3D Model Construction Method, Device, Electronic Device, and Storage Medium

Abstract

The present invention provides a three-dimensional model construction method, device, electronic device and storage medium. The method includes: obtaining a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well connected to the surface of the target pipeline; obtaining first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model; determining a first coincidence degree between the first boundary point cloud data and the second boundary point cloud data; judging whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused based on the first coincidence degree; and obtaining a three-dimensional overall model of the target pipeline and the target inspection well when it is determined that the fusion is successful. By fusing the three-dimensional models of the pipeline and the inspection well, the present invention obtains an overall model of the two, realizes the overall three-dimensional visualization of the pipeline and the inspection well, and helps to improve the accuracy of subsequent detection and analysis of the pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional point cloud modeling, and particularly to a method, device, electronic device and storage medium for constructing a three-dimensional model. Background Art

[0002] Pipelines are usually divided into pipelines buried underground and inspection wells that are connected to the pipelines and are set at regular intervals for regular inspection.

[0003] In the prior art, when conducting pipeline inspection, only the pipeline itself is inspected, ignoring the inspection of the inspection wells, or directly obtaining partial inspection well data from the perspective of the pipeline to make a preliminary judgment on the status of the inspection wells.

[0004] Since the inspection well is also a part of the pipeline connection and is closer to the ground and is more likely to be damaged due to extrusion, therefore, in the process of pipeline inspection, how to construct an overall model of the pipeline and the inspection well to inspect the pipeline based on the overall model of the pipeline and the inspection well has become an urgent issue in the industry. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention provides a method, device, electronic device and storage medium for constructing a three-dimensional model.

[0006] In a first aspect, the present invention provides a method for constructing a three-dimensional model, including:

[0007] Obtaining a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicatively connected to the surface of the target pipeline;

[0008] Obtaining first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, where the first boundary is a first intersection boundary between the target pipeline and the target inspection well, and the second boundary is a second intersection boundary between the target inspection well and the target pipeline;

[0009] Determining a first coincidence degree between the first boundary point cloud data and the second boundary point cloud data;

[0010] Based on the first coincidence degree, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused;

[0011] When it is determined that the fusion is successful, obtaining a three-dimensional overall model of the target pipeline and the target inspection well.

[0012] Optionally, according to a three-dimensional model construction method provided by the present invention, the obtaining of the first three-dimensional point cloud model of the target pipeline and the second three-dimensional point cloud model of the target inspection well communicatively connected to the surface of the target pipeline includes:

[0013] Based on a point cloud model acquisition method, obtain the target three-dimensional point cloud model of the first target; wherein, when the first target is the target pipeline, the target three-dimensional point cloud model is the first three-dimensional point cloud model; when the first target is the target inspection well, the target three-dimensional point cloud model is the second three-dimensional point cloud model;

[0014] The point cloud model acquisition method includes the following steps:

[0015] Based on a first scanning trajectory, use a two-dimensional ranging radar to scan the first target to obtain a target two-dimensional point cloud sequence of the first target;

[0016] Perform central fitting on the two-dimensional point cloud data corresponding to the target two-dimensional point cloud sequence to determine the center of at least one circle formed by the coordinate points corresponding to the two-dimensional point cloud data;

[0017] Based on the interval of two-dimensional ranging by the two-dimensional ranging radar, sequentially coincide the centers of the at least one circle with the first scanning trajectory to determine the target three-dimensional point cloud model of the first target.

[0018] Optionally, according to a three-dimensional model construction method provided by the present invention, the obtaining of the first boundary point cloud data corresponding to the first boundary of the first three-dimensional point cloud model and the second boundary point cloud data corresponding to the second boundary of the second three-dimensional point cloud model includes:

[0019] Based on a point cloud model boundary point recognition method, obtain the target boundary point cloud data of the second target; wherein, when the second target is the first boundary, the target boundary point cloud data is the first boundary point cloud data; when the second target is the second boundary, the target boundary point cloud data is the second boundary point cloud data;

[0020] The point cloud model boundary point recognition method includes the following steps:

[0021] Connect at least three two-dimensional point cloud data at the same scanning angle of the two-dimensional ranging radar to obtain a connection curve;

[0022] Calculate the curvature of the connection curve, and determine that the two-dimensional point cloud data corresponding to the point with the maximum curvature on the connection curve is the target two-dimensional boundary point cloud data;

[0023] Determine the three-dimensional boundary point cloud data corresponding to the target two-dimensional boundary point cloud data as the target boundary point cloud data.

[0024] Optionally, according to a three-dimensional model construction method provided by the present invention, the first three-dimensional point cloud data corresponding to the first three-dimensional point cloud model includes: the third three-dimensional point cloud data at the connection between the target pipeline and the target inspection well, and the third three-dimensional point cloud data is used to represent the boundary contour of the target inspection well at the connection.

[0025] Optionally, according to a three-dimensional model construction method provided by the present invention, the second three-dimensional point cloud data corresponding to the second three-dimensional point cloud model includes: the fourth three-dimensional point cloud data at the connection between the target pipeline and the target inspection well, and the fourth three-dimensional point cloud data is used to represent the boundary contour of the target pipeline at the connection.

[0026] Optionally, according to a three-dimensional model construction method provided by the present invention, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused based on the first coincidence degree includes at least one of the following:

[0027] The first coincidence degree is greater than the first coincidence degree threshold;

[0028] The first coincidence degree is greater than the first coincidence degree threshold, and the second coincidence degree between the third three-dimensional point cloud data and the second three-dimensional point cloud data is greater than the second coincidence degree threshold;

[0029] The first coincidence degree is greater than the first coincidence degree threshold, and the third coincidence degree between the fourth three-dimensional point cloud data and the first three-dimensional point cloud data is greater than the third coincidence degree threshold;

[0030] The first coincidence degree is greater than the first coincidence degree threshold, the second coincidence degree is greater than the second coincidence degree threshold, and the third coincidence degree is greater than the third coincidence degree threshold.

[0031] In a second aspect, the present invention further provides a three-dimensional model construction device, including:

[0032] A first acquisition module, configured to acquire a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well connected to the surface of the target pipeline;

[0033] A second acquisition module, configured to acquire first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, where the first boundary is a first intersection boundary between the target pipeline and the target inspection well, and the second boundary is a second intersection boundary between the target inspection well and the target pipeline;

[0034] A first determination module, configured to determine a first coincidence degree between the first boundary point cloud data and the second boundary point cloud data;

[0035] A first judgment module, configured to judge whether the first 3D point cloud model and the second 3D point cloud model are successfully fused based on the first coincidence degree;

[0036] A third acquisition module, configured to acquire a 3D overall model of the target pipeline and the target inspection well when it is determined that the fusion is successful.

[0037] In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the 3D model construction method described in the first aspect are implemented.

[0038] In a fourth aspect, 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, the steps of the 3D model construction method described in the first aspect are implemented.

[0039] In a fifth aspect, the present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the 3D model construction method described in any one of the above are implemented.

[0040] The 3D model construction method, device, electronic device, and storage medium provided by the present invention determine the first boundary point cloud data of the first 3D model of the target pipeline and the second boundary point cloud data of the second 3D model of the target inspection well communicated with the target pipeline, and fuse the first boundary point cloud data and the second boundary point cloud data. When it is determined that the fusion is successful, the data of the connection part between the target pipeline and the target inspection well can be determined, and then the two parts can be connected to obtain a 3D overall model of the target pipeline and the target inspection well, realizing the overall 3D visualization of the target pipeline and the target inspection well, which helps to improve the accuracy of later detection and analysis of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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 use in 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.

[0042] Figure 1 is a flowchart of the 3D model construction method provided by the present invention;

[0043] Figure 2It is a schematic diagram of the connection between a pipeline and an inspection well provided by the present invention;

[0044] Figure 3 It is a schematic diagram of the three-dimensional model of the inspection well provided by the present invention;

[0045] Figure 4 It is a schematic diagram of the intersection boundary between a pipeline and an inspection well provided by the present invention;

[0046] Figure 5 It is a schematic diagram of the three-dimensional overall model of the pipeline and the inspection well provided by the present invention;

[0047] Figure 6 It is a schematic diagram of the structure of the three-dimensional model construction device provided by the present invention;

[0048] Figure 7 It exemplifies a schematic diagram of the physical structure of an electronic device. Detailed implementation manners

[0049] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, 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 making creative efforts based on the embodiments in the present invention fall within the protection scope of the present invention.

[0050] The terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order different from those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means an "or" relationship between the associated objects before and after.

[0051] Next, in conjunction with Figures 1-6 Describe the three-dimensional model construction method and device provided by the present invention.

[0052] Figure 1 It is a schematic flowchart of the three-dimensional model construction method provided by the present invention. As Figure 1 shown, the method includes the following processes:

[0053] Step 100, obtain a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well that is communicatively connected to the surface of the target pipeline;

[0054] Step 110: Obtain the first boundary point cloud data corresponding to the first boundary of the first three-dimensional point cloud model and the second boundary point cloud data corresponding to the second boundary of the second three-dimensional point cloud model. The first boundary is the first intersection boundary between the target pipeline and the target inspection well, and the second boundary is the second intersection boundary between the target inspection well and the target pipeline.

[0055] Step 120: Determine the first coincidence degree between the first boundary point cloud data and the second boundary point cloud data.

[0056] Step 130: Based on the first coincidence degree, determine whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.

[0057] Step 140: When it is determined that the fusion is successful, obtain the three-dimensional overall model of the target pipeline and the target inspection well.

[0058] Optionally, a first three-dimensional point cloud model of the target pipeline can be obtained.

[0059] Optionally, the shape of the target pipeline can be square, circular, etc., and the present invention does not make specific limitations thereto. For the convenience of description, the target pipeline in the following embodiments is described as circular.

[0060] Optionally, a two-dimensional point cloud data sequence of the target pipeline can be obtained based on a two-dimensional ranging radar, and a three-dimensional point cloud data sequence corresponding to the two-dimensional point cloud data sequence can be determined, and a three-dimensional point cloud model of the target pipeline can be constructed based on the three-dimensional point cloud data sequence.

[0061] Optionally, a pipeline robot can be controlled to travel in the target pipeline, and two-dimensional ranging can be performed on the inner wall of the pipeline through a two-dimensional radar above the pipeline robot to obtain a number of two-dimensional point cloud data.

[0062] Optionally, three-dimensional point cloud data of the target pipeline can be obtained based on a three-dimensional laser scanner, and a three-dimensional point cloud model of the target pipeline can be constructed based on the obtained three-dimensional point cloud data.

[0063] Optionally, three-dimensional modeling of the target pipeline can be performed based on a preset three-dimensional modeling method to obtain a three-dimensional point cloud model of the target pipeline.

[0064] Optionally, a second three-dimensional point cloud model of the target inspection well connected to the surface of the target pipeline can be obtained.

[0065] For example, Figure 2 is a schematic diagram of the connection between the pipeline and the inspection well provided by the present invention. As Figure 2 shown, inspection wells connected to the pipeline are provided at regular intervals on the pipeline to facilitate regular inspection of the pipeline.

[0066] Optionally, the shape of the target inspection well can be square, circular, etc., and the present invention does not make specific limitations thereto.

[0067] Optionally, the pipeline robot can be controlled to collect point cloud data of the target inspection well in the vertical direction, and a three-dimensional point cloud model of the target inspection well can be constructed based on the collected point cloud data.

[0068] For example, Figure 3 is a schematic diagram of the three-dimensional model of the inspection well provided by the present invention. As Figure 3 shown, it is the three-dimensional model of the inspection well constructed based on the point cloud data.

[0069] Optionally, the target inspection well can be three-dimensionally modeled based on a preset three-dimensional modeling method to obtain a three-dimensional point cloud model of the target inspection well.

[0070] Optionally, the first boundary point cloud data corresponding to the first boundary of the first three-dimensional point cloud model can be obtained.

[0071] Optionally, the first boundary can be the first intersection boundary between the target pipeline and the target inspection well.

[0072] Optionally, the second boundary point cloud data corresponding to the second boundary of the second three-dimensional point cloud model can be obtained.

[0073] Optionally, the second boundary can be the second intersection boundary between the target inspection well and the target pipeline.

[0074] For example, Figure 4 is a schematic diagram of the intersection boundary between the pipeline and the inspection well provided by the present invention. As Figure 4 shown, the boundary where the inspection well and the pipeline intersect is 4 sequentially connected line segments. Among them, there are 2 highest points, and the lowest point may be a straight line, and there are several lowest points at this time.

[0075] Optionally, the first coincidence degree between the first boundary point cloud data and the second boundary point cloud data can be determined.

[0076] For example, assuming that the first boundary and the second boundary respectively include 150 point cloud data, and among them, 138 point cloud data coincide, then the first coincidence degree between the first boundary point cloud data and the second boundary point cloud data can be determined to be 138 / 150 = 0.92.

[0077] Optionally, it can be determined whether two point cloud data coincide based on the distance between the coordinate points corresponding to the two point cloud data.

[0078] Optionally, when the distance between the coordinate points corresponding to the two point cloud data is less than a preset distance threshold, it can be determined that the two point cloud data coincide.

[0079] Optionally, the size of the preset distance threshold can be determined based on the detection accuracy of the two-dimensional ranging radar.

[0080] Optionally, the size of the preset distance threshold can be arbitrarily set according to specific requirements, and the present invention does not make specific limitations thereto.

[0081] For example, the preset distance threshold can be set to 10 -5 millimeters or 10 -3 micrometers, etc.

[0082] Optionally, based on the first coincidence degree, it can be determined whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.

[0083] Optionally, when the first coincidence degree is greater than the preset coincidence degree threshold, it can be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.

[0084] Optionally, the preset coincidence degree threshold can be arbitrarily set according to specific requirements, and the present invention does not make specific limitations thereto.

[0085] For example, the preset coincidence degree threshold can be set to 0.9 or 0.95 or 0.98, etc.

[0086] Optionally, when it is determined that the fusion is successful, a three-dimensional overall model of the target pipeline and the target inspection well can be obtained.

[0087] For example, Figure 5 is a schematic diagram of the three-dimensional overall model of the pipeline and the inspection well provided by the present invention. As Figure 5 shown, by fusing the three-dimensional model of the pipeline and the three-dimensional model of the inspection well connected to the pipeline, a three-dimensional overall model of the pipeline and the inspection well is constructed.

[0088] In order to overcome the defect that in the existing process of detecting pipelines, only the pipelines themselves are detected, ignoring the detection of inspection wells, resulting in inaccurate detection results, the present invention fuses the boundary point cloud data of the target pipeline and the boundary point cloud data of the target inspection well. When it is determined that the fusion is successful, the data of the connection part of the target pipeline and the target inspection well can be determined, and then the two parts can be connected, thereby constructing a three-dimensional overall model of the target pipeline and the target inspection well, realizing the overall three-dimensional visualization of the target pipeline and the target inspection well, which helps to improve the accuracy of subsequent pipeline detection and analysis.

[0089] The 3D model construction method provided by the present invention determines the first boundary point cloud data of the first 3D model of the target pipeline and the second boundary point cloud data of the second 3D model of the target inspection well connected to the target pipeline, and fuses the first boundary point cloud data with the second boundary point cloud data. When it is determined that the fusion is successful, the data of the connection part between the target pipeline and the target inspection well can be determined, and then the two parts can be connected to obtain the 3D overall model of the target pipeline and the target inspection well, realizing the overall 3D visualization of the target pipeline and the target inspection well, which helps to improve the accuracy of later detection and analysis of the pipeline.

[0090] Optionally, the obtaining of the first 3D point cloud model of the target pipeline and the second 3D point cloud model of the target inspection well connected to the surface of the target pipeline includes:

[0091] Based on the point cloud model acquisition method, obtain the target 3D point cloud model of the first target; wherein, when the first target is the target pipeline, the target 3D point cloud model is the first 3D point cloud model; when the first target is the target inspection well, the target 3D point cloud model is the second 3D point cloud model;

[0092] The point cloud model acquisition method includes the following steps:

[0093] Based on the first scanning trajectory, use a 2D ranging radar to scan the first target to obtain the target 2D point cloud sequence of the first target;

[0094] Perform central fitting on the 2D point cloud data corresponding to the target 2D point cloud sequence to determine the center of at least one circle formed by the coordinate points corresponding to the 2D point cloud data;

[0095] Based on the interval of 2D ranging by the 2D ranging radar, sequentially coincide the centers of the at least one circle with the first scanning trajectory to determine the target 3D point cloud model of the first target.

[0096] Optionally, the target 3D point cloud model of the first target can be obtained based on the point cloud model acquisition method.

[0097] Optionally, when the first target is the target pipeline, the target 3D point cloud model can be the first 3D point cloud model.

[0098] Optionally, when the first target is the target inspection well, the target 3D point cloud model can be the second 3D point cloud model.

[0099] Optionally, the point cloud model acquisition method can include the following steps:

[0100] (1) Based on the first scanning trajectory, a two-dimensional ranging radar can be used to scan the first target to obtain a target two-dimensional point cloud sequence of the first target;

[0101] For example, based on the first scanning trajectory, a two-dimensional ranging radar can be used to scan the inner wall of the target pipeline to obtain a first two-dimensional point cloud sequence of the target pipeline.

[0102] For example, based on the first scanning trajectory, a two-dimensional ranging radar can be used to scan the inner wall of the target inspection well connected to the target pipeline to obtain a second two-dimensional point cloud sequence of the target inspection well.

[0103] (2) Central fitting can be performed on the two-dimensional point cloud data corresponding to the target two-dimensional point cloud sequence to determine the centers of at least one circle formed by the coordinate points corresponding to the two-dimensional point cloud data.

[0104] For example, central fitting can be performed on the two-dimensional point cloud data corresponding to the first two-dimensional point cloud sequence to determine the centers of at least one circle formed by the coordinate points corresponding to the two-dimensional point cloud data.

[0105] For example, central fitting can be performed on the two-dimensional point cloud data corresponding to the second two-dimensional point cloud sequence to determine the centers of at least one circle formed by the coordinate points corresponding to the two-dimensional point cloud data.

[0106] (3) Based on the interval of two-dimensional ranging by the two-dimensional ranging radar, the centers of the at least one circle can be sequentially aligned with the first scanning trajectory to determine a target three-dimensional point cloud model of the first target.

[0107] Optionally, the interval of two-dimensional ranging by the two-dimensional ranging radar can be determined based on the detection accuracy of the two-dimensional ranging radar.

[0108] For example, when the interval of two-dimensional ranging by the two-dimensional ranging radar is 2 millimeters, the obtained circle centers can be sequentially aligned with the first scanning trajectory every 2 millimeters to obtain a target three-dimensional point cloud model of the first target.

[0109] The three-dimensional model construction method provided by the present invention collects data on the target pipeline or the target inspection well through a two-dimensional ranging radar, and based on the collected two-dimensional point cloud sequence and the scanning trajectory of the two-dimensional ranging radar, realizes the construction of a three-dimensional model of the target pipeline or the target inspection well.

[0110] Optionally, obtaining the first boundary point cloud data corresponding to the first boundary of the first three-dimensional point cloud model and the second boundary point cloud data corresponding to the second boundary of the second three-dimensional point cloud model includes:

[0111] Based on the method for identifying boundary points of a point cloud model, obtain the target boundary point cloud data of the second target; wherein, when the second target is the first boundary, the target boundary point cloud data is the first boundary point cloud data; when the second target is the second boundary, the target boundary point cloud data is the second boundary point cloud data;

[0112] The method for identifying boundary points of the point cloud model includes the following steps:

[0113] Connect at least three two-dimensional point cloud data at the same scanning angle of the two-dimensional ranging radar to obtain a connection curve;

[0114] Calculate the curvature of the connection curve, and determine that the two-dimensional point cloud data corresponding to the point with the maximum curvature on the connection curve is the target two-dimensional boundary point cloud data;

[0115] Determine that the three-dimensional boundary point cloud data corresponding to the target two-dimensional boundary point cloud data is the target boundary point cloud data.

[0116] Optionally, based on the method for identifying boundary points of a point cloud model, the target boundary point cloud data of the second target can be obtained.

[0117] For example, based on the method for identifying boundary points of a point cloud model, the first boundary point cloud data of the first boundary corresponding to the three-dimensional model of the target pipeline can be obtained.

[0118] For example, based on the method for identifying boundary points of a point cloud model, the second boundary point cloud data of the second boundary corresponding to the three-dimensional model of the target inspection well can be obtained.

[0119] Optionally, when the second target is the first boundary, the target boundary point cloud data can be the first boundary point cloud data.

[0120] Optionally, when the second target is the second boundary, the target boundary point cloud data can be the second boundary point cloud data.

[0121] Optionally, the method for identifying boundary points of a point cloud model can include the following steps:

[0122] (1) Connect at least three two-dimensional point cloud data at the same scanning angle of the two-dimensional ranging radar to obtain a connection curve;

[0123] (2) Calculate the curvature of the connection curve, and determine that the two-dimensional point cloud data corresponding to the point with the maximum curvature on the connection curve is the target two-dimensional boundary point cloud data;

[0124] (3) Determine that the three-dimensional boundary point cloud data corresponding to the target two-dimensional boundary point cloud data is the target boundary point cloud data.

[0125] The 3D model construction method provided by the present invention identifies the boundary points of the 3D point cloud model through curvature, which helps to fuse the boundary point data of the target pipeline and the target inspection well subsequently, and further obtain the 3D overall model of the target pipeline and the target inspection well.

[0126] Optionally, the first 3D point cloud data corresponding to the first 3D point cloud model includes: the third 3D point cloud data at the connection of the target pipeline and the target inspection well, and the third 3D point cloud data is used to represent the boundary contour of the target inspection well at the connection.

[0127] Optionally, the first 3D point cloud data corresponding to the first 3D point cloud model may include: the third 3D point cloud data at the connection of the target pipeline and the target inspection well.

[0128] Optionally, the third 3D point cloud data can be used to represent the boundary contour of the target inspection well at the connection.

[0129] Optionally, the second 3D point cloud data corresponding to the second 3D point cloud model includes: the fourth 3D point cloud data at the connection of the target pipeline and the target inspection well, and the fourth 3D point cloud data is used to represent the boundary contour of the target pipeline at the connection.

[0130] Optionally, the second 3D point cloud data corresponding to the second 3D point cloud model may include: the fourth 3D point cloud data at the connection of the target pipeline and the target inspection well.

[0131] Optionally, the fourth 3D point cloud data can be used to represent the boundary contour of the target pipeline at the connection.

[0132] Optionally, determining whether the first 3D point cloud model and the second 3D point cloud model are successfully fused based on the first coincidence degree includes at least one of the following:

[0133] The first coincidence degree is greater than the first coincidence degree threshold;

[0134] The first coincidence degree is greater than the first coincidence degree threshold, and the second coincidence degree between the third 3D point cloud data and the second 3D point cloud data is greater than the second coincidence degree threshold;

[0135] The first coincidence degree is greater than the first coincidence degree threshold, and the third coincidence degree between the fourth 3D point cloud data and the first 3D point cloud data is greater than the third coincidence degree threshold;

[0136] The first coincidence degree is greater than the first coincidence degree threshold, the second coincidence degree is greater than the second coincidence degree threshold, and the third coincidence degree is greater than the third coincidence degree threshold.

[0137] Optionally, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused based on the first coincidence degree may include: the first coincidence degree is greater than the first coincidence degree threshold.

[0138] For example, in a case where the first three-dimensional point cloud data does not include the third three-dimensional point cloud data and the second three-dimensional point cloud data does not include the fourth three-dimensional point cloud data, if the first coincidence degree is greater than the first coincidence degree threshold, it can be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.

[0139] Optionally, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused based on the first coincidence degree may include: the first coincidence degree is greater than the first coincidence degree threshold, and the second coincidence degree between the third three-dimensional point cloud data and the second three-dimensional point cloud data is greater than the second coincidence degree threshold.

[0140] For example, in a case where the first three-dimensional point cloud data includes the third three-dimensional point cloud data and the second three-dimensional point cloud data does not include the fourth three-dimensional point cloud data, if the first coincidence degree is greater than the first coincidence degree threshold and the second coincidence degree between the third three-dimensional point cloud data and the second three-dimensional point cloud data is greater than the second coincidence degree threshold, it can be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.

[0141] Optionally, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused based on the first coincidence degree may include: the first coincidence degree is greater than the first coincidence degree threshold, and the third coincidence degree between the fourth three-dimensional point cloud data and the first three-dimensional point cloud data is greater than the third coincidence degree threshold.

[0142] For example, in a case where the first three-dimensional point cloud data does not include the third three-dimensional point cloud data and the second three-dimensional point cloud data includes the fourth three-dimensional point cloud data, if the first coincidence degree is greater than the first coincidence degree threshold and the third coincidence degree between the fourth three-dimensional point cloud data and the first three-dimensional point cloud data is greater than the third coincidence degree threshold, it can be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.

[0143] Optionally, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused based on the first coincidence degree may include: the first coincidence degree is greater than the first coincidence degree threshold, the second coincidence degree is greater than the second coincidence degree threshold, and the third coincidence degree is greater than the third coincidence degree threshold.

[0144] For example, in a case where the first three-dimensional point cloud data includes the third three-dimensional point cloud data and the second three-dimensional point cloud data includes the fourth three-dimensional point cloud data, if the first coincidence degree is greater than the first coincidence degree threshold, the second coincidence degree is greater than the second coincidence degree threshold, and the third coincidence degree is greater than the third coincidence degree threshold, it can be determined that the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused.

[0145] The 3D model construction method provided by the present invention determines the first boundary point cloud data of the first 3D model of the target pipeline and the second boundary point cloud data of the second 3D model of the target inspection well connected to the target pipeline, and fuses the first boundary point cloud data and the second boundary point cloud data. When it is determined that the fusion is successful, the data of the connection part between the target pipeline and the target inspection well can be determined, and then the two parts can be connected to obtain the 3D overall model of the target pipeline and the target inspection well, realizing the overall 3D visualization of the target pipeline and the target inspection well, which helps to improve the accuracy of subsequent pipeline detection and analysis.

[0146] The 3D model construction device provided by the present invention will be described below. The 3D model construction device described below can be mutually referred to the 3D model construction method described above.

[0147] Figure 6 is a schematic structural diagram of the 3D model construction device provided by the present invention, as Figure 6 shown, the device includes: a first acquisition module 610, a second acquisition module 620, a first determination module 630, a first judgment module 640, and a third acquisition module 650; where:

[0148] The first acquisition module 610 is used to acquire the first 3D point cloud model of the target pipeline and the second 3D point cloud model of the target inspection well connected to the surface of the target pipeline;

[0149] The second acquisition module 620 is used to acquire the first boundary point cloud data corresponding to the first boundary of the first 3D point cloud model and the second boundary point cloud data corresponding to the second boundary of the second 3D point cloud model. The first boundary is the first intersection boundary between the target pipeline and the target inspection well, and the second boundary is the second intersection boundary between the target inspection well and the target pipeline;

[0150] The first determination module 630 is used to determine the first coincidence degree between the first boundary point cloud data and the second boundary point cloud data;

[0151] The first judgment module 640 is used to judge whether the first 3D point cloud model and the second 3D point cloud model are successfully fused based on the first coincidence degree;

[0152] The third acquisition module 650 is used to acquire the 3D overall model of the target pipeline and the target inspection well when it is determined that the fusion is successful.

[0153] The three-dimensional model construction device provided by the present invention determines the first boundary point cloud data of the first three-dimensional model of the target pipeline and the second boundary point cloud data of the second three-dimensional model of the target inspection well communicated with the target pipeline, and fuses the first boundary point cloud data with the second boundary point cloud data. When it is determined that the fusion is successful, the data of the connection part between the target pipeline and the target inspection well can be determined, and then the two parts can be connected to obtain the three-dimensional overall model of the target pipeline and the target inspection well, realizing the overall three-dimensional visualization of the target pipeline and the target inspection well, which helps to improve the accuracy of subsequent pipeline detection and analysis.

[0154] Figure 7 An example of a schematic physical structure diagram of an electronic device is shown as Figure 7 shown. The electronic device may include: a processor 710, a communication interface 720, a memory 730, and a communication bus 740. Among them, the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The processor 710 can call the logical instructions in the memory 730 to execute the three-dimensional model construction method provided by each of the above methods. The method includes:

[0155] Obtain a first three-dimensional point cloud model of the target pipeline and a second three-dimensional point cloud model of the target inspection well communicated with the surface of the target pipeline;

[0156] Obtain first boundary point cloud data corresponding to the first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to the second boundary of the second three-dimensional point cloud model, where the first boundary is the first intersection boundary between the target pipeline and the target inspection well, and the second boundary is the second intersection boundary between the target inspection well and the target pipeline;

[0157] Determine a first coincidence degree between the first boundary point cloud data and the second boundary point cloud data;

[0158] Based on the first coincidence degree, determine whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused;

[0159] When it is determined that the fusion is successful, obtain the three-dimensional overall model of the target pipeline and the target inspection well.

[0160] In addition, when the logical instructions in the above-mentioned memory 730 are implemented in the form of software functional units and sold or used as independent products, they can 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 this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0161] On the other hand, the present invention also provides a computer program product. The computer program product 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 three-dimensional model construction method provided by the above-mentioned various methods. The method includes:

[0162] Obtain a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicatively connected to the surface of the target pipeline;

[0163] Obtain first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model. The first boundary is a first intersection boundary between the target pipeline and the target inspection well, and the second boundary is a second intersection boundary between the target inspection well and the target pipeline;

[0164] Determine a first coincidence degree between the first boundary point cloud data and the second boundary point cloud data;

[0165] Based on the first coincidence degree, determine whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused;

[0166] When it is determined that the fusion is successful, obtain a three-dimensional overall model of the target pipeline and the target inspection well.

[0167] On yet another aspect, the present invention also 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 three-dimensional model construction method provided by the above-mentioned various methods. The method includes:

[0168] Obtain the first three-dimensional point cloud model of the target pipeline and the second three-dimensional point cloud model of the target inspection well that is communicatively connected to the surface of the target pipeline;

[0169] Obtain the first boundary point cloud data corresponding to the first boundary of the first three-dimensional point cloud model and the second boundary point cloud data corresponding to the second boundary of the second three-dimensional point cloud model, where the first boundary is the first intersection boundary between the target pipeline and the target inspection well, and the second boundary is the second intersection boundary between the target inspection well and the target pipeline;

[0170] Determine the first degree of coincidence between the first boundary point cloud data and the second boundary point cloud data;

[0171] Based on the first degree of coincidence, determine whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused;

[0172] When it is determined that the fusion is successful, obtain the three-dimensional overall model of the target pipeline and the target inspection well.

[0173] 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 effort.

[0174] 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 above technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This 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 to enable 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.

[0175] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than 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 described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional model construction method, characterized in that, Including: Obtaining a first three-dimensional point cloud model of a target pipeline and a second three-dimensional point cloud model of a target inspection well communicatively connected to the surface of the target pipeline; Obtaining first boundary point cloud data corresponding to a first boundary of the first three-dimensional point cloud model and second boundary point cloud data corresponding to a second boundary of the second three-dimensional point cloud model, where the first boundary is a first intersection boundary between the target pipeline and the target inspection well, and the second boundary is a second intersection boundary between the target inspection well and the target pipeline; Determining a first coincidence degree between the first boundary point cloud data and the second boundary point cloud data; Based on the first coincidence degree, determining whether the first three-dimensional point cloud model and the second three-dimensional point cloud model are successfully fused; When it is determined that the fusion is successful, obtaining a three-dimensional overall model of the target pipeline and the target inspection well; The obtaining of the first boundary point cloud data corresponding to the first boundary of the first three-dimensional point cloud model and the second boundary point cloud data corresponding to the second boundary of the second three-dimensional point cloud model includes: Based on a point cloud model boundary point recognition method, obtaining target boundary point cloud data of a second target; where when the second target is the first boundary, the target boundary point cloud data is the first boundary point cloud data; when the second target is the second boundary, the target boundary point cloud data is the second boundary point cloud data; The point cloud model boundary point recognition method includes the following steps: Connecting at least three two-dimensional point cloud data at the same scanning angle of a two-dimensional ranging radar to obtain a connection curve; Calculating the curvature of the connection curve and determining the two-dimensional point cloud data corresponding to the point with the maximum curvature on the connection curve as target two-dimensional boundary point cloud data; Determining the three-dimensional boundary point cloud data corresponding to the target two-dimensional boundary point cloud data as the target boundary point cloud data.

2. The three-dimensional model construction method according to claim 1, characterized in that The obtaining of the first three-dimensional point cloud model of the target pipeline and the second three-dimensional point cloud model of the target inspection well communicatively connected to the surface of the target pipeline includes: Based on a point cloud model obtaining method, obtaining a target three-dimensional point cloud model of a first target; where when the first target is the target pipeline, the target three-dimensional point cloud model is the first three-dimensional point cloud model; when the first target is the target inspection well, the target three-dimensional point cloud model is the second three-dimensional point cloud model; The point cloud model obtaining method includes the following steps: Scanning the first target with the two-dimensional ranging radar based on a first scanning trajectory to obtain a target two-dimensional point cloud sequence of the first target; Performing central fitting on the two-dimensional point cloud data corresponding to the target two-dimensional point cloud sequence to determine the center of at least one circle formed by the coordinate points corresponding to the two-dimensional point cloud data; Based on the interval of two-dimensional ranging by the two-dimensional ranging radar, sequentially aligning the centers of the at least one circle with the first scanning trajectory to determine the target three-dimensional point cloud model of the first target.

3. The three-dimensional model construction method according to claim 1, characterized in that The first 3D point cloud data corresponding to the first 3D point cloud model includes: the third 3D point cloud data at the connection between the target pipeline and the target inspection well, and the third 3D point cloud data is used to represent the boundary contour of the target inspection well at the connection.

4. The three-dimensional model construction method according to claim 3, characterized in that The second 3D point cloud data corresponding to the second 3D point cloud model includes: the fourth 3D point cloud data at the connection between the target pipeline and the target inspection well, and the fourth 3D point cloud data is used to represent the boundary contour of the target pipeline at the connection.

5. The three-dimensional model construction method according to claim 4, characterized in that Judging whether the first 3D point cloud model and the second 3D point cloud model are successfully fused based on the first coincidence degree includes at least one of the following: The first coincidence degree is greater than the first coincidence degree threshold; The first coincidence degree is greater than the first coincidence degree threshold, and the second coincidence degree between the third 3D point cloud data and the second 3D point cloud data is greater than the second coincidence degree threshold; The first coincidence degree is greater than the first coincidence degree threshold, and the third coincidence degree between the fourth 3D point cloud data and the first 3D point cloud data is greater than the third coincidence degree threshold; The first coincidence degree is greater than the first coincidence degree threshold, the second coincidence degree is greater than the second coincidence degree threshold, and the third coincidence degree is greater than the third coincidence degree threshold.

6. A three-dimensional model construction device, characterized in that, Includes: A first acquisition module, configured to acquire a first 3D point cloud model of a target pipeline and a second 3D point cloud model of a target inspection well connected to the surface of the target pipeline; A second acquisition module, configured to acquire first boundary point cloud data corresponding to a first boundary of the first 3D point cloud model and second boundary point cloud data corresponding to a second boundary of the second 3D point cloud model, where the first boundary is a first intersection boundary between the target pipeline and the target inspection well, and the second boundary is a second intersection boundary between the target inspection well and the target pipeline; A first determination module, configured to determine a first coincidence degree between the first boundary point cloud data and the second boundary point cloud data; A first judgment module, configured to judge whether the first 3D point cloud model and the second 3D point cloud model are successfully fused based on the first coincidence degree; A third acquisition module, configured to acquire a 3D overall model of the target pipeline and the target inspection well when it is determined that the fusion is successful; The second acquisition module is specifically configured to: Based on a point cloud model boundary point recognition method, acquire target boundary point cloud data of a second target; wherein, when the second target is the first boundary, the target boundary point cloud data is the first boundary point cloud data; when the second target is the second boundary, the target boundary point cloud data is the second boundary point cloud data; The point cloud model boundary point recognition method includes the following steps: Connect at least three two-dimensional point cloud data at the same scanning angle of a two-dimensional ranging radar to obtain a connection curve; Calculate the curvature of the connection curve, and determine that the two-dimensional point cloud data corresponding to the point with the maximum curvature on the connection curve is the target two-dimensional boundary point cloud data; Determine the three-dimensional boundary point cloud data corresponding to the target two-dimensional boundary point cloud data as the target boundary point cloud data.

7. An electronic device, comprising 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 three-dimensional model construction method according to any one of claims 1 to 5 are implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the three-dimensional model construction method according to any one of claims 1 to 5 are implemented.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, the steps of the three-dimensional model construction method according to any one of claims 1 to 5 are implemented.

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