Pipeline three-dimensional model construction method and system based on standard attitude angle correction

Abstract

The invention provides a pipeline three-dimensional model construction method and system based on standard attitude angle correction, and the method comprises the steps of setting a standard collection attitude angle of a pipeline robot, and recording the standard collection attitude angle as a standard attitude angle; setting the pipeline robot carrying the posture determining equipment and the obtaining equipment in the pipeline; enabling the pipeline robot to obtain a collection attitude angle of the pipeline robot through attitude determination equipment at a set position; comparing the acquired attitude angle of the pipeline robot with a standard attitude angle, and acquiring the cross section contour of the pipeline at the current position after directly acquiring or adjusting the acquired angle according to a comparison result; and establishing a pipeline three-dimensional model based on parallel contours through the pipeline cross section contour set of each position. According to the invention, the pipeline three-dimensional model with a unified acquisition view angle can be established, the influence of distortion and errors generated in the acquisition process on the accuracy of the pipeline three-dimensional model is avoided, and a good model basis is provided for pipeline internal detection.

Description

technical field [0001] The invention relates to the technical field of pipeline modeling, in particular to a pipeline three-dimensional model construction method and system based on standard attitude angle correction. 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 drainage pipe...

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Problems solved by technology

[0003] At present, the conventional drainage pipeline detection method is mainly CCTV closed-circuit television detection. The information obtained is the image o

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