Soil pile supervision method and system in pipeline construction

Abstract

The present invention provides a method and system for supervising soil piles in pipeline engineering construction. The method comprises: obtaining original topographic image data before trench excavation and trench excavation image data after trench excavation is completed for the same mileage section; constructing an original topographic three-dimensional model and a trench excavation three-dimensional model; comparing the original topographic three-dimensional model and the trench excavation three-dimensional model, identifying the trench mouth elevation and trench mouth boundary coordinates, and generating a trench mouth edge line along the length of the trench; comparing the original topographic three-dimensional model and the trench excavation three-dimensional model, identifying the soil pile edge, connecting the soil pile edge along the length of the trench to obtain the soil pile edge line; and judging the risk of soil sliding at the trench edge based on the distance between the soil pile edge line and the trench mouth edge line. According to the present invention, automatic identification, analysis, and early warning applications of aspects such as soil pile height and slope soil pile distance can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of pipeline engineering construction, and in particular to a method and system for supervising soil piles in pipeline engineering construction. Background Art

[0002] Oil and gas pipeline construction is a strip operation with numerous points, long lines, and a vast area. Construction sites often involve multiple processes and trades, with simultaneous work at multiple locations. Workers' qualifications and equipment vary widely, and their sense of responsibility varies significantly. This reliance on HSE personnel for oversight and inspection is both time-consuming and labor-intensive, and prone to oversight. Consequently, trench excavation quality issues can sometimes arise, making timely inspection and identification difficult. Traditional manual inspection and measurement of trenches is both time-consuming and labor-intensive, and often fails to identify every trench problem. Summary of the Invention

[0003] The present invention aims to address at least one of the above-mentioned deficiencies in the related art. For example, it provides a method and system for monitoring soil piles during pipeline construction to address the risk monitoring of soil pile slides and landslides.

[0004] In order to achieve the above-mentioned purpose, one aspect of the present invention provides a method for supervising soil piles in pipeline engineering construction, the method comprising the following steps: for the same mileage section, obtaining original topographic image data before trench excavation and trench excavation image data after trench excavation is completed, the original topographic image data and the trench excavation image data carrying spatial position coordinate information; constructing an original topographic three-dimensional model and a trench excavation three-dimensional model based on the original topographic image data and the trench excavation image data; comparing the original topographic three-dimensional model with the trench excavation three-dimensional model, identifying the trench mouth elevation and trench mouth boundary coordinates, and generating a trench mouth edge line in the trench length direction; comparing the original topographic three-dimensional model with the trench excavation three-dimensional model, identifying the soil pile edge, connecting the soil pile edge along the trench length direction to obtain the soil pile edge line; and judging the risk of soil sliding at the trench edge based on the distance between the soil pile edge line and the trench mouth edge line.

[0005] Optionally, when the distance between the soil pile edge line and the ditch mouth edge line is less than a slope distance lower limit threshold, an alarm message may be sent, wherein the alarm message is used to indicate that there is a risk of soil pile collapse.

[0006] Optionally, the portion of the soil pile edge line whose distance from the ditch mouth edge line is less than the lower limit threshold of the slope distance is displayed in a first color, and the remaining portion of the soil pile edge line is displayed in a second color, and the first color is different from the second color.

[0007] Optionally, the method may also include: comparing the original topographic three-dimensional model and the trench excavation three-dimensional model, identifying the soil pile height, taking the highest point of the soil pile on the cross-section at any point of the trench, and connecting multiple highest points of the soil pile along the length direction of the trench into a line, wherein the cross-section is intercepted in a direction perpendicular to the length direction of the trench to form a soil pile height line.

[0008] Optionally, when the soil pile height exceeds an upper threshold of the soil pile, an alarm message may be sent, wherein the alarm message is used to indicate that there is a risk of soil pile collapse.

[0009] Optionally, the portion of the soil pile height line exceeding the soil pile upper limit threshold may be displayed in a third color, and the remaining portion of the soil pile height line may be displayed in a fourth color, wherein the third color is different from the fourth color.

[0010] Optionally, the original topography three-dimensional model and the trench excavation three-dimensional model may have different elevations.

[0011] Optionally, the step of generating the trench mouth edge line in the length direction of the trench may include: selecting any specified section of the trench in the original topographic three-dimensional model and the trench excavation three-dimensional model; calculating the elevation difference between each point on the original topographic three-dimensional model and the trench excavation three-dimensional model on the any specified section; and screening the actual trench construction area according to the elevation difference, and combining the edge recognition algorithm to identify the upper and bottom positions of any specified section of the trench and calculate the actual length to determine the trench mouth edge.

[0012] Optionally, the original topographic image data and the trench excavation image data may be acquired by drone oblique photography flight.

[0013] Another aspect of the present invention provides a soil pile supervision system in pipeline engineering construction, the system comprising: an image acquisition module configured to: acquire original topographic image data before trench excavation and trench excavation image data after trench excavation for the same mileage section, the original topographic image data and the trench excavation image data having spatial position coordinate information; a modeling module configured to construct a three-dimensional model of the original topography and a three-dimensional model of the trench excavation based on the original topographic image data and the trench excavation image data; and a data processing platform, the data processing platform The system comprises: a comparison module, configured to: compare the original topographic three-dimensional model with the trench excavation three-dimensional model, identify the trench mouth elevation and trench mouth boundary coordinates, and generate a trench mouth edge line in the trench length direction; compare the original topographic three-dimensional model with the trench excavation three-dimensional model, identify the soil pile edge and soil pile height, connect the soil pile edge along the trench length direction to obtain the soil pile edge line; and an early warning module, configured to: judge the risk of soil sliding at the trench edge and soil pile collapse based on the distance between the soil pile edge line and the trench mouth edge line and the soil pile height.

[0014] Compared with existing technologies, the present invention offers several advantages: It can efficiently, intuitively, and quickly obtain trench excavation information without being affected by terrain. It can also import the designed trench model and Feirenhangfei's trench excavation model into the system in a lightweight manner using actual coordinates, enabling automatic identification, analysis, and early warning of soil pile height and slope distance. This will continuously improve the construction quality and safety management of mountain pipelines, while reducing construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart showing a method for supervising soil accumulation in pipeline engineering construction according to an exemplary embodiment of the present invention is shown.

[0016] Figure 2 A schematic diagram illustrating the aerial survey range of a soil accumulation supervision method in pipeline engineering construction according to an exemplary embodiment of the present invention is shown.

[0017] Figure 3 A schematic diagram of a DEM model obtained by modeling a soil pile supervision method in pipeline engineering construction according to an exemplary embodiment of the present invention is shown.

[0018] Figure 4A A partial schematic diagram of the DEM model before excavation is shown.

[0019] Figure 4B A partial schematic diagram of the DEM model after excavation is shown.

[0020] Figure 5 A schematic diagram of cross-section comparison of elevation models at a ditch body according to an exemplary embodiment of the present invention is shown.

[0021] Figure 6 Shown Figure 5 Schematic diagram of model cross-section comparison results (elevation difference at each point).

[0022] Figure 7 A schematic diagram of cross-section comparison of elevation models at a ditch body according to an exemplary embodiment of the present invention is shown.

[0023] Figure 8 Shown Figure 7 Schematic diagram of model cross-section comparison results (elevation difference at each point).

[0024] Figure 9 A schematic diagram of regular difference areas obtained by comparing the elevations of two DEM models according to an exemplary embodiment of the present invention is shown.

[0025] Figure 10 A schematic diagram of a pipe trench according to an exemplary embodiment of the present invention is shown.

[0026] Figure 11 Shown along Figure 10A sectional view taken along section AA.

[0027] Figure 12 A block diagram of an earth pile supervision system in pipeline construction according to an exemplary embodiment of the present invention is shown.

[0028] Figure 13 A schematic diagram illustrating triangular mesh construction of a soil pile supervision method in pipeline engineering construction according to an exemplary embodiment is shown.

[0029] Markings in the figure:

[0030] 1- Designed route, 11- Trench bottom, 12- Trench wall, 13- Upper bottom, 2- Elevation line of the original topography DEM model, 3- Elevation line of the trench excavation DEM model, 4- Actual trench. DETAILED DESCRIPTION

[0031] The following describes in detail the method and system for supervising soil accumulation during pipeline construction according to the present invention in conjunction with exemplary embodiments. The terms "first," "second," and the like are used herein for ease of description and distinction only and are not to be construed as indicating or implying relative importance or a strict order.

[0032] In the present invention, the ditch bottom elevation refers to the altitude, the ditch bottom depth is obtained by subtracting the different altitudes (elevations) of the two-phase model, and the ditch bottom width refers to the lower bottom width.

[0033] To address the issues of low timeliness, low efficiency, and high manpower requirements in supervising the height of the soil pile and the distance from the slope during trench excavation during pipeline construction, and to ensure pipeline construction safety, the present invention discloses a method for lightweight importing the original terrain model of the trench taken by drone aerial photography and the model after trench excavation into a system according to actual coordinates. By comparing the elevations of the two models, the system automatically identifies and analyzes the distance between the soil pile and the trench slope and the height of the soil pile. If the distance from the slope to the soil pile is lower than the specified value, or the height of the soil pile exceeds the specified height, the system automatically colors the data, identifies the coordinate points, and pushes them to the project management personnel.

[0034] According to an embodiment of the present invention, the original topography of a trench and an oblique photographic model of the trench excavation at the same location are analyzed. Elevation data is superimposed, and areas with significant elevation differences are screened to extract the trench location elevation model, i.e., the actual trench model data. The system then automatically identifies the trench mouth elevation and boundary coordinates, combines system calculations to generate the trench edge, and color-codes areas where soil piles are too close to the trench mouth or too high, providing early warnings.

[0035] Exemplary embodiment 1

[0036] The embodiments of the present invention are applicable to soil pile supervision during the construction of oil and gas pipeline projects. The execution subject of the method can be a computer device, including but not limited to a server, a terminal, etc. For example, the terminal includes but is not limited to a smartphone, a tablet computer, a laptop computer, or a desktop computer.

[0037] Figure 1 FIG1 is a flow chart showing a method for supervising soil accumulation in pipeline construction according to an exemplary embodiment of the present invention. Figure 1 As shown in , in an exemplary embodiment, the method of the present invention includes the following steps:

[0038] S100: Acquire original topographic image data before trench excavation, trench excavation image data after trench excavation, and spatial coordinates. The spatial coordinates include latitude, longitude, and elevation data.

[0039] Collect pre-existing and post-existing images. Pre-existing images are the original topographic image data before trench excavation. Post-existing images are the trench excavation image data after trench excavation is completed.

[0040] Drones can be used to fly over the original topography and after trench excavation of oil and gas pipeline routes, collecting imagery and elevation data. According to an embodiment of the present invention, for oil and gas pipeline projects, oblique photography aerial flights are performed over the same mileage section, both during the original topography and trench formation stages. An aerial flight is performed after the construction unit completes the line laying to obtain imagery of the original topography before trench excavation. After the trench is formed and before the pipeline is laid, another aerial flight is performed to obtain imagery of the trench excavation after completion.

[0041] According to an embodiment of the present invention, the drone used can be a commercially available drone, such as a DJI drone. Aerial surveying involves obtaining aerial photographs in the field using a drone and storing positioning data recorded by sensors such as the onboard GPS and inertial navigation.

[0042] In this embodiment, different drones can be selected for different work environments. In areas with significant elevation differences, if the flight altitude is set to a fixed value, the distances between the highest and lowest points in the survey area and the aerial camera will vary significantly, resulting in inconsistent accuracy in the final aerial images. Therefore, in areas with significant elevation differences, the "Variable Altitude Route" function can be used to adjust the drone's flight altitude based on the terrain of the survey area, maintaining the same altitude as the ground.

[0043] For example, most of the area that a work area crosses is relatively flat, but there are many small hills, and there are also some mountain sections with large elevation differences. Therefore, the drone needs to have the function of adjusting the altitude according to the terrain to ensure the consistency of the resolution of the acquired images.

[0044] According to an embodiment of the present invention, a drone capable of imitating terrain changes and flying at high altitude is used to perform aerial survey work in pipeline construction projects.

[0045] In an embodiment of the present invention, a digital elevation model (DEM) may be product data obtained by geographically mapping a survey area using drone aerial surveying technology. The DEM may be obtained from a data storage device in a drone that completes the surveying mission, such as a memory card. In other embodiments, the DEM may also be obtained from a survey area database, which is a database established to store digital elevation models for each survey area.

[0046] In this embodiment, drone aerial photography can be used to capture both the original terrain and the trench excavation. Using a drone for oblique aerial photography of the original terrain and the trench excavation not only captures aerial images but also simultaneously maps the spatial coordinates of the flight location. However, the present invention is not limited to this method; other methods can also be used to collect image data and spatial coordinates before and after the pipeline excavation.

[0047] Furthermore, routes can be planned in advance. For example, in one embodiment, after setting the acquisition area and various parameters in the route planning software, the software will automatically plan five routes, including one orthographic route and four oblique routes. The pilot can then select one orthographic route and any two oblique routes to capture images. Once the mission is uploaded to the drone, the pilot does not need to switch routes or replace batteries.

[0048] The flight path of the drone for taking aerial photos of the original landform video and the trench excavation video is the same. That is to say, when the drone takes aerial photos of the original landform video and the trench excavation video, the paths of the two flights are basically the same, so as to ensure that the shooting range, angle, clarity, etc. of the original landform video and the trench excavation video remain consistent, thereby reducing the error between the established trench excavation DEM model and the actual trench excavation situation.

[0049] In addition, for the needs of subsequent modeling, the aerial survey range can be a strip range extending a predetermined distance to the left and right of the cross section along the design center line, for example Figure 2 As shown in , taking the designed line 100 as the standard, on a certain section AA, a predetermined distance L is extended outward in the width direction. Taking into account the tortuosity of the line and the overlap of each small section of the line, the predetermined distance can be 200 to 300 meters.

[0050] According to the embodiments of the present invention, by making full use of the latest information technology and drone technology, combined with the maneuverability, flexibility, speed, and economy of drones, drones are used as aerial photography platforms to quickly and efficiently obtain high-quality, high-resolution images, while outputting technical means of image data with spatial position information, and deeply exploring and applying oblique photography models to achieve intelligent identification of trenches.

[0051] S200: Constructing a two-phase three-dimensional model based on the two-phase image data with spatial position coordinate information.

[0052] Specifically, the original landform DEM model and the trench excavation DEM model are constructed based on the original landform image data, the trench excavation image data and the elevation data.

[0053] According to an embodiment of the present invention, aerial photography and modeling are performed twice before and after the trench excavation by using a drone, the original landform and the trench excavation are flown, and the collected image data and elevation data are uploaded to the modeling server to construct a three-dimensional model of the original landform and the trench excavation.

[0054] According to an embodiment of the present invention, modeling data may include: original images and corresponding POS coordinates; camera parameters. However, the present invention is not limited thereto and may also include ground control point data for calibrating drone data, as described in detail below.

[0055] According to an embodiment of the present invention, the aerial survey processing software that can be used for modeling include InphoUASMaster, Pix4Dmapper, Smart 3D (Context Capture CC for short), DJI Zhitu, etc.

[0056] Through modeling software, oblique aerial photography is used to build a model. After obtaining the image file, the construction site model can be reconstructed. After the modeling is completed, a DEM (digital elevation model) can be output for model comparison and measurement, and then a visual model file can be output for display.

[0057] A digital elevation model (DEM) uses limited terrain elevation data to digitally simulate the terrain (i.e., a digital representation of the terrain's surface morphology). It is a physical ground model that represents ground elevation using an ordered array of numerical values ​​and can be used to represent actual terrain features and spatial distribution. It is generally believed that a DTM describes the spatial distribution of linear and nonlinear combinations of various geomorphological factors, including elevation, such as slope, aspect, and slope change rate. A DEM is a zero-order, single-item digital landform model; other geomorphological characteristics, such as slope, aspect, and slope change rate, can be derived from the DEM.

[0058] Figure 3A schematic diagram of a DEM model obtained by modeling a soil pile supervision method in pipeline engineering construction according to an exemplary embodiment of the present invention is shown. Figure 4A A partial schematic diagram of the DEM model before excavation is shown. Figure 4B A partial schematic diagram of the DEM model after excavation is shown.

[0059] The DEM model obtained after modeling is as follows Figure 3 、 Figure 4A 、 Figure 4B As shown in . DEM is a solid ground model organized in a digital form according to a certain structure, which can be used to represent the actual terrain characteristics and spatial distribution. Figure 4A and Figure 4B The DEM (a digitally structured ground model representing actual terrain features and spatial distribution) is embedded into the system. The system can directly overlay and compare the two models to obtain more accurate operational trench data and identify the actual trench construction area. This is described in detail below.

[0060] S300, comparing the two phases of 3D models, screening areas with regular differences in elevation data, identifying the actual trench construction area, obtaining the actual trench model, identifying the trench mouth elevation and trench mouth boundary coordinates, and generating the trench mouth edge line in the trench length direction.

[0061] The original topographic DEM model and the trench excavation DEM model can be matched according to the spatial coordinates and elevations mapped during the aerial modeling process and imported into the data processing platform. The original topographic DEM model and the trench excavation DEM model can be compared to screen the trench location and identify the trench edge. The trench mouth elevation and boundary coordinates can be determined and identified, and the trench mouth edge line along the trench length can be generated. By overlaying the elevation data, areas with large elevation differences can be screened and the trench location elevation model can be intercepted.

[0062] Specifically, S310, the original topographic DEM model and the trench excavation three-dimensional model are lightweight imported into the system, and matched according to the spatial coordinates mapped during the flight.

[0063] When drones are used for oblique photography of original landforms and trench excavations, not only are aerial images captured, but spatial coordinates of the flight locations are also mapped. These spatial coordinates are then embedded into the data processing platform for positioning on a 3D map. When modeling original landforms or trenches, the models are very large, often measured in gigabytes. For example, a 10-kilometer model of original landforms often requires around 10 gigabytes, making downloading them time-consuming. The data processing platform automatically reduces the polygons and compresses the models (often to just two or three gigabytes), achieving distortion-free compression of the 3D models to ensure rapid download and presentation within the system.

[0064] S320. Compare and analyze the elevation difference of the trench at any specified section between the original topographic DEM model and the trench excavation DEM model, screen out the area location that meets the predetermined rules and determine the trench edge.

[0065] Specifically, they may include:

[0066] S321. Preliminarily determine the area of ​​the trench.

[0067] S322, select any specified section of the trench in the original landform DEM model and the trench excavation DEM model, where the section refers to the section taken perpendicular to the trench length direction, Figure 10 The ZX plane, or AA section, shown in .

[0068] S323. On any specified cross section, calculate the elevation difference between each point on the original topography DEM model and the trench excavation DEM model.

[0069] In this embodiment, due to certain errors in elevation data collected by a drone without RTK and the elimination of image control points to simplify the process, the elevations of the two models differed significantly. Therefore, it was not possible to directly determine the ditch body using the subtraction method. Therefore, according to this embodiment, the two elevation models were directly compared. Boolean operations were performed on the two DEM models to determine the areas where the two models differed. These areas were then optimized to remove non-construction areas, ultimately selecting the construction area model.

[0070] like Figure 5 As shown in FIG, on a certain cross section, the elevation line 2 of the original landform DEM model (elevation line of the first phase model) and the elevation line 3 of the trench excavation DEM model (elevation line of the second phase model) are higher than the elevation line 3 of the trench excavation DEM model. This indicates that the present embodiment shows an excavation model. Figure 6 Shown Figure 5 The elevation difference between each point on the original topography DEM model and the trench excavation DEM model.

[0071] Figure 7 FIG8 shows a schematic diagram of the cross-section comparison of the elevation model at the ditch body according to an exemplary embodiment of the present invention; FIG8 shows Figure 7 Schematic diagram of model cross-section comparison results (elevation difference at each point).

[0072] However, the present invention is not limited thereto. For example, in another embodiment, Figure 7 As shown in , the elevation line 2 of the original landform DEM model is lower than the elevation line 3 of the trench excavation DEM model, indicating that part of this embodiment is fill. Figure 8 Shown Figure 7 The elevation difference between each point on the original landform DEM model and the trench excavation DEM model.

[0073] In this embodiment, in order to reduce the complexity of aerial photography measurement, the drone does not set image control points during flight, and the error of two-dimensional measurement data, such as length and width, is within 3%; the error of elevation measurement data is within 10%.

[0074] S324, screening the area to be tested and determining the edge of the ditch.

[0075] The actual trench construction area is screened according to the elevation difference, the trench mouth elevation and trench mouth boundary coordinates are identified, and the trench mouth edge line in the trench length direction is identified by combining the edge recognition algorithm.

[0076] Based on model comparison, the height of the remaining unexcavated portion outside the trench is used as a reference point for positioning. Based on the height difference between the two models behind the trench, the area that meets this pattern is screened and its edge is determined. At the same time, using the regional range calculation method, the largest area that meets this pattern is calculated, which is the trench construction area. The trench depth can also be calculated based on the elevation difference.

[0077] like Figure 6 and Figure 8 As shown in , the height difference of the unexcavated area outside the trench remains stable at a certain value. However, once inside the trench, the height difference between the two models begins to change significantly, with the difference first increasing and then decreasing. Therefore, this pattern can be used to select the trench to be measured (or the actual trench), determine its location, and identify its edges.

[0078] Figure 9 The schematic diagram of the regular difference area obtained by comparing the elevation of two DEM models of the exemplary embodiment of the present invention is shown. Figure 9 In the figure, the dark area is the outline and position of the ditch identified after comparison, and the light area is other areas with no obvious change in height difference. You can find the darkest area and radiate outward along the width direction to determine the ditch. At this point, the elevation difference of each point after the comparison of the two models has been mastered. The elevation difference data is obtained by Figure 9 As shown in the figure, the elevation difference data is converted into color representation, from light to dark, the darker the color, the greater the elevation difference. Based on the filtering results, the elevation difference data of the ditch and each point in the ditch can be filtered out.

[0079] Furthermore, the method may also include: calculating the actual elevation difference based on the fixed elevation difference of the two-phase three-dimensional models obtained from the comparison results. Specifically, the elevation difference of each point in the ditch has been obtained above. However, the current elevation difference includes the fixed elevation difference of the two-phase models. Therefore, it is necessary to calculate the actual elevation difference before and after excavation of the ditch based on the fixed elevation difference of the two models obtained from the comparison results. Figure 5As shown in , the fixed elevation difference between the two models is 2m. It is necessary to subtract 2 from the elevation difference of each point in the ditch to obtain the actual elevation difference, and the depth of the ditch can also be directly obtained.

[0080] S400: Compare the original topography 3D model with the trench excavation 3D model, identify the soil pile edge, and connect the soil pile edge along the length direction of the trench to obtain the soil pile edge line.

[0081] S500: Determine the risk of soil sliding at the ditch edge or soil collapse based on the distance between the soil pile edge and the ditch mouth edge and the soil pile height.

[0082] Figure 10 A schematic diagram of a pipe trench according to an exemplary embodiment of the present invention is shown. Figure 11 Shown along Figure 10 The distance between the edge of the soil pile and the edge of the ditch mouth is L1. The height of the soil pile is H.

[0083] S510. Determine the risk of soil sliding at the ditch edge based on the distance between the edge line of the soil pile and the edge line of the ditch mouth.

[0084] Specifically, when the distance between the soil pile edge line and the ditch mouth edge line is less than the lower limit threshold of the slope distance, an alarm message is sent, wherein the alarm message is used to indicate the risk of soil pile collapse. The lower limit threshold of the slope distance may be 1.0m.

[0085] The portion of the soil pile edge line whose distance from the ditch mouth edge line is less than the lower limit threshold of the slope distance is displayed in a first color, and the remaining portion of the soil pile edge line is displayed in a second color, the first color and the second color being different.

[0086] S520. Compare the original topographic three-dimensional model and the trench excavation three-dimensional model to identify the soil pile height, take the highest point of the soil pile on the cross section at any point in the trench, and connect multiple highest points of the soil pile along the length of the trench into a line, wherein the cross section is intercepted in a direction perpendicular to the length of the trench to form a soil pile height line.

[0087] like Figure 11 As shown in , when the soil pile height H exceeds the soil pile upper threshold, an alarm message is sent, wherein the alarm message is used to indicate the risk of soil pile collapse. The soil pile upper threshold may be 1.5m.

[0088] The portion of the pile height line that exceeds the upper limit threshold of the pile is displayed in a third color, for example, the first portion (segment) of the pile height line is displayed in red, and the remaining portion of the pile height line is displayed in a fourth color, for example, the second portion (segment) of the pile height line is displayed in green, and the third color is different from the fourth color.

[0089] According to an embodiment of the present invention, by comparing the original topography with the elevation data of the trench excavation model, the trench mouth elevation and boundary coordinates are automatically identified. Combined with system calculations, the trench edge is generated, and the presence of soil pile slippage or landslide is determined. Areas with potential soil pile slippage or landslide are mapped and issued as early warnings. This improves construction quality and prevents problems such as soil pile slippage and trench edge slippage.

[0090] Exemplary embodiment 2

[0091] In the past, during settlements for oil and gas pipeline projects, construction companies often struggled to accurately calculate earthwork volumes due to inaccurate trench measurements. Consequently, when reporting earthwork volumes to management, they often relied on estimates based on design drawings and lacked sufficient supporting data. Project management and supervision units were unable to deploy a large number of personnel for verification, and instead typically conducted spot checks and calculations at a few locations, resulting in significant discrepancies between reported quantities and verified data. During settlements, due to the large reported earthwork volumes and lack of supporting data, audit teams often disputed rockwork volume with construction companies, hindering the project settlement process and the final closure and audit process.

[0092] According to another exemplary embodiment of the present invention, based on the above exemplary embodiment 1, this exemplary embodiment may also include automatic calculation of cross-sectional data and earthwork quantities. By comparing models at different stages, the elevation difference between each point is automatically calculated and statistically analyzed to measure trench cross-sectional data and earthwork quantities within the construction area, assisting with quality inspection and earthwork volume settlement.

[0093] a. Calculation of trench cross section

[0094] According to the screening results, the elevation model of the line trench location is extracted from the two-phase model.

[0095] Based on the fixed elevation difference between the two models obtained from the comparison results, the actual elevation difference before and after the trench excavation is calculated. The actual elevation difference can also be directly used to determine the depth of the trench.

[0096] b. Automatic calculation of earthwork volume

[0097] Figure 13 FIG. 1 shows a schematic diagram of a triangular mesh construction method for soil pile supervision in pipeline engineering construction according to an exemplary embodiment. Figure 13 As shown in , a triangular mesh is constructed at the same sampling distance in the pre-excavation model. The height difference at each mesh point is used as the integral height, and the area per unit mesh point is used as the integral unit. The sum of these volumes within the excavation range is the earthwork volume. Its mathematical expression is as follows.

[0098] Formula 1:

[0099] h(x,y)=Z B (x,y)-ZW (x,y)

[0100] Formula 2:

[0101] V=∫∫ Σ h(x,y)dx

[0102] In equations 1 and 2: h(x,y) is the height difference of the grid points; z B (x, y) is the elevation of the surface grid point; z w (x, y) is the elevation of the grid point on the excavation surface; Σ is the calculation area; ds = Δ x 2 is the integration unit (grid area); V is the cumulative excavation volume.

[0103] However, the present invention is not limited thereto. For relatively regular trenches, the cross-section method can also be used to measure earthwork volume, and the calculation formula is shown below.

[0104] Formula 3:

[0105]

[0106] In Equation 3, A1 and A2 are the cross-sectional areas, and D is the distance between the cross-sectional areas at the two selected points. In other words, A1 is the cross-sectional area of ​​the first selected point along the trench length, A2 is the cross-sectional area of ​​the second selected point along the trench length, and D is the distance between the cross-sectional areas at the first and second selected points.

[0107] According to an embodiment of the present invention, by comparing two-stage models, the construction area is automatically identified, and cross-sectional data and earthwork volume of any trench point within the construction area are calculated. This assists project managers in inspecting trench quality and calculating earthwork volume for line construction.

[0108] Exemplary embodiment 3

[0109] According to another exemplary embodiment of the present invention, based on the above-described exemplary embodiment 1, to increase the accuracy of data measurement and reduce errors, ground control points (image control points) can be used to calibrate drone data during modeling. For example, image control points can be set every 100 meters to assist in completing oblique photography modeling. After adding image control points, the corresponding two-dimensional data measurement accuracy can reach 5cm, and the measurement accuracy of elevation data can reach 10cm. However, adding image control points will also increase the workload of aerial photography measurement.

[0110] According to an embodiment of the present invention, image control points are primarily located around the pipeline construction work zone. That is, they are located on the top surface of the work zone, along its width. Image control points are preferably located in open, flat areas such as highway intersections, roads with little vegetation, parks, playgrounds, and residential courtyards.

[0111] For example, there are several ways to arrange GCPs depending on the environment:

[0112] a. For environments with clean roads, clear traffic markings, and distinct corners, you can choose zebra crossings and corner points of traffic markings as image control point locations.

[0113] b. For environments such as roads and paddocks paved with asphalt or cement, a marking may be painted on the road surface with red paint. The marking may be L-shaped, with the inner corner serving as the image control point. Specifically, the marking may be a marking extending outward from the image control point in a first direction and in a second direction perpendicular to the first direction. However, the present invention is not limited thereto; in addition to red paint, other eye-catching colors may also be used for marking.

[0114] c. For fields, grasslands, and other wilderness environments without fixed reference features or paint markings, you can create image control markers using spray-painted cloth. Secure the four corners of the markers with fixtures (e.g., nails or stones) and lay them flat on a flat surface at the image control points. The image control markers can be funnel-shaped, but the present invention is not limited to this; they can also be cross-shaped.

[0115] Optionally, according to an embodiment of the present invention, in flat areas, an image control-free mode can be used; in areas with large height differences, such as peaks, ravines, and mountains, as well as in areas across projection bands, due to the large deformation of the coordinate system, it is preferred to use image control points for control.

[0116] The following will describe the contents involved in the above embodiment with reference to a preferred embodiment.

[0117] 1. Implant the pipeline centerline coordinate data provided by the design unit into the system to generate the pipeline design routing model.

[0118] 2. Use drones to fly over the original landform and trench excavation, upload the collected image data and elevation data to the modeling server, and construct a three-dimensional model of the original landform and trench excavation.

[0119] 3. DEM obtained after modeling. DEM is a solid ground model organized in a digital form according to a certain structure, which can be used to represent the actual terrain characteristics and spatial distribution.

[0120] 4. Import the original landform model and the 3D model of the trench excavation into the system in a lightweight manner and match them according to the spatial coordinates mapped during the flight.

[0121] 5. By comparing the two different elevation models, the height of the remaining unexcavated portion outside the trench is used as a reference point for positioning. Based on the height difference between the two models behind the pit, the area that meets the pattern is screened and its edge is determined. At the same time, using the regional range calculation method, the largest area that meets the pattern is calculated, which is the trench construction area. The trench depth is calculated based on the elevation difference.

[0122] 6. After comparing and screening the ditch body through the two phases of different elevation difference models, the ditch mouth elevation and ditch mouth boundary coordinates are identified by combining the edge recognition algorithm to generate the trench edge.

[0123] 7. By comparing the original topography and the trench excavation 3D model at the same location, identify the edge and height of the soil pile, and connect the edges of the soil pile. At the same time, connect the highest point of the earthmoving at any point.

[0124] 8. Set the upper threshold of soil pile height to 1.5m; the system automatically calculates and issues an early warning with a line of another color when the height exceeds 1.5m.

[0125] 9. Compare the edge line of the trench mouth with the edge line of the soil pile, set the lower threshold to 1.0m, and use a line of another color to issue an early warning if it is lower than 1m.

[0126] 10. Draw a line with the highest point of the soil pile as the center point, and mark the super-high part with different colors. Similarly, draw a line with the edge point of the soil pile close to the trench, and mark it with another color if it is lower than 1.0m.

[0127] According to an embodiment of the present invention, the height and distance of the soil pile are calculated by the height difference between the original landform and the trench model at the same location. The threshold of the soil pile height is set at 1.5m according to the design requirements, and the distance from the trench is 1.0m. If the height exceeds 1.5m and the soil pile distance is less than 1.0m, it is easy to cause the trench to collapse, causing harm to the workers at the bottom of the trench.

[0128] Figure 12 A block diagram of a system for identifying and analyzing the flatness of a trench bottom and trench side slope according to an exemplary embodiment of the present invention is shown.

[0129] like Figure 12 As shown in , according to another exemplary embodiment of the present invention, a system for identifying and analyzing the flatness of a trench bottom and trench side slope is also provided, and the system includes: an image acquisition module 100, a modeling module 200 and a data processing platform 300.

[0130] The image acquisition module 100 is configured to acquire two phases of image data with spatial coordinate information. These two phases of image data were obtained by conducting drone oblique photography flights over the same mileage section at different stages of trench construction. The drone oblique photography flights were conducted during the original terrain and trench formation stages to acquire image data with spatial coordinate information.

[0131] In this embodiment, the image acquisition module 100 is configured to acquire early-stage on-site images, late-stage on-site images, and spatial coordinates. The early-stage on-site images are original topographic image data before trench excavation, and the late-stage on-site images are trench excavation image data after trench excavation is completed. The spatial coordinates include latitude, longitude, and elevation data.

[0132] Among them, the image acquisition module can be a drone, and the flight route of the drone for taking aerial photos of the original topographic image data before trench excavation and the trench excavation image data after trench excavation is completed is the same route. The drone does not have RTK, and no image control points are set when the drone is flying.

[0133] As mentioned above, the two phases of imagery data include: early-stage on-site imagery and late-stage on-site imagery. Acquiring early-stage imagery involves conducting a first drone oblique photography flight after the construction unit completes line laying, capturing original topographic imagery data before trench excavation. Acquiring late-stage imagery involves conducting a second drone flight after the trench is formed and before the pipeline is laid, capturing post-excavation imagery data.

[0134] The modeling module 200 is configured to construct a two-phase 3D model based on the two-phase image data with spatial coordinate information. The two-phase 3D model includes an original terrain 3D model and a trench excavation 3D model. The original terrain 3D model and the trench excavation 3D model have different elevations. The original terrain model is constructed based on the original terrain video, and the trench excavation model is constructed based on the trench excavation video.

[0135] The data processing platform 300 is configured to: compare and analyze the elevation differences of the trench at any specified section of the original topographic three-dimensional model and the trench excavation three-dimensional model, screen out the area locations that meet the predetermined rules and determine the trench edge, identify the actual trench construction area, and obtain the actual trench model.

[0136] The data processing platform 300 includes a comparison module and an early warning module. The comparison module is configured to: compare the original three-dimensional topography model with the trench excavation three-dimensional model, identify the trench mouth elevation and trench mouth boundary coordinates, and generate a trench mouth edge line along the trench length; compare the original three-dimensional topography model with the trench excavation three-dimensional model, identify the soil pile edge and soil pile height, and connect the soil pile edges along the trench length to obtain the soil pile edge line. The early warning module is configured to: determine the risk of trench edge earth sliding or soil pile collapse based on the distance between the soil pile edge line and the trench mouth edge line and the soil pile height.

[0137] Specifically, drones can be used to fly over the original landforms and trench excavations of oil and gas pipeline routes, construct three-dimensional models of the original landforms and trench excavations, and import them into a lightweight system according to the actual coordinates and elevations of the unmanned aerial survey. The system automatically identifies the trench mouth elevation and trench mouth boundary coordinates by comparing the two models, and generates the trench edge in combination with system calculations.

[0138] By comparing the original topography at the same location with the 3D model of the trench excavation, the edge and height of the soil pile are identified, and a line is drawn connecting the edges of the soil pile. At the same time, a line is drawn connecting the highest point of the earth-moving at any point.

[0139] Set the upper threshold of soil pile height to 1.5m; the system automatically calculates and warns when it exceeds 1.5m with a line of another color

[0140] Compare the edge line of the trench mouth with the edge line of the soil pile, set the lower threshold to 1.0m, and issue an early warning with a line of another color when it is lower than 1m.

[0141] In summary, this invention uses drones to fly over the original terrain and trench excavation along the oil and gas pipeline route, constructing a three-dimensional model of the original terrain and trench excavation. This model is then matched to the actual coordinates and elevations obtained from the drone survey, enabling a lightweight import system. By comparing the two models, the system automatically identifies the trench entrance elevation and boundary coordinates. By deeply mining the drone's oblique photography model data, the system automatically identifies, analyzes, and provides early warning applications for aspects such as soil pile height and slope distance. This approach continuously improves the construction quality and safety management of mountain pipelines, while reducing construction costs.

[0142] Although the present invention has been described above with reference to the exemplary embodiments and the accompanying drawings, it will be apparent to those skilled in the art that various modifications may be made to the above embodiments without departing from the spirit and scope of the claims.

Claims

1. A method for supervising soil accumulation in pipeline engineering construction, characterized in that: The method comprises the following steps: For the same mileage section, original topographic image data before trench excavation and trench excavation image data after trench excavation are obtained, wherein the original topographic image data and the trench excavation image data carry spatial position coordinate information; Constructing an original landform three-dimensional model and a trench excavation three-dimensional model based on the original landform image data and the trench excavation image data; Comparing the original three-dimensional topographic model with the three-dimensional model of the trench excavation, identifying the trench mouth elevation and trench mouth boundary coordinates, and generating the trench mouth edge line in the trench length direction; Comparing the original topography 3D model with the trench excavation 3D model, identifying the soil pile edge, and connecting the soil pile edge along the length direction of the trench to obtain a soil pile edge line; and The risk of soil sliding at the ditch edge is determined based on the distance between the edge line of the soil pile and the edge line of the ditch mouth.

2. The soil pile supervision method in pipeline engineering construction according to claim 1 is characterized in that: When the distance between the soil pile edge line and the ditch mouth edge line is less than the slope distance lower limit threshold, an alarm message is sent, wherein the alarm message is used to indicate that there is a risk of soil pile collapse.

3. The method for supervising soil accumulation in pipeline engineering construction according to claim 2, characterized in that: The portion of the soil pile edge line whose distance from the ditch mouth edge line is less than the lower limit threshold of the slope distance is displayed in a first color, and the remaining portion of the soil pile edge line is displayed in a second color, wherein the first color is different from the second color.

4. The soil pile supervision method in pipeline engineering construction according to claim 1, characterized in that: The method also includes: comparing the original topographic three-dimensional model with the trench excavation three-dimensional model, identifying the soil pile height, taking the highest point of the soil pile on the cross-section at any point of the trench, and connecting multiple highest points of the soil pile along the length of the trench into a line, wherein the cross-section is intercepted in a direction perpendicular to the length of the trench to form a soil pile height line.

5. The soil pile supervision method in pipeline engineering construction according to claim 4 is characterized in that: When the soil pile height exceeds an upper threshold of the soil pile, an alarm message is sent, wherein the alarm message is used to indicate that there is a risk of soil pile collapse.

6. The soil pile supervision method in pipeline engineering construction according to claim 5, characterized in that: The portion of the soil pile height line exceeding the soil pile upper limit threshold is displayed in a third color, and the remaining portion of the soil pile height line is displayed in a fourth color, wherein the third color is different from the fourth color.

7. The method for supervising soil accumulation in pipeline engineering construction according to claim 1, characterized in that: The original landform three-dimensional model and the trench excavation three-dimensional model have different elevations.

8. The soil pile supervision method in pipeline engineering construction according to claim 1, characterized in that: The step of generating the trench edge line in the length direction of the trench comprises: Select any specified section of the trench in the original terrain 3D model and the trench excavation 3D model; Calculate the elevation difference between the original 3D topography model and the trench excavation 3D model at any given cross section; and The actual trench construction area is screened according to the elevation difference, and combined with the edge recognition algorithm, the upper and lower positions of any specified section of the trench are identified, the actual length is calculated, and the trench mouth edge is determined.

9. The soil pile supervision method in pipeline engineering construction according to claim 1, characterized in that: The original topographic image data and the trench excavation image data are acquired by drone oblique photography flight.

10. A soil pile supervision system in pipeline construction, characterized in that: The system comprises: An image acquisition module is configured to acquire, for the same mileage section, original topographic image data before trench excavation and trench excavation image data after trench excavation, wherein the original topographic image data and the trench excavation image data carry spatial position coordinate information; a modeling module configured to construct a three-dimensional model of the original landform and a three-dimensional model of the trench excavation based on the original landform image data and the trench excavation image data; and A data processing platform, comprising: a comparison module configured to: compare the original three-dimensional topography model with the three-dimensional model of the trench excavation, identify the trench mouth elevation and trench mouth boundary coordinates, and generate a trench mouth edge line along the length direction of the trench; compare the original three-dimensional topography model with the three-dimensional model of the trench excavation, identify the soil pile edge and soil pile height, and connect the soil pile edge along the length direction of the trench to obtain the soil pile edge line; and The early warning module is configured to judge the risk of soil sliding at the ditch edge and soil collapse based on the distance between the soil pile edge line and the ditch mouth edge line and the soil pile height.

Images