A pipeline three-dimensional reconstruction method and device based on two-dimensional radar

By integrating two-dimensional radar and inertial measurement units on the pipeline robot, the two-dimensional contour data and posture data of the inner wall of the pipeline is solved, and the three-dimensional reconstruction of non-linear pipelines is realized, suitable for bent and bending pipes caused by pressure.

CN113989348BActive Publication Date: 2025-03-25WUHAN EASY SIGHT TECH
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Patent Information

Application Number
CN202111123440.2
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2021-09-24
Publication Date
2025-03-25
Estimated Expiration
2041-09-24

AI Technical Summary

Technical Problem

The prior art has limited scope of application in pipeline detection, and it is difficult to realize three-dimensional reconstruction of non-linear pipelines, especially for pipes that are bent or partially bent due to pressure.

Method used

By controlling the pipeline robot equipped with a two-dimensional radar and inertial measurement unit to move in the target pipeline, the two-dimensional contour data of the inner wall of the pipeline and the position data of the two-dimensional radar are obtained, and a three-dimensional point cloud model of the pipeline is established based on these data.

Benefits of technology

The three-dimensional reconstruction of non-linear pipelines is realized, which is suitable for bending pipes and partial bending of pipes caused by pressure, expands the scope of application, and reduces the requirements for pipeline robot walking control and pre-treatment of pipeline environment.

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Abstract

The present invention provides a pipeline three-dimensional reconstruction method and device based on two-dimensional radar, wherein the method comprises: when controlling a pipeline robot provided with a two-dimensional radar and an inertial measurement unit to move in a target pipeline, obtaining two-dimensional contour data of the inner wall of the target pipeline at several measuring points based on the two-dimensional radar, and obtaining the posture data of the two-dimensional radar at at least several measuring points based on the inertial measurement unit; obtaining the moving trajectory of the two-dimensional radar based on the posture data, splicing the two-dimensional contour data based on the moving trajectory and the posture data to establish a three-dimensional point cloud model of the target pipeline. The pipeline three-dimensional reconstruction method, device and system based on two-dimensional radar provided by an embodiment of the present invention splices the two-dimensional contour data of the inner wall of the target pipeline obtained by the two-dimensional radar based on the posture data of the two-dimensional radar collected by the inertial measurement unit, which can realize the three-dimensional reconstruction of non-linear pipelines and has a wider range of applications.
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