Pipeline three-dimensional nonlinear model construction method and system based on real attitude angle

A technology of nonlinear model and construction method, which is applied in the field of pipeline three-dimensional nonlinear model construction based on the real attitude angle, and can solve the problem that the internal defects of the pipeline wall are damaged, the soil around the outside of the pipeline is loose, and the conditions of diseases and disasters such as cavities cannot be known.

CN113223175AActive Publication Date: 2021-08-06WUHAN EASY SIGHT TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-08-06

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Abstract

The invention provides a pipeline three-dimensional nonlinear model construction method and system based on a real attitude angle, and the method comprises the steps of obtaining a set number of pipeline section data through a pipeline robot carrying an attitude sensor and / or an inertial measurement unit; for the section data of each pipeline, according to the section contour of the pipeline and / or the attitude angle acquired by the pipeline robot, calculating to obtain a three-dimensional coordinate set of the section contour of the pipeline under a set reference system; and according to a three-dimensional coordinate set of a pipeline section contour in each pipeline section data under a set reference system, establishing a nonlinear grid model as a pipeline three-dimensional nonlinear model. According to the invention, the influence of distortion and errors generated in the acquisition process on the accuracy of the three-dimensional model of the pipeline is avoided, the three-dimensional model of the pipeline better conforming to the actual situation can be constructed, and a good model basis is provided for pipeline detection, especially pipeline internal detection.
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Description

technical field

[0001] The invention relates to the technical field of pipeline modeling, in particular to a method and system for constructing a three-dimensional nonlinear model of a pipeline based on a real attitude angle. Background technique

[0002] Urban underground pipelines are an important factor affecting the healthy and happy life of urban residents. The mileage of water supply and drainage pipelines is the largest among urban underground pipelines. At the same time, water supply and drainage pipelines are more prone to damage than other pipelines. The damage of water supply and drainage pipelines is the cause of the formation of urban underground cavities. Therefore, the regular maintenance of urban water supply and drainage pipelines is of great significance to improve the safety factor of urban residents, improve the quality of life of residents, and reduce the occurrence of secondary disasters.

[0003] At present, the conventional detection methods for drain...

Examples

Embodiment Construction

[0050]In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0051] Combine below figure 1 , Figure 3-5 Describe the pipeline three-dimensional nonlinear model construction method based on the real attitude angle of the present invention.

[0052] An embodiment of the present invention provides a method for constructing a three-dimensional nonlinear model of a pipeline based on a real attitude angle, including:

[0053] Obtain a set number of pipeli...