB＝(A T A) -1 A T W
The least square method is adopted to assume that x, y is independent variable without error, z is dependent variable, and error is v, a 0 ，a 1 ，a 2 The surface fitting mathematical model is:
z+v＝a 0 +a 1 x ten a 2 y
Substituting the point cloud data into the surface fitting mathematical model, and calculating the distance d between each point cloud and the fitting surface a Wherein, the distance from the point cloud data set to the fitting surface;
for the selected point, calculate its distance d to the fitting surface ab Then, the statistics are carried out at |d a -d ab Number n of points within the distance interval;
if n is smaller than the threshold m 2 This point is indicated as a noisy point, which is deleted, otherwise, the point is preserved.
Wherein the removing the outliers of the point cloud data comprises:
for each point, searching for the point number b within a preset range, if b is not less than the threshold value m 1 Indicating that the point is located in a dense area and is not an isolated noise point, and deleting the point if the point is not an isolated noise point.
The visualized processing of the point cloud data after noise reduction comprises the following steps: importing the point cloud data subjected to noise reduction processing into visualization software to generate a contour map, wherein the visualization software comprises the following components: and (4) Sufer.
Modeling according to elevation data obtained from the corrosion defect contour map, and generating a corrosion defect seal model comprises the following steps:
and fitting a corrosion defect seal model by using modeling software Rhino according to elevation data of the contour line in the corrosion defect contour line map by using an accurate embedded function built in the modeling software, wherein the height of the corrosion defect seal model is the distance from the outer surface of the pipeline to the corrosion surface, and finishing reverse modeling of the corrosion defect.
The corrosion-defect-free pipeline model is established through three-dimensional modeling software, and the three-dimensional modeling software comprises: abaqus and Ansys.
The preset cutting instruction is a Boolean operation-cutting geometric command, and the command carries out difference operation through more than two objects, so that a new object shape is obtained.
According to the method, the corroded pipeline defects are scanned, point cloud data of the defect positions are obtained, an accurate corrosion model is established by adopting three-dimensional modeling software, and an initial pipeline model without corrosion defects is cut through the corrosion model, so that a target corrosion defect model is obtained. The result obtained by accurate modeling is more in line with the actual situation, and has more reliability and practical significance. The modeling method has high flexibility and accuracy, can model defective pipelines with different pipe diameters and different corrosion shapes, can accurately reflect the shape of the pipeline corrosion defects, and is beneficial to pipeline failure pressure evaluation and service performance research.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for modeling corrosion pipeline refinement based on three-dimensional point cloud provided by an embodiment of the invention;
FIG. 2 is a point cloud image acquired by a three-dimensional laser scanner according to an embodiment of the present invention;
FIG. 3 is a flow chart of a depth camera acquiring a point cloud provided by an embodiment of the present invention;
FIG. 4 is a flow chart of a method for point cloud micro noise reduction provided by an embodiment of the invention;
FIG. 5 is a schematic diagram schematically illustrating a point cloud micro noise reduction algorithm provided by an embodiment of the present invention;
FIG. 6 is a schematic illustration of a corrosion defect contour provided by an embodiment of the present invention;
FIG. 7 is a schematic diagram of the corrosion defect generation principle provided by an embodiment of the present invention;
FIG. 8 is a schematic diagram of a corrosion defect stamp model provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram schematically illustrating a pipeline model with corrosion defects provided by an embodiment of the present invention;
FIG. 10 is a diagram of an example of a corrosion pipeline constructed by this method, provided by an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
FIG. 1 is a flowchart of a method for modeling corrosion pipeline refinement based on three-dimensional point cloud provided by an embodiment of the invention, the method comprising:
s101, acquiring point cloud data of a corrosion pipeline, and carrying out macroscopic noise reduction on the point cloud data and then carrying out microscopic noise reduction;
the method for acquiring the point cloud data of the corrosion pipeline comprises the following steps: and acquiring the surface point cloud of the corrosion defect pipeline by a three-dimensional laser scanning technology or a depth camera.
Fig. 2 is a point cloud diagram acquired by a three-dimensional laser scanner according to an embodiment of the present invention, and fig. 3 is a flowchart of acquiring a point cloud by a depth camera according to an embodiment of the present invention, where the acquiring of the point cloud by the depth camera belongs to the prior art, and is not described herein again.
Wherein macro noise reduction of the point cloud data comprises:
preprocessing the point cloud data by adopting a noise reduction function preset by first point cloud processing software to remove noise points and outliers, wherein the first point cloud processing software comprises: cloudCompare, 3DReshaper.
Fig. 4 is a flowchart of a method for microscopic noise reduction of point cloud according to an embodiment of the present invention, where performing microscopic noise reduction on the point cloud data includes:
and adopting an improved and optimized algorithm based on a least square filtering algorithm to reduce noise of the point cloud data and remove outliers of the point cloud data.
The specific steps of denoising the point cloud data by adopting an improved and optimized algorithm based on a least square filtering algorithm are as follows:
performing curve fitting by adopting a least square method to obtain an objective function with minimum residual square sum;
wherein E is a fitted objective function, and x, y and z are the horizontal axis, the vertical axis and the vertical axis coordinates of the point cloud data respectively;
the function is a least square criterion, and the fitting curved surface is required to meet the objective function; i.e., the fitted surface is at a minimum distance from the actual data point. Specifically, the error sum of squares is obtained by calculating the distance from each data point to the fitted surface and then summing the squares of these distances. The goal of the least squares method is to find a surface that minimizes the sum of squares of the errors.
Based on the least square criterion, the curve fitting coefficient a can be obtained 0 ，a 1 ，a 2 ：
δB＝(A T A) -1 A T W
The least square method is adopted to assume that x, y is independent variable without error, z is dependent variable, and error is v, a 0 ，a 1 ，a 2 The surface fitting mathematical model is:
z+v＝a 0 +a 1 x+a 2 y
substituting the point cloud data into the surface fitting mathematical model, and calculating the distance (d a I.e., the distance from the alpha-th point to the fitting surface), wherein the distance from the point cloud data set to the fitting surface;
for the selected point, calculate its distance d to the fitting surface ab Then, the statistics are carried out at |d a -d ab Number n of points within the distance interval;
if n is smaller than the threshold m 2 This point is indicated as a noisy point, which is deleted, otherwise, the point is preserved.
FIG. 5 is a schematic illustration of an embodiment of the present inventionA schematic diagram of a point cloud micro noise reduction algorithm may refer to fig. 5 specifically, where D of fig. 5 a Equivalent to d a ，D ab Equivalent to d ab 。
Wherein the removing the outliers of the point cloud data comprises:
for each point, searching for the point number b within a preset range, if b is not less than the threshold value m 1 Indicating that the point is located in a dense area and is not an isolated noise point, and deleting the point if the point is not an isolated noise point.
S102, performing visual processing on the point cloud data after noise reduction to generate a corrosion defect contour map;
the visualized processing of the point cloud data after noise reduction comprises the following steps: importing the point cloud data subjected to noise reduction processing into visualization software to generate a contour map, wherein the visualization software comprises the following components: and (4) Sufer. FIG. 6 is a schematic view of a contour line of a corrosion defect according to an embodiment of the present invention, please refer to FIG. 6.
S103, modeling according to elevation data obtained from the corrosion defect contour map, and generating a corrosion defect seal model;
modeling according to elevation data obtained from the corrosion defect contour map, and generating a corrosion defect seal model comprises the following steps:
fig. 7 is a schematic diagram of a corrosion defect generation principle provided by the embodiment of the invention, please refer to fig. 7, a corrosion defect seal model is fitted by means of an accurate embedded surface function built in modeling software according to elevation data of a contour line in a contour line diagram of the corrosion defect by using modeling software Rhino, fig. 8 is a schematic diagram of a corrosion defect model provided by the embodiment of the invention, and the height of the corrosion defect seal model is the distance from the outer surface of a pipeline to the corrosion surface, so that reverse modeling of the corrosion defect is completed.
S104, establishing a corrosion defect-free pipeline model, placing the corrosion defect seal model at a position where the surface of the pipeline in the corrosion defect-free pipeline model is corroded, and executing a preset cutting instruction to obtain a target corrosion defect model.
FIG. 9 is a schematic diagram schematically illustrating a pipeline model with corrosion defects (target corrosion defect model) provided by an embodiment of the present invention;
the corrosion-defect-free pipeline model is established through three-dimensional modeling software, and the three-dimensional modeling software comprises: abaqus and Ansys.
The preset cutting instruction is a Boolean operation-cutting geometric command, and the command carries out difference operation through more than two objects, so that a new object shape is obtained.
FIG. 10 is a diagram of an example of a corrosion pipeline constructed by this method, provided by an embodiment of the present invention.
According to the method, the corroded pipeline defects are scanned, point cloud data of the defect positions are obtained, an accurate corrosion model is established by adopting three-dimensional modeling software, and an initial pipeline model without corrosion defects is cut through the corrosion model, so that a target corrosion defect model is obtained. The result obtained by accurate modeling is more in line with the actual situation, and has more reliability and practical significance. The modeling method has high flexibility and accuracy, can model defective pipelines with different pipe diameters and different corrosion shapes, can accurately reflect the shape of the pipeline corrosion defects, and is beneficial to pipeline failure pressure evaluation and service performance research.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (10)
1. A corrosion pipeline refined modeling method based on three-dimensional point cloud is characterized by comprising the following steps:
acquiring point cloud data of a corrosion pipeline, performing macroscopic noise reduction on the point cloud data, and performing microscopic noise reduction;
performing visual processing on the point cloud data after noise reduction to generate a corrosion defect contour map;
modeling according to elevation data obtained from the corrosion defect contour map to generate a corrosion defect seal model;
and establishing a corrosion defect-free pipeline model, placing the corrosion defect seal model at a position where the surface of the pipeline in the corrosion defect-free pipeline model is corroded, and executing a preset cutting instruction to obtain a target corrosion defect model.
2. The method for three-dimensional point cloud based corrosion pipeline refinement modeling of claim 1, wherein the obtaining the point cloud data of the corrosion pipeline comprises: and acquiring the surface point cloud of the corrosion defect pipeline by a three-dimensional laser scanning technology or a depth camera.
3. The method of three-dimensional point cloud based corrosion pipeline refinement modeling of claim 1, wherein macroscopically denoising the point cloud data comprises:
preprocessing the point cloud data by adopting a noise reduction function preset by first point cloud processing software to remove noise points and outliers, wherein the first point cloud processing software comprises: cloudCompare, 3DReshaper.
4. The method of three-dimensional point cloud based corrosion pipeline refinement modeling of claim 1, wherein microscopically denoising the point cloud data comprises:
and adopting an improved and optimized algorithm based on a least square filtering algorithm to reduce noise of the point cloud data and remove outliers of the point cloud data.
5. The method for precisely modeling the corrosion pipeline based on the three-dimensional point cloud as claimed in claim 4, wherein the specific steps of denoising the point cloud data by adopting an improved and optimized algorithm based on a least squares filtering algorithm are as follows:
performing curve fitting by adopting a least square method to obtain an objective function with minimum residual square sum;
wherein E is a fitted objective function, and x, y and z are the horizontal axis, the vertical axis and the vertical axis coordinates of the point cloud data respectively;
based on the least square criterion, the curve fitting coefficient a can be obtained 0 ，a 1 ，a 2 ：
δB＝(A T A) -1 A T W
δB＝[a 0 ，a 1 ，a 2 ] T ，
The least square method is adopted to assume that x, y is independent variable without error, z is dependent variable, and error is v, a 0 ，a 1 ，a 2 The surface fitting mathematical model is:
z+v＝a 0 +a 1 x+a 2 y
substituting the point cloud data into the surface fitting mathematical model, and calculating the distance d between each point cloud and the fitting surface a Wherein, the distance from the point cloud data set to the fitting surface;
for the selected point, calculate its distance d to the fitting surface ab Then, the statistics are carried out at |d a -d ab Number n of points within the distance interval;
if n is smaller than the threshold m 2 This point is indicated as a noisy point, which is deleted, otherwise, the point is preserved.
6. The method of three-dimensional point cloud based corrosion pipeline refinement modeling of claim 4, wherein said removing outliers of said point cloud data comprises:
for each point, searching for the point number b within a preset range, if b is not less than the threshold value m 1 Description of the embodimentThe points are located in dense areas, not isolated noise points, and are deleted otherwise.
7. The method for precisely modeling the corrosion pipeline based on the three-dimensional point cloud according to claim 1, wherein the step of visually processing the point cloud data after noise reduction comprises the steps of: importing the point cloud data subjected to noise reduction processing into visualization software to generate a contour map, wherein the visualization software comprises the following components: and (4) Sufer.
8. The method for precisely modeling the corrosion pipeline based on the three-dimensional point cloud as claimed in claim 1, wherein modeling according to elevation data obtained from the corrosion defect contour map, generating a corrosion defect seal model comprises:
and fitting a corrosion defect seal model by using modeling software Rhino according to elevation data of the contour line in the corrosion defect contour line map by using an accurate embedded function built in the modeling software, wherein the height of the corrosion defect seal model is the distance from the outer surface of the pipeline to the corrosion surface, and finishing reverse modeling of the corrosion defect.
9. The method for precisely modeling the corrosion pipeline based on the three-dimensional point cloud as claimed in claim 1, wherein the corrosion defect-free pipeline model is established by three-dimensional modeling software, and the three-dimensional modeling software comprises: abaqus and Ansys.
10. The method for precisely modeling the corrosion pipeline based on the three-dimensional point cloud as claimed in claim 1, wherein the preset cutting instruction is a boolean operation-cutting geometric command, and the command is obtained by performing a difference operation on more than two objects.
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| CN117848864A (en) * | 2024-03-08 | 2024-04-09 | 深圳市中燃科技有限公司 | Pipe fitting performance parameter testing method and system for gas hose |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117848864A (en) * | 2024-03-08 | 2024-04-09 | 深圳市中燃科技有限公司 | Pipe fitting performance parameter testing method and system for gas hose |
| CN117848864B (en) * | 2024-03-08 | 2024-06-18 | 深圳市中燃科技有限公司 | Pipe fitting performance parameter testing method and system for gas hose |
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