Method and device for jointly displaying multiple pipeline data

Abstract

The present invention provides a method and device for jointly displaying various pipeline data. The method includes: identifying defect marks in a detection video of a target pipeline, and determining defect positions based on the defect marks; acquiring point cloud data and panoramic image data in a set interval before and after the defect positions, where the point cloud data is a plurality of two-dimensional point cloud data obtained by a two-dimensional radar for two-dimensional ranging of the inner wall of the pipeline when a pipeline inspection robot travels in the target pipeline; based on the point cloud data, acquiring one or more of a three-dimensional point cloud model, a three-dimensional texture model, and a two-dimensional chromatogram model of a target pipe section in a set interval before and after the defect positions; and displaying one or more of the three-dimensional point cloud model, the three-dimensional texture model, and the two-dimensional chromatogram model of the target pipe section, as well as video data of the defect positions and panoramic image data of the defect positions in a target interface. The method and device for jointly displaying various pipeline data provided by the embodiments of the present invention have higher display efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline measurement, and particularly to a method and device for jointly displaying various pipeline data. Background Art

[0002] Pipeline data usually includes panoramic image data, video data, three-dimensional models, two-dimensional chromatographic models, and three-dimensional texture models.

[0003] Currently, the above data of the entire pipeline is displayed to assist users in observing. Users need to operate the above data one by one for comparison to analyze the same part. Therefore, the existing technology has low display efficiency. Summary of the Invention

[0004] The present invention provides a method and device for jointly displaying various pipeline data to solve the defect of low efficiency in the existing technology and achieve more efficient joint display of various pipeline data.

[0005] The present invention provides a method for jointly displaying various pipeline data, including:

[0006] Identifying defect marks in the detection video of the target pipeline, and determining the defect position based on the defect marks;

[0007] Obtaining point cloud data and panoramic image data within a set interval before and after the defect position, where the point cloud data is a number of two-dimensional point cloud data obtained by two-dimensional ranging of the pipeline inner wall by a two-dimensional radar when a pipeline inspection robot travels in the target pipeline;

[0008] Based on the point cloud data, obtaining one or more of a three-dimensional point cloud model, a three-dimensional texture model, and a two-dimensional chromatographic model of the target pipe section within a set interval before and after the defect position;

[0009] Displaying one or more of the three-dimensional point cloud model, the three-dimensional texture model, and the two-dimensional chromatographic model of the target pipe section, as well as the video data of the defect position and the panoramic image data of the defect position in the target interface.

[0010] According to the method for jointly displaying various pipeline data provided by the present invention, the detection video is obtained when the pipeline inspection robot travels in the target pipeline;

[0011] Determining the defect position based on the defect marks specifically includes:

[0012] Determining the position of the video frame corresponding to the defect mark in the detection video, and determining the travel distance of the pipeline inspection robot from the detection starting point based on the position of the video frame in the detection video and the travel speed of the pipeline robot.

[0013] A method for jointly displaying multiple pipeline data provided by the present invention, based on the point cloud data, obtains a three-dimensional point cloud model of the target pipe section in a set interval before and after the defect position, specifically including:

[0014] Merge the two-dimensional point cloud data into a two-dimensional point cloud sequence based on the measurement order;

[0015] Perform central fitting on all the two-dimensional point cloud data in the point cloud data sequence to determine the center of the two-dimensional point cloud data;

[0016] Determine the driving trajectory of the two-dimensional radar, and successively coincide the centers of the two-dimensional point cloud data in the point cloud data sequence with the driving trajectory based on the distance intervals of two-dimensional ranging based on the two-dimensional radar, so as to establish a three-dimensional point cloud model of the target pipeline;

[0017] Determine the deformation amount of each point on the inner wall of the target pipeline based on the three-dimensional point cloud model;

[0018] Based on the position information of each point on the inner wall of the target pipeline, as well as the mapping relationship between the deformation amount of each point, each deformation amount interval and each color, convert the three-dimensional point cloud model into a three-dimensional chromatogram model.

[0019] A method for jointly displaying multiple pipeline data provided by the present invention, the two-dimensional contour data includes obtaining a plurality of distance values obtained by circumferentially scanning and ranging the inner wall of the target pipeline and the scanning angle corresponding to each distance value;

[0020] Obtain a three-dimensional texture model of the target pipe section in a set interval before and after the defect position, specifically including:

[0021] Connect any two adjacent point clouds in the same two-dimensional contour data in the three-dimensional point cloud model;

[0022] Connect the two point clouds at the same scanning angle in any two adjacent two-dimensional contour data in the three-dimensional point cloud model to obtain a three-dimensional texture model of the target pipeline.

[0023] A method for jointly displaying multiple pipeline data provided by the present invention further includes:

[0024] Based on the panoramic image data, establish a two-dimensional real scene plane expansion diagram of the inner wall of the target pipeline, and perform texture mapping on the three-dimensional texture model based on the two-dimensional real scene plane expansion diagram.

[0025] A method for jointly displaying multiple pipeline data provided by the present invention, obtaining a two-dimensional chromatogram model of the target pipe section in a set interval before and after the defect position, specifically including:

[0026] Determine the deformation amount of each point on the inner wall of the target pipeline based on the two-dimensional contour data;

[0027] Based on the position information of each point on the inner wall of the target pipeline, as well as the deformation amounts of each point and the mapping relationships between each deformation amount interval and each color, a two-dimensional chromatographic model of the inner wall of the target pipeline is drawn.

[0028] According to a method for jointly displaying various pipeline data provided by the present invention, it further includes:

[0029] Establish the mapping relationships among the three-dimensional point cloud model, the three-dimensional texture model, the two-dimensional chromatographic model, the video frames in the video data, and the panoramic image data.

[0030] The present invention also provides a device for jointly displaying various pipeline data, including:

[0031] A position determination module, configured to identify defect marks in a detection video of a target pipeline and determine the defect positions based on the defect marks;

[0032] A first acquisition module, configured to acquire point cloud data and panoramic image data in a set interval before and after the defect positions, where the point cloud data is a plurality of two-dimensional point cloud data obtained by a two-dimensional radar for two-dimensional ranging of the inner wall of the pipeline when a pipeline inspection robot travels in the target pipeline;

[0033] A second acquisition module, configured to acquire one or more of a three-dimensional point cloud model, a three-dimensional texture model, and a two-dimensional chromatographic model of the target pipe section in a set interval before and after the defect positions based on the point cloud data;

[0034] A joint display module, configured to display one or more of the three-dimensional point cloud model, the three-dimensional texture model, and the two-dimensional chromatographic model of the target pipe section, as well as the video data of the defect positions and the panoramic image data of the defect positions in a target interface.

[0035] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the method for jointly displaying various pipeline data as described in any one of the above are implemented.

[0036] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for jointly displaying various pipeline data as described in any one of the above are implemented.

[0037] The combined display method and device for various pipeline data provided by the present invention determine the defect positions based on the detection videos of the target pipelines, and based on the defect positions, associate the three-dimensional point cloud model, three-dimensional texture model, two-dimensional chromatogram model of the target pipe section, the video data of the defect part, and the panoramic image data of the defect part, and display one or more of the three-dimensional point cloud model of the combined target pipe section, the three-dimensional texture model of the target pipe section, the two-dimensional chromatogram model of the target pipe section, the video data of the defect part, and the panoramic image data of the defect part in the target interface, which is convenient for users to view the defect part and its surrounding conditions at the same time, and the display efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 is a schematic flowchart of the combined display method for various pipeline data provided by the present invention;

[0040] Figure 2 is a schematic structural diagram of the combined display device for various pipeline data provided by the present invention;

[0041] Figure 3 is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0043] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance, and do not involve order.

[0044] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

[0045] To overcome the above problems of the prior art, the present invention provides a method and device for jointly displaying various pipeline data. The inventive concept is to obtain one or more of the three-dimensional point cloud model, three-dimensional texture model, and two-dimensional chromatogram model of the target pipe section in a set interval before and after the defect position based on the defect position in the target pipeline, and display one or more of the three-dimensional point cloud model, three-dimensional texture model, two-dimensional chromatogram model, video data of the defect position, and panoramic image data of the defect position of the combined target pipe section in the target interface, which can facilitate the user to view the defect part and its surrounding conditions at the same time, and the display efficiency is higher.

[0046] Figure 1 It is a schematic flowchart of a method for jointly displaying various pipeline data provided by the present invention. The following combines Figure 1 to describe the method for jointly displaying various pipeline data in the embodiments of the present invention. As Figure 1 shown, the method includes: Step 101, identifying defect marks in the detection video of the target pipeline, and determining the defect position based on the defect marks.

[0047] Specifically, the detection video of the target pipeline is the video data of the inner surface of the target pipeline collected based on an image sensor during the detection process. The target pipeline is a pipeline with a certain length.

[0048] The detection video of the target pipeline may include multiple video frames.

[0049] During the detection process, the defects of the detected target pipeline can be marked to generate defect marks in the detection video.

[0050] Based on the image recognition method, each frame in the detection video of the target pipeline can be recognized to identify the defect marks in the detection video of the target pipeline.

[0051] Optionally, each frame in the detection video of the target pipeline can be recognized in parallel or sequentially.

[0052] The defect marks can be used to mark the positions of the defects. Therefore, the defect positions can be determined through the defect marks.

[0053] Optionally, the defect position can be represented by the distance between the defect and a certain reference point in the target pipeline.

[0054] The reference point can be selected according to the actual situation. For example, the reference point can be the endpoint or the midpoint of the target pipeline. The specific point of the reference point is not specifically limited in the embodiments of the present invention.

[0055] Step 102: Obtain the point cloud data and panoramic image data within a set interval before and after the defect position. The point cloud data is a number of two-dimensional point cloud data obtained by a two-dimensional radar for two-dimensional ranging of the inner wall of the pipeline when the pipeline inspection robot travels in the target pipeline. Specifically, after determining the defect position, the set interval before and after the defect position can be determined as the target pipe section. It can be understood that the target pipe section is a pipe section of a certain length in the target pipeline that includes the defective part.

[0056] After determining the set interval, the point cloud data and panoramic image data of the set interval can be obtained.

[0057] The set interval can be preset according to the actual situation. The set interval is not specifically limited in the embodiments of the present invention.

[0058] Optionally, the defective part is located at the center of the target pipe section. Taking a certain endpoint of the target pipeline as the coordinate origin, the coordinate of the defective part is N, and the coordinate range of the target pipe section can be [N - M, N + M]. Wherein, both N and M are positive numbers. Usually, N is greater than M.

[0059] In the case where the coordinate of the defective part is N and the coordinate range of the target pipe section can be [N - M, N + M], the point cloud data of the [N - M, N + M] section in the two-dimensional point cloud data of the target pipeline and the panoramic image data of the [N - M, N + M] section in the panoramic image data of the target pipeline can be obtained.

[0060] The two-dimensional point cloud data of the target pipeline can be one or more two-dimensional point cloud data obtained by a pipeline inspection robot equipped with a two-dimensional radar emitting radar signals to the inner wall of the pipeline for two-dimensional ranging of the inner wall of the pipeline when traveling in the target pipeline.

[0061] The panoramic image data of the target pipeline is the panoramic image data of the inner surface of the target pipeline collected based on an image sensor.

[0062] Step 103: Based on the point cloud data, obtain one or more of the three-dimensional point cloud model, three-dimensional texture model, and two-dimensional chromatogram model of the target pipe section in a set interval before and after the defect location.

[0063] Specifically, based on any common three-dimensional reconstruction method, three-dimensional reconstruction can be performed based on the point cloud data to obtain the three-dimensional point cloud model of the target pipe section.

[0064] The three-dimensional texture model of the target pipe section can be obtained based on any two adjacent point clouds in the same two-dimensional contour data and two point clouds with the same scanning angle in two adjacent two-dimensional contour data in the three-dimensional point cloud model of the target pipe section.

[0065] Based on the point cloud data, the deformation amount of the corresponding position on the inner surface of the target pipe section can be obtained; based on the deformation amount of the corresponding position on the inner surface of the target pipe section, the two-dimensional chromatogram model of the target pipe section can be obtained.

[0066] The two-dimensional chromatogram model of the target pipe section is used to characterize the deformation amount of each position on the inner surface of the target pipe section by color.

[0067] Step 104: Display one or more of the three-dimensional point cloud model, three-dimensional texture model, and two-dimensional chromatogram model of the target pipe section, as well as the video data of the defect location and the panoramic image data of the defect location in the target interface.

[0068] Specifically, display various data obtained through Step 102 and Step 103 in the target interface, and jointly display one or more of the three-dimensional point cloud model of the target pipe section, the three-dimensional texture model of the target pipe section, the two-dimensional chromatogram model of the target pipe section, the video data of the defect location, and the panoramic image data of the defect location in the same interface, facilitating the user to view the defect area and its surrounding conditions simultaneously.

[0069] It should be noted that in Step 103, a two-dimensional real-scene planar development diagram of the inner wall of the target pipeline can also be established based on the panoramic image data. Correspondingly, the data displayed in the target interface can include one or more of the three-dimensional point cloud model of the target pipe section, the three-dimensional texture model of the target pipe section, the two-dimensional chromatogram model of the target pipe section, the two-dimensional real-scene planar development diagram of the target pipe section, the video data of the defect location, and the panoramic image data of the defect location.

[0070] It should be noted that the number of defect positions obtained in step 101 is at least one. For each defect position, steps 102 to 104 are respectively executed to realize the combined display of various data of each defect position.

[0071] In the embodiment of the present invention, based on the detection video of the target pipeline, the defect positions are determined. Based on the defect positions, the three-dimensional point cloud model of the target pipe section, the three-dimensional texture model of the target pipe section, the two-dimensional chromatogram model of the target pipe section, the video data of the defect part, and the panoramic image data of the defect part are associated, and one or more of the three-dimensional point cloud model of the combined target pipe section, the three-dimensional texture model, the two-dimensional chromatogram model, the video data of the defect part, and the panoramic image data of the defect part are displayed in the target interface, which is convenient for the user to view the situation of the defect part and its surrounding at the same time, and the display efficiency is higher.

[0072] Based on the content of any one of the above embodiments, the detection video is obtained when the pipeline inspection robot travels in the target pipeline.

[0073] Specifically, an image sensor may also be provided on the pipeline inspection robot.

[0074] During the process of the pipeline inspection robot traveling in the target pipeline, the image sensor can perform real-time video recording on the inner surface of the target pipeline to obtain the detection video of the target pipeline.

[0075] Determining the defect position based on the defect mark specifically includes: determining the position of the video frame corresponding to the defect mark in the detection video, and determining the traveling distance of the pipeline inspection robot from the detection starting point based on the position of the video frame in the detection video and the traveling speed of the pipeline robot.

[0076] Specifically, based on the image recognition method, each video frame in the detection video of the target pipeline can be respectively recognized to identify the defect marks in the detection video of the target pipeline, determine the video frames where the defect marks appear, and further determine the position of the video frames where the defect marks appear in the detection video (that is, which frame in the detection video the video frame where the defect mark appears is).

[0077] Based on the time interval between adjacent video frames in the detection video, the duration between the moment of defect marking and the start moment of detection can be determined.

[0078] It can be understood that starting from the start moment of detection, the pipeline inspection robot starts from the detection starting point and travels in the target pipeline.

[0079] Based on the moment of defect marking and the start moment of detection, by performing definite integral on the traveling speed of the pipeline robot, the traveling distance of the pipeline inspection robot from the detection starting point when the defect marking is performed can be determined.

[0080] Preferably, the pipeline inspection robot travels at a constant speed, and the product of the duration between the moment of defect marking and the start moment of inspection and the traveling speed of the pipeline robot can be determined as the traveling distance of the pipeline inspection robot from the inspection starting point.

[0081] Taking the inspection starting point as the reference point, the traveling distance of the pipeline inspection robot from the inspection starting point can be determined as the defect position.

[0082] In the embodiment of the present invention, the pipeline inspection robot travels in the target pipeline to obtain an inspection video, determines the position of the video frame corresponding to the defect marking in the inspection video, and determines the traveling distance of the pipeline inspection robot from the inspection starting point based on the position of the video frame in the inspection video and the traveling speed of the pipeline robot, so as to obtain the defect position, and can determine the defect position more quickly and accurately.

[0083] Based on the content of any one of the above embodiments, based on the point cloud data, a three-dimensional point cloud model of the target pipe section in a set interval before and after the defect position is obtained, which specifically includes: merging the two-dimensional point cloud data into a two-dimensional point cloud sequence based on the measurement order.

[0084] Specifically, the two-dimensional radar performs measurements at each measurement point to obtain two-dimensional point cloud data. The measurement order refers to the chronological order of the acquisition time of the two-dimensional point cloud data.

[0085] Based on the measurement order, the two-dimensional point cloud data collected at each measurement point is merged to obtain a two-dimensional point cloud sequence.

[0086] Perform center fitting on all the two-dimensional point cloud data in the point cloud data sequence to determine the center of the two-dimensional point cloud data.

[0087] Specifically, since the cross-section of the target pipeline is usually circular, center fitting can be performed on each two-dimensional point cloud data respectively, and the center obtained by fitting is the center of the two-dimensional point cloud data.

[0088] Determine the traveling trajectory of the two-dimensional radar, and coincide the centers of the two-dimensional point cloud data in the point cloud data sequence with the traveling trajectory in turn based on the distance interval of two-dimensional ranging by the two-dimensional radar, so as to establish a three-dimensional point cloud model of the target pipe section.

[0089] Specifically, the traveling trajectory of the two-dimensional radar can be determined based on the pose data of each measurement point collected by the inertial measurement unit arranged on the pipeline inspection robot. Exemplarily, the specific process of determining the traveling trajectory of the two-dimensional radar is as follows:

[0090] Determine the movement direction of the two-dimensional radar based on the pitch angle and yaw angle in the pose data at the previous measurement point among two adjacent measurement points;

[0091] Determine the trajectories of two adjacent measurement points based on the distance between the subsequent measurement point and the previous measurement point;

[0092] Determine the movement trajectory of the 2D radar and the position of the subsequent measurement point based on the trajectories of every two adjacent measurement points.

[0093] After determining the driving trajectory of the 2D radar, move the 2D point cloud data in sequence based on the distance intervals between the measurement points, and make the center of each 2D point cloud data coincide with the driving trajectory. After the centers of all 2D point cloud data coincide with the driving trajectory, a 3D point cloud model of the target pipe section can be obtained.

[0094] Determine the deformation amounts of the points on the inner wall of the target pipe based on the 3D point cloud model.

[0095] Specifically, usually, the inner diameter of the target pipe is determined in advance. Based on the 3D point cloud model, the deviation between the distance between the centers of the cross-sections where the points on the inner wall of the target pipe are located and the inner diameter can be determined as the deformation amount of the points on the inner wall of the target pipe.

[0096] Based on the position information of the points on the inner wall of the target pipe, as well as the mapping relationship between the deformation amounts of the points, the deformation amount intervals and the colors, convert the 3D point cloud model into a 3D chromatographic model.

[0097] Specifically, for each point on the inner wall of the target pipe, the color corresponding to the point can be determined based on the deformation amount of the point and the mapping relationship between the deformation amount intervals and the colors.

[0098] Based on the position information of the points on the inner wall of the target pipe, convert the 3D point cloud model, and represent the deformation amount of each point by color in the model to obtain a 3D chromatographic model.

[0099] It should be noted that in step 103, a 3D chromatographic model of the target pipe section can also be obtained. Correspondingly, the data displayed in the target interface can include one or more of the 3D point cloud model of the target pipe section, the 3D texture model of the target pipe section, the 3D chromatographic model of the target pipe section, the 2D chromatographic model of the target pipe section, the 2D real-scene plane unfolding diagram of the target pipe section, the video data of the defect position, and the panoramic image data of the defect position.

[0100] In the embodiment of the present invention, by determining the driving trajectory of the 2D radar, making the center of the 2D point cloud data coincide with the driving trajectory in sequence, and establishing a 3D point cloud model of the target pipe section, a more accurate 3D point cloud model can be obtained. Further, by determining the deformation amounts of the points on the inner wall of the target pipe based on the 3D point cloud model and converting the 3D point cloud model into a 3D chromatographic model, a more accurate 3D chromatographic model can be obtained.

[0101] Based on the content of any of the above embodiments, the two-dimensional contour data includes a plurality of distance values obtained by circumferentially scanning and ranging the inner wall of the target pipeline and the scanning angle corresponding to each distance value.

[0102] Specifically, at each measurement point, the two-dimensional contour data at this measurement point may include a plurality of distance values obtained by circumferentially scanning and ranging the inner wall of the target pipeline and the scanning angle corresponding to each distance value.

[0103] Obtaining the three-dimensional texture model of the target pipe section in a set interval before and after the defect position specifically includes: connecting any two adjacent point clouds in the same two-dimensional contour data in the three-dimensional point cloud model.

[0104] Specifically, for each two-dimensional contour data in the three-dimensional point cloud model, any two adjacent point clouds in this two-dimensional contour data are connected.

[0105] Connecting the two point clouds with the same scanning angle in any two adjacent two-dimensional contour data in the three-dimensional point cloud model to obtain the three-dimensional texture model of the target pipe section.

[0106] Specifically, for any two adjacent two-dimensional contour data in the three-dimensional point cloud model, the two point clouds with the same scanning angle in the above two two-dimensional contour data are connected, so as to obtain the three-dimensional texture model of the target pipe section.

[0107] In the embodiment of the present invention, by connecting any two adjacent point clouds in the same two-dimensional contour data in the three-dimensional point cloud model and connecting the two point clouds with the same scanning angle in any two adjacent two-dimensional contour data in the three-dimensional point cloud model, the three-dimensional texture model of the target pipe section is obtained, and a more accurate three-dimensional texture model can be obtained.

[0108] Based on the content of any of the above embodiments, the method for jointly displaying multiple pipeline data further includes: establishing a two-dimensional real-scene planar unfolding diagram of the inner wall of the target pipeline based on the panoramic image data, and performing texture mapping on the three-dimensional texture model based on the two-dimensional real-scene planar unfolding diagram.

[0109] Optionally, the panoramic image data can be unfolded based on the orientation of the target pipeline to obtain a two-dimensional real-scene planar unfolding diagram of the inner wall of the target pipeline.

[0110] After obtaining the two-dimensional real-scene planar unfolding diagram of the inner wall of the target pipeline, based on any common texture mapping method, cylindrical texture mapping can be performed on the panoramic image data of the target pipe section in the two-dimensional real-scene planar unfolding diagram of the inner wall of the target pipeline, and the corresponding image is pasted onto the inner surface of the three-dimensional texture model of the target pipe section, so that the three-dimensional texture model is closer to the real situation of the inner wall of the target pipeline.

[0111] In the embodiment of the present invention, by establishing a two-dimensional real-scene planar development drawing of the inner wall of the target pipeline based on panoramic image data and performing texture mapping on the three-dimensional texture model based on the two-dimensional real-scene planar development drawing, a three-dimensional texture model closer to the actual situation of the inner wall of the target pipeline can be obtained.

[0112] Based on the content of any of the above embodiments, obtaining a two-dimensional chromatogram model of the target pipe section in a set interval before and after the defect position specifically includes: determining the deformation amount of each point on the inner wall of the target pipeline based on the two-dimensional contour data.

[0113] Specifically, the two-dimensional contour data is a series of ranging values, including multiple groups of distance values.

[0114] Each group of distance values is a set of distance values between a number of scanning points (referred to as "points" for short) on the inner surface and the radar after scanning 360° from the two-dimensional radar to the inner surface of the pipeline.

[0115] For each scanning point, the distance from the scanning point to the center of the contour circle corresponds to the distance from the center of the contour circle to the scanning point.

[0116] Based on the fitting of each group of distance values, a contour circle of one circle of the pipeline and the center of the contour circle can be obtained, and the distance from the center of the circle to each scanning point can be determined.

[0117] Based on the distance from the center of the circle to each scanning point and the preset range of the inner diameter of the target pipeline, the deformation amount of each scanning point can be determined.

[0118] Based on the position information of each point on the inner wall of the target pipeline, as well as the mapping relationship between the deformation amount of each point, each deformation amount interval and each color, a two-dimensional chromatogram model of the inner wall of the target pipeline is drawn.

[0119] Specifically, for each group of distance values, the color of each scanning point can be determined respectively based on the deformation amount of the scanning point corresponding to each distance value in the group and the mapping relationship between the deformation amount and the color.

[0120] Based on the color of each scanning point in each group of distance values and the position information of each point on the inner wall of the target pipeline, a two-dimensional chromatogram model of the target pipe section can be constructed.

[0121] In the embodiment of the present invention, by determining the deformation amount of each point on the inner wall of each target pipeline based on the two-dimensional contour number of the target pipe section, and constructing a two-dimensional chromatogram model of the target pipe section based on the mapping relationship between the deformation amount and the color and the deformation amount of each scanning point, a two-dimensional chromatogram model closer to the actual situation can be obtained, the accuracy rate of the two-dimensional chromatogram model of the target pipe section is higher, and the modeling speed is faster.

[0122] Based on the content of any of the above embodiments, the method for jointly displaying multiple pipeline data further includes: establishing mapping relationships among a three-dimensional point cloud model, a three-dimensional texture model, a two-dimensional chromatogram model, video frames in video data, and panoramic image data.

[0123] Specifically, based on the position information of each point on the inner wall of the target pipeline, the position of each point in the three-dimensional point cloud model, the three-dimensional texture model, the two-dimensional chromatogram model, the video frames in the video data, and the panoramic image data can be determined; based on the positions of the same points in the three-dimensional point cloud model, the three-dimensional texture model, the two-dimensional chromatogram model, the video frames in the video data, and the panoramic image data, the mapping relationships among the three-dimensional point cloud model, the three-dimensional texture model, the two-dimensional chromatogram model, the video frames in the video data, and the panoramic image data can be established.

[0124] By establishing the mapping relationships among the three-dimensional point cloud model, the three-dimensional texture model, the two-dimensional chromatogram model, the video frames in the video data, and the panoramic image data in the embodiments of the present invention, it is more convenient to jointly display different pipeline data.

[0125] Next, the apparatus for jointly displaying multiple pipeline data provided by the present invention will be described. The apparatus for jointly displaying multiple pipeline data described below can be correspondingly referred to the method for jointly displaying multiple pipeline data described above.

[0126] Figure 2 is a schematic structural diagram of the apparatus for jointly displaying multiple pipeline data according to an embodiment of the present invention. Based on the content of any of the above embodiments, as Figure 2 shown, the apparatus includes a position determination module 201, a first acquisition module 202, a second acquisition module 203, and a joint display module 204, where:

[0127] The position determination module 201 is configured to identify defect marks in the detection video of the target pipeline and determine the defect position based on the defect marks;

[0128] The first acquisition module 202 is configured to acquire point cloud data and panoramic image data within a set interval before and after the defect position. The point cloud data is a plurality of two-dimensional point cloud data obtained by two-dimensional ranging of the inner wall of the pipeline by a two-dimensional radar when a pipeline inspection robot travels in the target pipeline;

[0129] The second acquisition module 203 is configured to acquire one or more of a three-dimensional point cloud model, a three-dimensional texture model, and a two-dimensional chromatogram model of the target pipe section within a set interval before and after the defect position based on the point cloud data;

[0130] The joint display module 204 is configured to display one or more of the three-dimensional point cloud model, the three-dimensional texture model, and the two-dimensional chromatogram model of the target pipe section, as well as the video data of the defect position and the panoramic image data of the defect position in the target interface.

[0131] Specifically, the position determination module 201, the first acquisition module 202, the second acquisition module 203, and the combined display module 204 are electrically connected in sequence.

[0132] The position determination module 201 can, based on the image recognition method, respectively identify each frame in the detection video of the target pipeline, and identify the defect marks in the detection video of the target pipeline; through the defect marks, determine the defect positions.

[0133] After determining the defect positions, the first acquisition module 202 can determine the set intervals before and after the defect positions, and acquire the point cloud data and panoramic image data of the set intervals.

[0134] The second acquisition module 203 can, based on any one of the common three-dimensional reconstruction methods, perform three-dimensional reconstruction based on the point cloud data to obtain a three-dimensional point cloud model of the target pipe section.

[0135] The second acquisition module 203 can, based on any two adjacent point clouds in the same two-dimensional contour data in the three-dimensional point cloud model of the target pipe section and two point clouds with the same scanning angle in two adjacent two-dimensional contour data, obtain a three-dimensional texture model of the target pipe section.

[0136] Based on the point cloud data, the second acquisition module 203 can acquire the deformation amount of the corresponding position on the inner surface of the target pipe section; based on the deformation amount of the corresponding position on the inner surface of the target pipe section, a two-dimensional chromatographic model of the target pipe section can be obtained.

[0137] The combined display module 204 jointly displays one or more of the three-dimensional point cloud model of the target pipe section, the three-dimensional texture model of the target pipe section, the two-dimensional chromatographic model of the target pipe section, the video data of the defect position, and the panoramic image data of the defect position in the same interface (i.e., the target interface), facilitating the user to view the defect part and its surrounding conditions simultaneously.

[0138] Optionally, the detection video is acquired when the pipeline detection robot travels inside the target pipeline;

[0139] The position determination module 201 may include:

[0140] A distance determination unit, configured to determine the position of the video frame corresponding to the defect mark in the detection video, and determine the traveling distance of the pipeline detection robot from the detection starting point based on the position of the video frame in the detection video and the traveling speed of the pipeline robot.

[0141] Optionally, the second acquisition module 203 may include a three-dimensional point cloud model acquisition unit;

[0142] The three-dimensional point cloud model acquisition unit is specifically configured to:

[0143] Merge the two-dimensional point cloud data into a two-dimensional point cloud sequence based on the measurement order;

[0144] Perform central fitting on all the two-dimensional point cloud data in the point cloud data sequence to determine the center of the two-dimensional point cloud data;

[0145] Determine the driving trajectory of the two-dimensional radar, and successively coincide the centers of the two-dimensional point cloud data in the point cloud data sequence with the driving trajectory based on the distance intervals of the two-dimensional ranging performed by the two-dimensional radar, so as to establish a three-dimensional point cloud model of the target pipeline;

[0146] Determine the deformation amounts of the points on the inner wall of the target pipeline based on the three-dimensional point cloud model;

[0147] Based on the position information of the points on the inner wall of the target pipeline, as well as the mapping relationships between the deformation amounts of the points, the deformation amount intervals, and the colors, convert the three-dimensional point cloud model into a three-dimensional chromatogram model.

[0148] Optionally, the two-dimensional contour data includes a plurality of distance values obtained by performing circumferential scanning ranging on the inner wall of the target pipeline and the scanning angles corresponding to each distance value;

[0149] The second acquisition module 203 may include a three-dimensional texture model acquisition unit;

[0150] The three-dimensional texture model acquisition unit is specifically configured to:

[0151] Connect any two adjacent point clouds in the same two-dimensional contour data in the three-dimensional point cloud model;

[0152] Connect the two point clouds at the same scanning angle in any two adjacent two-dimensional contour data in the three-dimensional point cloud model to obtain a three-dimensional texture model of the target pipeline.

[0153] Optionally, the joint display device for multiple pipeline data may further include:

[0154] A texture mapping module, configured to establish a two-dimensional real-scene planar unfolding diagram of the inner wall of the target pipeline based on the panoramic image data, and perform texture mapping processing on the three-dimensional texture model based on the two-dimensional real-scene planar unfolding diagram.

[0155] Optionally, the second acquisition module 203 may include a two-dimensional chromatogram model acquisition unit;

[0156] The two-dimensional chromatogram model acquisition unit is specifically configured to:

[0157] Determine the deformation amounts of the points on the inner wall of the target pipeline based on the two-dimensional contour data;

[0158] Draw a two-dimensional chromatogram model of the inner wall of the target pipeline based on the position information of the points on the inner wall of the target pipeline, as well as the mapping relationships between the deformation amounts of the points, the deformation amount intervals, and the colors.

[0159] Optionally, the combined display device for multiple pipeline data may further include:

[0160] A mapping module, configured to establish mapping relationships among a three-dimensional point cloud model, a three-dimensional texture model, a two-dimensional chromatogram model, image frames in video data, and panoramic image data.

[0161] The combined display device for multiple pipeline data provided by an embodiment of the present invention is used to execute the above-mentioned combined display method for multiple pipeline data of the present invention. Its implementation manner is consistent with the implementation manner of the combined display method for multiple pipeline data provided by the present invention, and the same beneficial effects can be achieved, which will not be elaborated here.

[0162] The combined display device for multiple pipeline data is used for the combined display method for multiple pipeline data in the foregoing embodiments. Therefore, the descriptions and definitions in the combined display method for multiple pipeline data in the foregoing embodiments can be used to understand each execution module in the embodiments of the present invention.

[0163] In an embodiment of the present invention, based on the detection video of a target pipeline, a defect position is determined. Based on the defect position, a three-dimensional point cloud model of the target pipe section, a three-dimensional texture model of the target pipe section, a two-dimensional chromatogram model of the target pipe section, video data of the defect part, and panoramic image data of the defect part are associated. One or more of the three-dimensional point cloud model of the combined target pipe section, the three-dimensional texture model, the two-dimensional chromatogram model, the video data of the defect part, and the panoramic image data of the defect part are displayed in a target interface, which facilitates a user to simultaneously view the defect part and its surrounding conditions, and the display efficiency is higher.

[0164] Figure 3 An example of a schematic physical structure diagram of an electronic device is shown in Figure 3As shown in the figure, the electronic device may include: a processor 310, a communications interface 320, a memory 330, and a communication bus 340. Among them, the processor 310, the communication interface 320, and the memory 330 complete mutual communication through the communication bus 340. The processor 310 may call the logical instructions stored in the memory 330 and executable on the processor 310 to execute the combined display method of various pipeline data provided in the above method embodiments. The method includes: identifying defect marks in the detection video of the target pipeline, and determining the defect position based on the defect marks; acquiring point cloud data and panoramic image data within a set interval before and after the defect position. The point cloud data is a number of two-dimensional point cloud data obtained by two-dimensional ranging of the inner wall of the pipeline by a two-dimensional radar when a pipeline inspection robot travels in the target pipeline; based on the point cloud data, acquiring one or more of a three-dimensional point cloud model, a three-dimensional texture model, and a two-dimensional chromatographic model of the target pipe section within a set interval before and after the defect position; displaying one or more of the three-dimensional point cloud model, the three-dimensional texture model, and the two-dimensional chromatographic model of the target pipe section, as well as the video data of the defect position and the panoramic image data of the defect position in the target interface.

[0165] In addition, when the logical instructions in the above-mentioned memory 330 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0166] The processor 310 in the electronic device provided in the embodiments of the present invention may call the logical instructions in the memory 330. Its implementation manner is consistent with the implementation manner of the combined display method of various pipeline data provided by the present invention, and the same beneficial effects can be achieved, which will not be elaborated here.

[0167] On the other hand, an embodiment of the present invention further provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the combined display method of various pipeline data provided by the above-mentioned method embodiments. The method includes: identifying defect marks in the detection video of the target pipeline, and determining the defect position based on the defect marks; acquiring point cloud data and panoramic image data in a set interval before and after the defect position, where the point cloud data is a number of two-dimensional point cloud data obtained by two-dimensional ranging of the inner wall of the pipeline by a two-dimensional radar when a pipeline inspection robot travels in the target pipeline; based on the point cloud data, acquiring one or more of a three-dimensional point cloud model, a three-dimensional texture model, and a two-dimensional chromatogram model of the target pipe section in a set interval before and after the defect position; and displaying one or more of the three-dimensional point cloud model, the three-dimensional texture model, and the two-dimensional chromatogram model of the target pipe section, as well as the video data of the defect position and the panoramic image data of the defect position in the target interface.

[0168] When the computer program product provided by the embodiment of the present invention is executed, the combined display method of various pipeline data is implemented. The specific implementation manner is consistent with the implementation manner described in the embodiment of the foregoing method, and the same beneficial effects can be achieved, which will not be elaborated here.

[0169] On another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the combined display method of various pipeline data provided by the above-mentioned embodiments. The method includes: identifying defect marks in the detection video of the target pipeline, and determining the defect position based on the defect marks; acquiring point cloud data and panoramic image data in a set interval before and after the defect position, where the point cloud data is a number of two-dimensional point cloud data obtained by two-dimensional ranging of the inner wall of the pipeline by a two-dimensional radar when a pipeline inspection robot travels in the target pipeline; based on the point cloud data, acquiring one or more of a three-dimensional point cloud model, a three-dimensional texture model, and a two-dimensional chromatogram model of the target pipe section in a set interval before and after the defect position; and displaying one or more of the three-dimensional point cloud model, the three-dimensional texture model, and the two-dimensional chromatogram model of the target pipe section, as well as the video data of the defect position and the panoramic image data of the defect position in the target interface.

[0170] When the computer program stored on the non-transitory computer-readable storage medium provided by the embodiment of the present invention is executed, the combined display method of various pipeline data is implemented. The specific implementation manner is consistent with the implementation manner described in the embodiment of the foregoing method, and the same beneficial effects can be achieved, which will not be elaborated here.

[0171] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0172] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for jointly displaying data of multiple pipelines, characterized in that, it includes: Identifying defect marks in the detection video of the target pipeline, and determining the defect position based on the defect marks; Obtaining point cloud data and panoramic image data in a set interval before and after the defect position, where the point cloud data is a number of two-dimensional point cloud data obtained by a two-dimensional radar for two-dimensional ranging of the inner wall of the pipeline when a pipeline inspection robot travels in the target pipeline; Based on the point cloud data, obtaining one or more of a three-dimensional point cloud model, a three-dimensional texture model, and a two-dimensional chromatographic model of the target pipe section in a set interval before and after the defect position; Displaying one or more of the three-dimensional point cloud model, the three-dimensional texture model, and the two-dimensional chromatographic model of the target pipe section, as well as the video data of the defect position and the panoramic image data of the defect position in the target interface; The two-dimensional contour data at each measurement point includes obtaining a number of distance values by circumferentially scanning and ranging the inner wall of the target pipeline and the scanning angle corresponding to each distance value; Obtaining the three-dimensional texture model of the target pipe section in a set interval before and after the defect position, specifically including: Connecting any two adjacent point clouds in the same two-dimensional contour data in the three-dimensional point cloud model; Connecting the two point clouds with the same scanning angle in any two adjacent two-dimensional contour data in the three-dimensional point cloud model to obtain the three-dimensional texture model of the target pipe section.

2. The method for jointly displaying data of multiple pipelines according to claim 1, characterized in that, the detection video is obtained when the pipeline inspection robot travels in the target pipeline; Determining the defect position based on the defect marks, specifically including: Determining the position of the video frame corresponding to the defect mark in the detection video, and determining the traveling distance of the pipeline inspection robot from the detection starting point based on the position of the video frame in the detection video and the traveling speed of the pipeline inspection robot.

3. The method for jointly displaying data of multiple pipelines according to claim 1, characterized in that, Based on the point cloud data, obtaining the three-dimensional point cloud model of the target pipe section in a set interval before and after the defect position, specifically including: Merging the two-dimensional point cloud data into a two-dimensional point cloud sequence based on the measurement order; Performing center fitting on all the two-dimensional point cloud data in the point cloud data sequence to determine the center of the two-dimensional point cloud data; Determining the traveling trajectory of the two-dimensional radar, and sequentially coinciding the centers of the two-dimensional point cloud data in the point cloud data sequence with the traveling trajectory based on the distance interval of two-dimensional ranging by the two-dimensional radar to establish the three-dimensional point cloud model of the target pipe section; Determining the deformation amount of each point on the inner wall of the target pipeline based on the three-dimensional point cloud model; Based on the position information of each point on the inner wall of the target pipeline, as well as the mapping relationship between the deformation amount of each point, each deformation amount interval and each color, converting the three-dimensional point cloud model into a three-dimensional chromatographic model.

4. The method for jointly displaying data of multiple pipelines according to claim 1, characterized in that, it further includes: Based on the panoramic image data, a two-dimensional real-scene planar development map of the inner wall of the target pipeline is established, and the three-dimensional texture model is textured based on the two-dimensional real-scene planar development map.

5. The method for jointly displaying multiple pipeline data according to claim 1, wherein, obtaining a two-dimensional chromatogram model of the target pipe segment in a set interval before and after the defect position, specifically including: determining the deformation amount of each point on the inner wall of the target pipeline based on the two-dimensional contour data; drawing a two-dimensional chromatogram model of the inner wall of the target pipeline based on the position information of each point on the inner wall of the target pipeline, as well as the mapping relationship between the deformation amount of each point, each deformation amount interval and each color.

6. The method for jointly displaying multiple pipeline data according to claim 1, wherein, further comprising: establishing a mapping relationship among the three-dimensional point cloud model, the three-dimensional texture model, the two-dimensional chromatogram model, the video frames in the video data, and the panoramic image data.

7. A device for jointly displaying multiple pipeline data, wherein, comprising: a position determination module, configured to identify defect marks in a detection video of a target pipeline and determine the defect position based on the defect marks; a first acquisition module, configured to acquire point cloud data and panoramic image data in a set interval before and after the defect position, where the point cloud data is a plurality of two-dimensional point cloud data obtained by a two-dimensional radar for two-dimensional ranging of the inner wall of the pipeline when a pipeline inspection robot travels in the target pipeline; a second acquisition module, configured to acquire one or more of a three-dimensional point cloud model, a three-dimensional texture model, and a two-dimensional chromatogram model of the target pipe segment in a set interval before and after the defect position based on the point cloud data; a joint display module, configured to display one or more of the three-dimensional point cloud model, the three-dimensional texture model, and the two-dimensional chromatogram model of the target pipe segment, as well as the video data of the defect position and the panoramic image data of the defect position in a target interface; The two-dimensional contour data at each measurement point includes obtaining a plurality of distance values by circumferentially scanning and ranging the inner wall of the target pipeline and the scanning angle corresponding to each distance value; obtaining a three-dimensional texture model of the target pipe segment in a set interval before and after the defect position, specifically including: connecting any two adjacent point clouds in the same two-dimensional contour data in the three-dimensional point cloud model; connecting the two point clouds with the same scanning angle in any two adjacent two-dimensional contour data in the three-dimensional point cloud model to obtain the three-dimensional texture model of the target pipe segment.

8. An electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, when the processor executes the program, the steps of the method for jointly displaying multiple pipeline data according to any one of claims 1 to 6 are implemented.

9. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the steps of the method for jointly displaying multiple pipeline data according to any one of claims 1 to 6 are implemented.

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