Integrated automatic pipeline modeling method based on center line coordinates

Abstract

The invention belongs to the technical field of petroleum and natural gas pipeline modeling, and relates to a pipeline integrated automatic modeling method based on center line coordinates, which comprises the following steps of: 1, integrating modeling data, and uniformly processing the pipeline data for subsequent model construction; 2, drawing a reference circular surface, calculating a pipeline reference circular surface, translating to a pipeline center line node, and rotating according to quaternion of a node direction vector to obtain an actual position coordinate of a reference surface node; 3, straight pipe sections are constructed, grids are drawn between the pipeline center line reference circular faces, and a triangular index array of cylindrical grids is generated; 4, elbow construction: for the condition that complete pipeline elbow center line coordinates cannot be provided, according to the pipe center line coordinate points of the inlet and outlet elbow straight pipe sections, elbow fitting is carried out by adopting an inscribed circular arc mode of two straight pipe sections; integrated automatic construction of the pipeline can be achieved only through the coordinates of the pipeline center line, and automatic construction of the elbow can be achieved when the coordinates of the complete elbow center line cannot be obtained.

Description

Technical Field

[0001] The invention belongs to the technical field of oil and gas pipeline modeling, and relates to an integrated automatic modeling method for pipelines based on centerline coordinates. Background Art

[0002] Pipeline transportation is the primary method of transporting oil and gas, offering advantages such as long distances, low costs, and high throughput. Long-distance oil and gas pipelines are affected by soil conditions and geological movements, and can be susceptible to leaks due to corrosion, third-party sabotage, and even cause combustion or explosion accidents. Rapid three-dimensional pipeline modeling is crucial for safely repairing leaks, shortening construction cycles, and managing the daily operation and maintenance of pipeline networks. Current underground pipeline management and maintenance rely primarily on two-dimensional drawings and three-dimensional design data. These methods suffer from insufficient spatial information visualization, low management efficiency, and delayed dynamic adjustment responses, making them difficult to meet the demands of intelligent operation and maintenance. Against this backdrop, the construction of pipeline 3D visualization systems has gradually become an industry focus, with pipeline 3D spatial rapid modeling technology as its core foundation. Existing methods mainly include: key point-based automatic pipeline modeling methods for the Plant Design Management System (PDMS), and 3D pipeline modeling methods based on secondary development of Geographic Information System (GIS) and Building Information Modeling (BIM) components. These methods usually construct prefabricated models of pipeline elbows, valves, tees, etc., import feature point data such as the starting and ending points of straight pipe sections, elbows, tees, and other features, and combine them with the logical topological relationships between pipeline components for construction.

[0003] However, although existing 3D modeling technology can construct pipeline spatial models, it has the following technical bottlenecks: (1) The modeling process relies on manual feature point annotation and parameter input. Due to the lack of direct data connection with pipeline detectors, ground penetrating radar and other equipment, it is difficult to efficiently process large quantities of pipeline data and cannot meet the actual needs of rapid emergency response to pipeline leakage accidents; (2) The prefabricated elbow model is limited to the standard angle library (such as 90° / 120°), which has a certain deviation from the actual pipeline elbow effect; (3) The parametric modeling method adopts the combination mode of "straight pipe section + prefabricated elbow", which lacks the ability to characterize the continuous bending deformation of the pipeline caused by complex working conditions such as geological subsidence and external force extrusion. The above defects make it difficult for existing technologies to support the timeliness requirements of oil and gas pipeline leakage emergency response, and restrict the construction of large-scale pipeline network digital twin systems.

[0004] Therefore, developing a fully automatic modeling method based on data from in-pipeline inspection, ground-penetrating radar, etc., to achieve adaptive generation of continuous surfaces driven by pipeline centerlines, adaptive fitting of straight / bent pipes, and integrated construction of three-dimensional models has become a key technical requirement for improving the level of digital operation and maintenance of pipeline networks. Summary of the Invention

[0005] This invention aims to develop a rapid, integrated, and automated pipeline modeling method based on centerline coordinates. This method is used to automate pipeline mesh construction when developing a three-dimensional pipeline visualization system via computer. During pipeline emergency repairs and routine operations and maintenance, a three-dimensional model containing straight and curved sections can be rapidly generated based on centerline coordinates, accurately displaying the spatial relationship between the pipeline's trajectory and adjacent pipelines. This approach reduces operational and maintenance costs and repair risks, improves incident response speed, shortens repair construction cycles, effectively prevents secondary disasters, and ensures the safe and efficient operation of pipeline systems.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a pipeline integrated automatic modeling method based on centerline coordinates, comprising the following steps:

[0007] Step 1: Integrate modeling data and unify pipeline data from different sources and formats into a structured and standardized data set for subsequent model construction. Pipeline data includes: 3D coordinates of pipeline centerline and pipe diameter parameters;

[0008] Step 2: Draw the reference circle surface. Use the angle differential method to calculate the pipeline reference circle surface through the inscribed regular polygon of the circle. Translate the pipeline reference circle surface to the corresponding pipeline centerline node and calculate the quaternion of the direction vector of the pipeline reference circle surface rotated to the pipeline centerline node. Use the quaternion to calculate the actual position coordinates of each node on the pipeline reference circle surface.

[0009] Step 3: Construct a straight pipe section by drawing a grid between two adjacent pipe centerline reference circles to generate a triangular index array of the cylindrical grid.

[0010] Step 4: Elbow construction. If the centerline coordinates of the complete pipeline elbow cannot be provided, the elbow is fitted by using the inscribed arc method of the two straight pipe sections according to the centerline coordinate points of the straight pipe section entering the bend and the centerline coordinate points of the straight pipe section exiting the bend. The path points at the elbow are calculated to achieve integrated pipeline construction.

[0011] Preferably, in step 1, the three-dimensional coordinates of the pipeline centerline are XYZ three-axis relative coordinates, and the three-dimensional coordinates of the pipeline centerline are arranged in the order of the pipeline trend.

[0012] More preferably, in step 1, the direction of the pipeline centerline is:

[0013]

[0014] In formula (1), (X n，j , Y n，j , Z n，j ) represents the relative coordinates of the previous node between two adjacent nodes, (X n，j+1 , Y n，j+1 , Z n，j+1 ) represents the relative coordinates of the latter node between two adjacent nodes.

[0015] Preferably, in step 2, the actual position coordinates P of each node on the pipeline reference circle surface are:

[0016] P=q·P'+i (5)

[0017] In formula (5), q represents a quaternion, P′ represents the parametric equation of a circular uniform discrete point, and i represents a node on the pipeline centerline; where q is:

[0018]

[0019] In formula (4), Represents the direction vector of node i after normalization, r x , r y , r z They represent the normalized x, y, and z components of node i, respectively.

[0020] Preferably, step 3 includes the following sub-steps:

[0021] Step 3-1, set up the vertex array generation, let L represent the number of pipeline base planes, C represent the number of vertices on each base plane, and the index position Index(i,j) in the vertex array is:

[0022] Index(i,j)=i×L+j (6)

[0023] Assign the vertex coordinates to the vertex array as:

[0024] vertices[Index(i,j)]=V i，j (7)

[0025] In formula (6) and formula (7), V i,j represents the coordinates of the jth vertex on the i-th section, where the vertex of section 1 is V 1,j =(x 1,j ,y 1,j ,z 1,j ), the vertex of section 2: V 2,j =(x 2,j ,y 2,j ,z 2,j );

[0026] Step 3-2: The triangle index array is generated. The mesh surface forms a triangular patch by connecting the vertices of adjacent sections. The i-th point of the current section is connected to the i+1-th point of the adjacent section. At the same time, the j-th point of the current section is connected to the j+1-th point of the adjacent section to form two triangular meshes.

[0027] Preferably, step 4 includes the following sub-steps:

[0028] Step 4-1, calculate the vector cross product of the centerline direction vector of the straight pipe section entering the elbow and the centerline direction vector of the straight pipe section exiting the elbow;

[0029] Step 4-2, calculate the modulus of the vector cross product obtained in step 4-1;

[0030] Step 4-3, calculate the centerline node vector of the straight pipe section entering the elbow and the centerline node vector of the straight pipe section exiting the elbow;

[0031] Step 4-4, calculate the coordinate of the intersection point P of the center line of the straight pipe section entering the elbow and the center line of the straight pipe section exiting the elbow;

[0032] Step 4-5, calculate the coordinates of the arc center O and the radius r of the inscribed arc at the elbow;

[0033] Steps 4-6: Calculate the coordinates of the arc modeling path points, and construct the pipe elbow path in sequence through the path point coordinates. Create a straight pipe section between two adjacent path points, and perform mesh construction to achieve automatic elbow modeling.

[0034] More preferably, in step 4-4, the coordinates of the intersection point P are:

[0035] P=P1+t·d1 (11)

[0036] In formula (11), p1 represents the coordinate point vector from the origin of the system to the centerline of the straight pipe section entering the bend, d1 represents the direction vector of the centerline of the straight pipe section entering the bend, and t is:

[0037]

[0038] In formula (10), Δ represents the difference vector between the coordinate point vector from the system origin to the centerline of the straight pipe section entering the bend and the coordinate point vector from the system origin to the centerline of the straight pipe section exiting the bend, d2 represents the direction vector of the centerline of the straight pipe section exiting the bend, and c = d1 × d2 represents the cross product vector of the two vectors.

[0039] More preferably, in steps 4-5, the coordinates of the circle center are:

[0040]

[0041] In formula (15), It represents the direction vector of the sum of the node vector from the intersection point P to the center line of the straight pipe section where the vector enters the bend and the node vector from the intersection point P to the center line of the straight pipe section where the vector exits the bend. d represents the distance from the intersection point P to the center of the circle. Represents the coordinate vector of the intersection point P.

[0042] The beneficial effects of the present invention are:

[0043] 1. The present invention can realize automatic construction of pipeline integration only through the pipeline centerline coordinates.

[0044] 2. The present invention can realize the automatic construction of the elbow when the complete centerline coordinates of the elbow cannot be obtained.

[0045] 3. The elbow construction of the present invention is automatically calculated based on the centerline coordinate points of the straight pipes entering and exiting the bend, and can realize the construction of elbows at any angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a schematic diagram of calculating the pipeline centerline direction vector of a pipeline integrated automatic modeling method based on centerline coordinates of the present invention;

[0047] Figure 2 This is a schematic diagram of the method for polygon fitting pipeline reference circular surface using angle differential method of the present invention;

[0048] Figure 3 This is a schematic diagram showing the calculation principle of the pipeline reference circle surface of the present invention;

[0049] Figure 4 This is a schematic diagram of the straight pipe grid division of the present invention;

[0050] Figure 5 It is a schematic diagram of the pipe elbow fitting of the present invention;

[0051] Figure 6 This is a schematic diagram of automatic modeling of a 90° elbow according to the present invention;

[0052] Figure 7 This is a schematic diagram of the automatic modeling of a 120° elbow according to the present invention;

[0053] Figure 8 This is a schematic diagram of the automatic modeling of a 150° elbow according to the present invention;

[0054] Figure 9 This is a schematic diagram of automatic modeling of a dense pipe point bend section according to the present invention;

[0055] Figure 10 It is a schematic diagram of the method steps of the present invention. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the related technologies in the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0057] Reference Figures 1 to 10 , in this embodiment, an integrated automatic pipeline modeling method based on centerline coordinates. Specifically, it includes the following steps:

[0058] 1. Integrate modeling data

[0059] The data required for automatic pipeline modeling are the three-dimensional coordinates of the pipeline centerline and the pipe diameter parameters. The centerline coordinates are the relative coordinates of the XYZ three axes, and the coordinates need to be arranged in sequence according to the pipeline trend.

[0060] An underground pipeline may contain several (at least two) coordinate nodes. The pipeline entity between every two adjacent nodes (X n,j , Y n,j , Z n,j ) can be regarded as a straight pipe segment connection, and the pipeline centerline trend direction is determined by Equation (1).

[0061]

[0062] The length of the pipeline centerline coordinate data is length. In computer programming, usually starting from 0 as the first set of data, the difference between adjacent two center points is calculated respectively as the pipeline trend direction. As Figure 1 shown, when the data point i < lengh - 1, the pipeline centerline direction vector at this point is: When the data point i = lengh - 1, that is, the last pipeline centerline node, the pipeline centerline direction vector at this point is:

[0063] 2. Draw the reference circular plane

[0064] The reference circle is drawn by using the angle differential method in combination with computer graphics, and the pipeline reference circular plane is approximated by the inscribed regular polygon of the circle. As Figure 2 shown, on the standard XY plane, the circle is evenly discretized into n points, and the parametric equation of each point is shown in Equation (2). At this time, the reference plane direction vector is

[0065]

[0066] Where R is the pipe radius, and n is the number of sides of the fitting polygon. The larger the n value, the better the fitting effect, and the closer the pipe model is to a cylinder.

[0067] like Figure 3 As shown, it is necessary to translate the pipeline reference plane calculated on the standard XY plane to the corresponding pipeline centerline node C, and move the reference plane from the direction vector The direction vector of the node i on the center line of the pipeline

[0068] Calculate the normalized direction vector of node i, as shown in formula (3):

[0069]

[0070] Calculate the base plane from the direction vector The direction vector of the node i on the center line of the pipeline The quaternion q is shown in formula (4):

[0071]

[0072] Combined with the direction vector at the centerline node, the quaternion q is used to calculate the actual position coordinates of each node on the reference circle surface, as shown in formula (5):

[0073] P=q·P'+i (5)

[0074] 3. Straight pipe section construction

[0075] 1) Set up vertex array (vertices) generation

[0076] like Figure 4 As shown, let L represent the number of pipeline base planes, C represent the number of vertices on each base plane, and its index position Index(i,j) in the vertex array is calculated by the following formula:

[0077] Index(i,j)=i×L+j (6)

[0078] Assign the vertex coordinates to the vertex array vertices. The calculation method is as follows:

[0079] vertices[Index(i,j)]=V i，j (7)

[0080] V i,j represents the coordinates of the jth vertex on the i-th section, where the vertex of section 1 is V 1,j =(x 1,j ,y 1,j ,z 1,j ), the vertex of section 2: V 2,j =(x2,j ,y 2,j ,z 2,j ).

[0081] 2) Triangle index array (triangles) generation

[0082] The mesh surface is formed by connecting the vertices of adjacent sections to form triangular patches: connect the i-th point of the current section with the i+1-th point of the adjacent section, and connect the j-th point of the current section with the j+1-th point of the adjacent section to form two triangular meshes. For specific vertex index configuration, see Figure 4 .

[0083] The first triangle ACD, T1:

[0084] Point A index: Index(i,j)=i×C+j

[0085] Point C index: Index(i+1,j)=(i+1)×C+j

[0086] Point D index: Index(i+1,(j+1)modC)=(i+1)×C+(j+1)modC

[0087] T1(i,j)={Index(i,j),Index(i+1,(j+1)modC),Index(i+1,j)}

[0088] The second triangle ABD, T2:

[0089] Point A index: Index(i,j)=i×C+j

[0090] Point B index: Index(i,(j+1)modC)=i×C+(j+1)modC

[0091] Point D index: Index(i+1,(j+1)modC)=(i+1)×C+(j+1)modC

[0092] T2(i,j)={Index(i,j),Index(i,(j+1)modC),Index(i+1,(j+1)modC)}

[0093] Where modC represents the modulo operation on C, so that the result is limited to the range of 0 to C-1.

[0094] 4. Elbow construction

[0095] like Figure 5As shown in the figure, for some pipeline detection equipment such as ground penetrating radar, which cannot provide the complete centerline coordinates of the pipeline elbow, the elbow fitting can be performed by using the inscribed arc method of two straight pipe sections based on the centerline coordinate points A and B of the straight pipe section entering the bend and the centerline coordinate points C and D of the straight pipe section exiting the bend, so as to realize the integrated construction of the pipeline.

[0096] First, the vector from the origin of the system to point A is recorded as vector (That is, the coordinates of point A), and the vector from the origin of the system to point C is recorded as (that is, the coordinates of point C), calculate the vector With vector Difference vector Δ=p2-p1.

[0097] Calculate the AB direction vector of the center line of the straight pipe section entering the bend Direction vector of CD centerline of straight pipe section out of bend The cross product of two vectors is vector c=d1×d2.

[0098] In three-dimensional space, the parametric equation of line AB starting at point A is given by equation (8), and the parametric equation of line CD starting at point C is given by equation (9). Where P1 is the coordinate of point A, and P2 is the coordinate of point C.

[0099] P1(t)=P1+t·d1 (8)

[0100] P2(s)=P2+s·d2 (9)

[0101] By combining equations (8) and (9), we can get the calculation method of parameter t as shown in equation (10):

[0102]

[0103] The coordinates of the intersection point P of the center line AB of the straight pipe section entering the bend and the center line CD of the straight pipe section exiting the bend are calculated as shown in formula (11).

[0104] P=P1+t·d1 (11)

[0105] Calculate the vector from the intersection point P to the centerline node B of the straight pipe section where the vector enters the bend The vector from the intersection point P to the centerline node C of the straight pipe section where the vector exits the bend And according to formula (12) and The direction vector of the sum vector (That is, the vector from the intersection point P to the center of the inscribed circle O direction vector):

[0106]

[0107] Calculate according to formula (13) and Angle θ:

[0108]

[0109] According to formula (14), the distance d from the intersection point P to the center of the circle (i.e., the vector Length ):

[0110]

[0111] According to formula (15) combined Direction vector Calculate the coordinates of the center of the arc at the elbow:

[0112]

[0113] Calculate the coordinate distance from the center O to the center point B of the pipe at the bend as the radius of the inscribed arc r = ‖OB‖.

[0114] Calculating vectors With vector

[0115] According to formula (16), the vector

[0116]

[0117] According to formula (17), the vector

[0118]

[0119] According to formula (18), the vector

[0120]

[0121] Calculate the coordinates of point U according to formula (19):

[0122]

[0123] Calculate the coordinates of point V according to formula (20):

[0124]

[0125] Calculate the coordinates of point W according to formula (21):

[0126]

[0127] Taking the coordinates of three points U, V, and W on the circular arc as the path points for circular arc modeling, the pipeline elbow path is constructed through B→U→V→W→C. Straight pipe segments are processed between adjacent points, and meshing is carried out to achieve automatic modeling of the elbow. In addition, if it is necessary to improve the smoothness of the pipeline elbow, interpolation points can be added between B, U, V, W, and C by the above method for construction.

[0128] Embodiment

[0129] In this embodiment, a certain natural gas pipeline is taken as an example. The pipeline material is X80 pipeline, the outer diameter of the pipeline is 1219 mm, and the pipeline wall thickness is 18.4 mm.

[0130] 1. Integrate modeling data

[0131] Use an IMU-based pipeline internal detector to detect the longitude and latitude coordinates of the pipeline centerline. Through geodetic coordinate transformation and north-east-down coordinate transformation, the relative north-east-down (XYZ) coordinates of the pipeline centerline with the pipeline starting point as the coordinate origin are obtained. Generate a pipeline data table according to the order of the pipeline centerline coordinates. Calculate the direction vector of each pipeline centerline node by programming code.

[0132] For data with a length of length:

[0133] When the data point i < lengh - 1, the direction vector of the pipeline centerline at this point is:

[0134] When the data point i = lengh - 1, the direction vector of the pipeline centerline at this point is:

[0135] And when the data point i = lengh - 2, calculate the vector between any two centerline points and the vector between the next two points:

[0136] Vector3 prevDir = createPoints[i] - createPoints[i - 1];

[0137] Vector3 nextDir = createPoints[i + 2] - createPoints[i + 1];

[0138] Judge the included angle between prevDir and nextDir. If it is greater than 10°, the code judges that there is an elbow between points Points[i] and Points[i + 1], and Points[i - 1] is Figure 5 point A in Figure 5 point B in Figure 5Point C, Points[i+2] is Figure 5 At point D, the calculated B→U→V→W→C is used as the elbow construction path, and its tangent point is calculated as the direction vector of the elbow point.

[0139] The direction vector of each point Stored by direction.

[0140] 2. Drawing of the base circle

[0141] Define the rotation quaternion through the variable rotation: Quaternion rotation = Quaternion.LookRotation(direction);

[0142] Determine the polygon fitting calculation step size based on the polygon edge count: float angleStep = 360f / count;

[0143] Determine the rotation radian angle of each fitting point: float angle = i*angleStep*Mathf.Deg2Rad;

[0144] like Figure 2 , calculate the coordinates of each point of the fitted polygon in the standard XY two-dimensional coordinate system: Vector3 point = newVector3(Mathf.Cos(angle),Mathf.Sin(angle),0)*radius;

[0145] Calculate the actual coordinates of each fitting point at the actual center line position: section[i]=rotation*point+center;

[0146] 3. Straight pipe section construction

[0147] Through code programming, draw a grid between two adjacent pipe centerline reference circle surfaces:

[0148] int current=i*circularCount+j;

[0149] int next=(i+1)*circularCount+j;

[0150] int nextLoop=(j+1)%circularCount;

[0151] int nextNextLoop=(i+1)*circularCount+nextLoop;

[0152] triangles[triangleIndex++]=current;

[0153] triangles[triangleIndex++]=nextNextLoop;

[0154] triangles[triangleIndex++]=next;

[0155] triangles[triangleIndex++]=current;

[0156] triangles[triangleIndex++]=nextLoop+i*circularCount;

[0157] triangles[triangleIndex++]=nextNextLoop;

[0158] 4. Elbow construction

[0159] Calculate the path points at the elbow through code programming.

[0160] Calculate the cross product of the centerline direction vector of the straight pipe section entering and exiting the elbow: Vector3 cross = Vector3.Cross(dir1,dir2);

[0161] Calculate the magnitude of the cross product vector: float denominator = cross.sqrMagnitude;

[0162] Calculate the node vectors of the two center lines of the elbow: Vector3 delta = p2-p1;

[0163] Calculation parameter t1: float t1 = Vector3.Dot(Vector3.Cross(delta,dir2),cross) / denominator;

[0164] Return the coordinates of the intersection point P of the center lines of the straight pipe sections entering and exiting the elbow: returnp1+t1*dir1;

[0165] Subsequently, according to the content of the invention, the code is written step by step to obtain the coordinates of the three points U, V, and W at the elbow.

[0166] As shown in Figure 6, when the four points (0, 0, 0), (2, 0, 0), (6, 0, 1), and (6, 0, 10) are imported, a 90° elbow can be automatically calculated and generated.

[0167] As shown in Figure 7, when the four points (-3.464, 0, 2), (-1.732, 0, 1), (1.732, 0, 1), and (3.464, 0, 2) are imported, a 120° elbow can be automatically calculated and generated.

[0168] As shown in Figure 8, when the four points (0, 0, 0), (5, 0, 0), (8.732, 0, 1), and (12.196, 0, 3) are imported, a 150° elbow can be automatically calculated and generated.

[0169] In addition, when the complete pipeline centerline coordinates are obtained, the integrated automatic generation of the bend section can be realized. The following table shows a cross-domain river pipeline of about 100m containing 4708 sets of pipeline centerline nodes. By generating an Excel pipeline data table of pipeline centerline coordinates and pipe diameter parameters as shown in Table 1, and importing it into the pipeline automatic 3D modeling visualization program developed based on the invention content, the pipeline automatic modeling effect can be seen. Figure 9 .

[0170] Table 1

[0171] East (X) / m Sky direction (Y) / m North (Z) / m Pipe diameter (D) / m -1.92378E-10 1.4999999 -6.94853E-10 1.219 0.016864264 1.5067984 -3.61604E-10 1.219 0.033728529 -1.513994 3.08329E-06 1.219 0.050592795 1.5203872 3.08271E-06 1.219 0.067457058 1.5275762 3.08309E-07 1.219 0.08432132 1.5339639 3.08314E-06 1.219 0.101185583 1.5407481 3.08365E-06 1.219 0.118049853 1.5471303 3.95657E-10 1.219 0.134914115 1.5543077 3.08915E-07 1.219 0.151778385 1.5610831 3.08465E-06 1.219 0.16864264 1.5678556 3.08513E-06 1.219 0.18550691 1.5746253 6.47752E-06 1.219 0.202371165 -1.581392 3.10739E-07 1.219 0.219235435 1.5881557 6.47828E-06 1.219 0.23609969 1.5949168 -3.08181E-06 1.219 0.25296396 -1.601675 3.08729E-06 1.219 0.26982823 1.6084301 3.08784E-06 1.219 0.2866925 1.6151824 5.22256E-09 1.219 0.30355674 1.6219318 6.48107E-06 1.219 0.32042101 1.6286783 6.48156E-06 1.219 0.33728528 1.6358187 3.15745E-07 1.219 0.35414955 1.6421628 8.09143E-09 1.219 0.37101382 1.6489007 8.68995E-09 1.219 0.38787806 1.6556356 6.48457E-06 1.219 ...... ...... ...... ...... 79.36322784 1.499693155 0.00041547 1.219

[0172] In summary, the present invention can quickly generate a three-dimensional model containing straight pipe sections and curved pipe sections based on the centerline coordinates in pipeline emergency repair and operation and maintenance management, accurately displaying the spatial position relationship between the pipeline trend and adjacent pipelines, thereby reducing operation and maintenance costs and emergency repair risks, improving response speed, shortening construction period, preventing secondary disasters, and ensuring safe operation of the pipeline. The present invention can realize the automatic construction of pipeline integration only through the pipeline centerline coordinates, and therefore has broad application prospects in the field of oil and gas pipeline operation and maintenance.

[0173] It should be emphasized that the above are only preferred embodiments of the present invention and do not constitute any form of limitation to the present invention. Any simple modifications made to the above embodiments based on the technical essence of the present invention also fall within the scope of protection of the present invention. Other equivalent changes and modifications still fall within the scope of the technical solution of the present invention.

Claims

1. A method for automatic modeling of pipeline integration based on centerline coordinates, characterized in that: The following steps are involved: Step 1: Integrate modeling data, and process pipeline data from different sources and formats into a structured, standardized data set for subsequent model construction. The pipeline data includes: 3D coordinates of the pipeline centerline and pipe diameter parameters; Step 2: Draw the reference circular surface. Use the angle differential method to calculate the pipeline reference circular surface through the inscribed regular polygon of the circle; translate the pipeline reference circular surface to the corresponding pipeline centerline node, and calculate the quaternion of the direction vector of the pipeline reference circular surface rotated to the pipeline centerline node; use the quaternion to calculate the actual position coordinates of each node on the pipeline reference circular surface; Step 3: Construct a straight pipe section by drawing a grid between two adjacent pipe centerline reference circles to generate a triangular index array of the cylindrical grid. Step 4: Elbow construction. If the centerline coordinates of the complete pipeline elbow cannot be provided, the elbow is fitted by using the inscribed arc method of the two straight pipe sections according to the centerline coordinate points of the straight pipe section entering the bend and the centerline coordinate points of the straight pipe section exiting the bend. The path points at the elbow are calculated to achieve integrated pipeline construction.

2. The method for automatic modeling of pipeline integration based on centerline coordinates according to claim 1 is characterized in that: In step 1, the three-dimensional coordinates of the pipeline centerline are relative coordinates of the XYZ three axes, and the three-dimensional coordinates of the pipeline centerline are arranged in the order of the pipeline trend.

3. The method for automatic modeling of pipeline integration based on centerline coordinates according to claim 2 is characterized in that: In step 1, the direction of the pipeline centerline is: In formula (1), (X n，j , Y n，j , Z n，j ) represents the relative coordinates of the previous node between two adjacent nodes, (X n，j+1 , Y n，j+1 , Z n，j+1 ) represents the relative coordinates of the latter node between two adjacent nodes.

4. The method for automatic modeling of pipeline integration based on centerline coordinates according to claim 1, characterized in that: In step 2, the actual position coordinates P of each node on the pipeline reference circle are: P=q·P'+i (5) In formula (5), q represents a quaternion, P′ represents the parametric equation of a circular uniform discrete point, and i represents a node on the pipeline centerline; where q is: In formula (4), Represents the direction vector of node i after normalization, r x , r y , r z They represent the normalized x, y, and z components of node i, respectively.

5. The method for automatic modeling of pipeline integration based on centerline coordinates according to claim 1 is characterized in that: Described step 3 comprises the following sub-steps: Step 3-1, set up the vertex array generation, let L represent the number of pipeline base planes, C represent the number of vertices on each base plane, and the index position Index(i,j) in the vertex array is: Index(i,j)=i×L+j (6) Assign the vertex coordinates to the vertex array as: vertices[Index(i,j)]=V i,j (7) In formula (6) and formula (7), V i,j represents the coordinates of the jth vertex on the i-th section; Step 3-2: The triangle index array is generated. The mesh surface forms a triangular patch by connecting the vertices of adjacent sections. The i-th point of the current section is connected to the i+1-th point of the adjacent section. At the same time, the j-th point of the current section is connected to the j+1-th point of the adjacent section to form two triangular meshes.

6. The method for automatic modeling of pipeline integration based on centerline coordinates according to claim 1, characterized in that: Described step 4 comprises the following sub-steps: Step 4-1, calculate the vector cross product of the centerline direction vector of the straight pipe section entering the elbow and the centerline direction vector of the straight pipe section exiting the elbow; Step 4-2, calculate the modulus of the vector cross product obtained in step 4-1; Step 4-3, calculate the centerline node vector of the straight pipe section entering the elbow and the centerline node vector of the straight pipe section exiting the elbow; Step 4-4, calculate the coordinate of the intersection point P of the center line of the straight pipe section entering the elbow and the center line of the straight pipe section exiting the elbow; Step 4-5, calculate the coordinates of the arc center O and the radius r of the inscribed arc at the elbow; Step 4-6, calculate the coordinates of the arc modeling path points, and sequentially use the path point coordinates to realize the pipeline elbow path construction, treat the straight pipe section between two adjacent path points, and perform mesh construction to realize elbow modeling.

7. The method for automatic modeling of pipeline integration based on centerline coordinates according to claim 6, characterized in that: In step 4-4, the coordinates of the intersection point P are: P=P1+t·d1 (11) In formula (11), p1 represents the coordinate point vector from the origin of the system to the centerline of the straight pipe section entering the bend, d1 represents the direction vector of the centerline of the straight pipe section entering the bend, and t is: In formula (10), Δ represents the difference vector between the coordinate point vector from the system origin to the centerline of the straight pipe section entering the bend and the coordinate point vector from the system origin to the centerline of the straight pipe section exiting the bend, d2 represents the direction vector of the centerline of the straight pipe section exiting the bend, and c = d1 × d2 represents the cross product vector of the two vectors.

8. The method for automatic modeling of pipeline integration based on centerline coordinates according to claim 7 is characterized in that: In steps 4-5, the coordinates of the circle center are: In formula (15), It represents the direction vector of the sum of the node vector from the intersection point P to the center line of the straight pipe section where the vector enters the bend and the node vector from the intersection point P to the center line of the straight pipe section where the vector exits the bend. d represents the distance from the intersection point P to the center of the circle. Represents the coordinate vector of the intersection point P.

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