Pipe Geometric Feature Analysis Method, Device and Electronic Equipment

Abstract

The present application provides a method, apparatus, and electronic device for analyzing the geometric features of a pipeline. The method for analyzing the geometric features of the pipeline includes: using three-dimensional laser scanning technology to obtain point cloud data of the surface of the target pipeline, where the point cloud data includes the three-dimensional coordinate information of multiple sampling points; preprocessing the three-dimensional coordinate information of the multiple sampling points to obtain the corrected three-dimensional coordinate information of the multiple sampling points; converting the corrected three-dimensional coordinate information into cylindrical coordinate information; performing fitting processing on the cylindrical coordinate information in the cylindrical coordinate system to obtain a first surface; deleting the surface part corresponding to the weld on the first surface, and supplementing a target surface in the area of the surface part to obtain a second surface; determining the distribution range of the axial straightness and / or the distribution range of the circumferential non-circularity of the target pipeline according to the second surface, which can improve the analysis efficiency and analysis accuracy of the geometric features of the target pipeline.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and particularly to a method, apparatus, and electronic device for analyzing pipeline geometric features. Background Art

[0002] With the rapid development of social economy, the accelerating process of urbanization construction, and the increasing demand for oil and gas resources, as important infrastructure and components of the urban lifeline system and the national energy strategy, the construction scale of water pipelines, heating pipelines, and oil and gas pipelines is also continuously expanding. Among them, during the pipeline construction process, pipelines buried underground will undergo varying degrees of extrusion deformation under the action of loads such as overlying soil, surface load, vehicle rolling, and geological disasters, thus posing potential safety hazards to the safe operation of the pipelines. Therefore, it is necessary to ensure that the geometric features of the pipelines meet the requirements to ensure the safe operation of the pipelines.

[0003] The related art analyzes the geometric features of pipelines by means of manual measurement, which has problems of low accuracy and efficiency. Summary of the Invention

[0004] Multiple aspects of the present application provide a method, apparatus, and electronic device for analyzing pipeline geometric features to solve the problems of low accuracy and efficiency in analyzing the geometric features of pipelines by means of manual measurement.

[0005] The first aspect of the embodiments of the present application provides a method for analyzing pipeline geometric features, including: using three-dimensional laser scanning technology to obtain point cloud data on the surface of a target pipeline, where the point cloud data includes three-dimensional coordinate information of multiple sampling points; preprocessing the three-dimensional coordinate information of the multiple sampling points to obtain corrected three-dimensional coordinate information of the multiple sampling points, and the preprocessing includes: sampling processing, triangular meshing processing, smoothing processing, fitting the central axis, cropping processing, alignment processing, and abnormal fluctuation processing; converting the corrected three-dimensional coordinate information into cylindrical coordinate information; performing fitting processing on the cylindrical coordinate information in the cylindrical coordinate system to obtain a first surface; deleting the surface part corresponding to the weld on the first surface, and supplementing a target surface in the area of the surface part to obtain a second surface.

[0006] The second aspect of the embodiments of the present application provides a device for analyzing pipeline geometric features, including:

[0007] An acquisition module, configured to use three-dimensional laser scanning technology to obtain point cloud data on the surface of a target pipeline, where the point cloud data includes three-dimensional coordinate information of multiple sampling points;

[0008] A preprocessing module, configured to preprocess the three-dimensional coordinate information of the multiple sampling points to obtain corrected three-dimensional coordinate information of the multiple sampling points, and the preprocessing includes: sampling processing, triangular meshing processing, smoothing processing, fitting the central axis, cropping processing, alignment processing, and abnormal fluctuation processing;

[0009] A conversion module for converting the calibrated three-dimensional coordinate information into cylindrical coordinate information;

[0010] A fitting module for performing fitting processing on the cylindrical coordinate information in the cylindrical coordinate system to obtain a first surface;

[0011] A supplement module for deleting the surface part corresponding to the weld on the first surface and supplementing a target surface in the area of the surface part to obtain a second surface;

[0012] A determination module for determining the distribution range of the axial straightness and / or the distribution range of the circumferential non-circularity of the target pipeline according to the second surface.

[0013] A third aspect of the embodiments of the present application provides an electronic device, including: a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method for analyzing the geometric features of the pipeline in the first aspect is implemented.

[0014] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method for analyzing the geometric features of the pipeline in the first aspect.

[0015] The embodiments of the present application are applied to the analysis scenario of pipeline geometric features. By using three-dimensional laser scanning technology, point cloud data on the surface of the target pipeline is obtained. The point cloud data includes the three-dimensional coordinate information of multiple sampling points. The three-dimensional coordinate information of multiple sampling points is preprocessed to obtain the calibrated three-dimensional coordinate information of multiple sampling points. The preprocessing includes: sampling processing, triangular meshing processing, smoothing processing, fitting the central axis, cropping processing, alignment processing, and abnormal fluctuation processing; converting the calibrated three-dimensional coordinate information into cylindrical coordinate information; performing fitting processing on the cylindrical coordinate information in the cylindrical coordinate system to obtain a first surface; deleting the surface part corresponding to the weld on the first surface and supplementing a target surface in the area of the surface part to obtain a second surface; determining the distribution range of the axial straightness and / or the distribution range of the circumferential non-circularity of the target pipeline according to the second surface, which can automatically determine the distribution range of the axial straightness and / or the distribution range of the circumferential non-circularity of the target pipeline, thereby improving the analysis efficiency of the geometric features of the target pipeline. In addition, it can avoid the influence of the weld on the distribution range of the axial straightness and / or the distribution range of the circumferential non-circularity of the target pipeline, thereby improving the analysis accuracy of the geometric features of the target pipeline. Description of the Drawings

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0017] Figure 1 A scenario diagram of an application of a pipeline geometric feature analysis method provided for an exemplary embodiment of the present application;

[0018] Figure 2 A flowchart of the steps of a pipeline geometric feature analysis method provided for an exemplary embodiment of the present application;

[0019] Figure 3 A schematic diagram of obtaining corrected three-dimensional coordinate information of multiple sampling points provided for an exemplary embodiment of the present application;

[0020] Figure 4 A schematic diagram of the cloud space distribution of cylindrical coordinate information provided for an exemplary embodiment of the present application;

[0021] Figure 5 A schematic diagram of a first surface provided for an exemplary embodiment of the present application;

[0022] Figure 6 A schematic diagram of the weld area replacement process provided for an exemplary embodiment of the present application;

[0023] Figure 7 A schematic diagram of a second surface provided for an exemplary embodiment of the present application;

[0024] Figure 8 A second change curve graph provided for an exemplary embodiment of the present application;

[0025] Figure 9 A change curve graph corresponding to the axial straightness obtained without deleting the curved surface part of the weld provided for an exemplary embodiment of the present application;

[0026] Figure 10 A comparison curve graph of the circumferential non-circularity before and after processing the weld data characteristics provided for an exemplary embodiment of the present application;

[0027] Figure 11 A structural block diagram of a pipeline geometric feature analysis device provided for an exemplary embodiment of the present application;

[0028] Figure 12 A structural schematic diagram of an electronic device provided for an exemplary embodiment of the present application. Detailed implementation manners

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments of this application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope of protection of this application.

[0030] In engineering, the commonly used measurement methods for pipeline straightness include the straight-line method, optical collimation method, gravity method, etc. However, due to the simplicity of equipment and human factors, there are usually large deviations in the pipeline straightness obtained by these measurement methods. Based on this, related technologies have proposed a measurement method for the straightness of the pipeline central axis based on optoelectronic detection technology. Although the measurement method based on optoelectronic detection technology has greatly improved in terms of measurement accuracy, the corresponding measurement device module of this measurement method is complex and the operation is cumbersome, making it difficult to be widely applied in engineering.

[0031] In addition, for the measurement of pipeline roundness, the commonly used measurement methods include internal diameter micrometer measurement and vernier caliper measurement. This manual measurement method is difficult to ensure the accuracy and effectiveness of measuring the maximum and minimum diameters of the pipeline. Based on this, related technologies have proposed a straightness-type pipeline ovality measuring instrument based on the principle of laser induction to measure pipeline roundness, but this pipeline ovality measuring instrument cannot obtain the pipeline straightness characteristics at the same time.

[0032] Based on the above problems, the embodiments of this application provide a method for analyzing pipeline geometric features based on laser scanning, which can efficiently and accurately obtain pipeline straightness and pipeline roundness information, and can provide guidance for the quality management of steel pipes at the factory and the safety evaluation of pipelines.

[0033] In this embodiment, the method for analyzing pipeline geometric features can be an overall method for analyzing pipeline geometric features implemented with the help of a cloud computing system. In addition, the server that executes the method for analyzing pipeline geometric features can be a cloud server, so as to run various algorithms with the advantages of cloud resources; relative to the cloud, the method for analyzing pipeline geometric features can also be applied to server-side devices such as conventional servers or server arrays and various terminal devices, which are not limited here.

[0034] In addition, an application scenario of the embodiments of this application is as Figure 1 , Figure 1It includes pipeline 11 and material pipeline 12. Among them, the axial straightness and circumferential roundness of pipeline 11 meet the standards. Therefore, when this pipeline 11 is buried underground, it has safety. While the straightness and roundness of pipeline 12 do not meet the standards. When this pipeline 12 is buried underground, it will undergo a large degree of extrusion deformation under the action of loads such as overlying soil, ground surcharge, vehicle rolling, and geological disasters, having potential safety hazards. The embodiment of the present application can test the straightness and roundness of the pipeline before the pipeline is buried underground, and then the qualified pipelines can be put into application to ensure the safety of the pipeline.

[0035] In addition, Figure 1 It is just an exemplary application scenario. The embodiment of the present application can be applied to any scenario for geometric analysis of pipelines. The embodiment of the present application does not limit the specific application scenario.

[0036] Figure 2 It is a step flowchart of a pipeline geometric feature analysis method provided by an exemplary embodiment of the present application. As Figure 2 shown, the pipeline geometric feature analysis method specifically includes the following steps:

[0037] S201, using three-dimensional laser scanning technology, obtain the point cloud data of the surface of the target pipeline.

[0038] Among them, the point cloud data includes the three-dimensional coordinate information of multiple sampling points. In the embodiment of the present application, the target pipeline can be various types of pipelines, and there can be smooth and sunken parts on the target pipeline. In addition, the three-dimensional laser scanning technology refers to using a professional three-dimensional laser scanner to scan a certain section of the target pipeline, and then obtain the point cloud data of the surface of the target pipeline. Among them, the surface of the target pipeline can be the outer surface or the inner surface of the target pipeline.

[0039] Exemplarily, referring to Figure 3 , scan a certain section of the target pipeline 31, and obtain the point cloud data. The corresponding point cloud data diagram is as shown in 32. Among them, the target pipeline 31 includes a weld, and this weld is a spiral weld. In addition, this weld can also be a straight weld (not shown). The point cloud data diagram includes a front view 321, a left view 322, and a top view 323. Each sampling point in the point cloud data diagram 32 has three-dimensional coordinate information in a spatial rectangular coordinate system. In addition, the sampling points in the point cloud data diagram 32 are densely arranged.

[0040] S202, preprocess the three-dimensional coordinate information of multiple sampling points to obtain the corrected three-dimensional coordinate information of multiple sampling points.

[0041] Among them, the preprocessing includes: sampling processing, triangular meshing processing, smoothing processing, fitting the central axis, cropping processing, alignment processing, and abnormal fluctuation processing, to obtain the corrected three-dimensional coordinate information of multiple sampling points. The alignment processing is to make the central axis of the target pipeline coincide with the Z-axis of the spatial rectangular coordinate system.

[0042] Exemplarily, referring to Figure 3 , sampling processing is performed on each point cloud view of the point cloud data diagram 32 to make the sampling points in the point cloud view after sampling processing more uniform. Referring to the point cloud view 33 after sampling processing, where the point cloud view 33 after sampling processing includes the main view 331, left view 332, and top view 333 after sampling processing. Then, triangular meshing processing and smoothing processing are performed on the point cloud data after sampling processing, and the simulated geometry diagram 34 corresponding to the point cloud view 33 after sampling processing can be obtained. The simulated geometry diagram 34 includes: the main view 341, left view 342, and top view 343. Then, alignment processing and abnormal fluctuation processing are performed on the simulated geometry diagram 34 to obtain the aligned geometry diagram 35, including: the main view 351, left view 352, and top view 353. Then, fitting the central axis and cropping processing are performed on the aligned geometry diagram to obtain the simulated three-dimensional diagram 36 of a corresponding section of the target pipeline. The simulated three-dimensional diagram 36 corresponds to multiple sampling points, and each sampling point has corresponding corrected three-dimensional coordinate information.

[0043] It can be seen that preprocessing the three-dimensional coordinate information of multiple sampling points obtains the corrected three-dimensional coordinate information of multiple sampling points that can be simulated into a section of the target pipeline. Among them, the simulated first section of the target pipeline's simulated three-dimensional diagram 36 indicates that the central axis of the target pipeline is aligned with the Z-axis of the spatial rectangular coordinate system.

[0044] In the embodiment of the present application, after preprocessing the point cloud data of the stl format file scanned by the three-dimensional laser scanner through the reverse engineering modeling software Geomagic Wrap, it can be imported into the Matlab software in the asc file format to obtain the simulated three-dimensional diagram 36. Among them, after sampling processing the point cloud data through the reverse engineering modeling software, the excess burrs at both ends of the pipeline are cut off. The smooth surface means deleting the local sampling points on the concave surface and eliminating noise.

[0045] S203, convert the corrected three-dimensional coordinate information into cylindrical coordinate information.

[0046] Among them, the corrected three-dimensional coordinate information of the sampling point in the spatial rectangular coordinate system is (x i,j , y i,j , z i )(i = 1, 2,..., n; j = 1, 2,..., 2p), and the converted cylindrical coordinate information is (R ,i,j , T i,j , Z i ). Among them, Rext,i,j is the distance of the corresponding sampling point from the central axis. The specific conversion formula 1) is as follows:

[0047]

[0048] S204. Perform fitting processing on the cylindrical coordinate information in the cylindrical coordinate system to obtain the first surface.

[0049] Exemplarily, refer to Figure 4 , and first draw the cloud space distribution diagram of each sampling point in the cylindrical coordinate system according to the cylindrical coordinate information of each sampling point.

[0050] Among them, fitting the cylindrical coordinate information to obtain the first surface includes: fitting the cylindrical coordinate information into the first surface by using the multi - B - spline interpolation method.

[0051] Specifically, the formula representation of the B - spline interpolation method is as formula 2):

[0052]

[0053] In formula 2), x is a parameter representing the coordinates of the depression contour point; B i is the control vertex, which can be connected to form a control polygon; N i,n (x) is the n - th order B - spline basis function, and n can take 3.

[0054] Among them, the B - spline basis function is as formula 4):

[0055]

[0056] Among them,

[0057] Furthermore, fitting the cylindrical coordinate information into a surface in the cylindrical coordinate system and performing a standardized grid, the obtained first surface is as Figure 5 , from Figure 5 it can be seen that the point cloud data after pre - processing still contains obvious geometric features of the weld, which will affect the subsequent analysis of the axial straightness and circumferential non - circularity of the target pipeline and further processing is required. Among them, the weld is a pipe - making weld, such as a spiral weld or a straight weld.

[0058] S205. Delete the surface part corresponding to the weld on the first surface, and supplement the target surface in the area of the surface part to obtain the second surface.

[0059] Exemplarily, refer to Figure 6 and Figure 7 , in Figure 6In [description], the local view 61 of the first surface has a surface portion h corresponding to the weld seam. After deleting the surface portion h, the local view 62 is obtained. After supplementing the target surface on the local view 62, the second surface is obtained as follows Figure 7 . In Figure 7 , the surface portion corresponding to the weld seam disappears, and the second surface after supplementing the target surface is a smooth surface.

[0060] Among them, referring to Figure 7 , each point on the second surface has cylindrical coordinate information. The Z coordinate of a point on the second surface represents the axial position of the point on the target pipe, and the T coordinate represents the circumferential position of the point on the target pipe.

[0061] In an alternative embodiment, the surface portion corresponding to the weld seam on the first surface is deleted, and the target surface is supplemented in the area of the surface portion to obtain the second surface, including: on the first surface, intercepting and deleting the surface portion at the spiral weld and / or straight weld of the target pipe; by using the B-spline interpolation method multiple times, supplementing the target surface in the area of the surface portion to obtain the second surface.

[0062] Among them, the 3rd-order B-spline interpolation method can be selected to supplement the target surface in the area of the surface portion.

[0063] S206, according to the second surface, determine the distribution range of the axial straightness and / or the distribution range of the circumferential out-of-roundness of the target pipe.

[0064] In an alternative embodiment, according to the second surface, determining the distribution range of the axial straightness of the target pipe includes: determining multiple axial cross-sections of the target pipe; for each axial cross-section, determining the axial straightness of the axial cross-section according to the cylindrical coordinate information of the axial cross-section on the second surface; according to the axial straightness of the multiple axial cross-sections, determining the first change curve graph of the axial straightness with respect to the axial position of the target pipe, and the first change curve graph represents the distribution range of the axial straightness of the target pipe.

[0065] Among them, determining the axial straightness of the axial cross-section according to the cylindrical coordinate information of the axial cross-section on the second surface includes: using the following formula 5) to determine the axial straightness of the axial cross-section:

[0066] M=(R true -R nominal ) / t h Formula 5

[0067] In the above formula, M is the axial straightness, R true is the actual radius of the target pipe determined according to the second surface, R nominal is the nominal radius of the target pipe, t h is the wall thickness of the target pipe. In the calculation process, the nominal radius R nominal and the wall thickness th is known that the actual radius R true can be read out from the second surface. For example, when T is 0 and Z is 1500, the corresponding R is the actual radius of the target pipeline at this point.

[0068] Among them, an axial section can be intercepted every 1° along the circumferential direction of the target pipeline, then 360 axial sections can be intercepted. Then, the axial straightness of each axial section can be determined according to formula (5), and 360 axial straightness values can be obtained. By plotting the varying surface for these 360 axial straightness values, a first variation curve graph can be obtained. Refer to Figure 8 , where Figure 8 the abscissa is the axial position of the target pipeline, and the ordinate is the corresponding axial straightness. One curve in the graph represents one axial section.

[0069] Furthermore, it can be determined from the first variation curve graph that the axial straightness of the target pipeline at the axial position of 1000 mm is relatively large, indicating that the target pipeline in this area is not straight.

[0070] In addition, refer to Figure 9 , which is the variation curve graph corresponding to the axial straightness obtained without deleting the curved surface part of the weld. By comparing with Figure 8 , it can be known that deleting the curved surface part of the weld and replacing it with the target surface can improve the accuracy of the axial straightness calculation. In addition, the weld has an impact on the analysis of the axial straightness of the axial section. Therefore, before analyzing the geometric characteristics of the target pipeline, the influence of the weld characteristics should be eliminated first, and the axial straightness variation range of the target pipeline based on laser scanning is -0.1869t to 0.5359t, where t is the wall thickness of the target pipeline.

[0071] In an alternative embodiment, according to the second surface, determining the distribution range of the circumferential ovality of the target pipeline includes: determining a plurality of circumferential sections of the target pipeline; for each circumferential section, determining the circumferential ovality of the circumferential section according to the cylindrical coordinate information of the circumferential section on the second surface; according to the circumferential ovalities of the plurality of circumferential sections, determining a second variation curve of the circumferential ovality with respect to the axial position of the target pipeline, and the second variation curve represents the distribution range of the circumferential ovality of the target pipeline.

[0072] Among them, determining the circumferential ovality of the circumferential section according to the cylindrical coordinate information of the circumferential section on the second surface includes: using the following formula (6) to determine the circumferential ovality of the circumferential section:

[0073] λ Ovality =(D max -D min ) / D nominal Formula (6)

[0074] Among them, in formula (6), λ Ovality is the circumferential out-of-roundness, D max is the maximum outer diameter of the circumferential section determined according to the second surface, D min is the minimum outer diameter of the circumferential section determined according to the second surface, D nominal is the nominal outer diameter of the target pipeline. Among them, the nominal outer diameter D min is known, which is twice the nominal radius. The maximum outer diameter and the minimum radius can be determined according to the second surface. For example, referring to Figure 7 , determine the radius of each point corresponding to the axial position of 1500 mm, determine the sum of the radii of the two points opposite to T, and take the maximum sum of the radii as the maximum outer diameter and the minimum sum of the radii as the minimum outer diameter.

[0075] Referring to Figure 10 , it is the curve of the circumferential out-of-roundness obtained by equally spacing and intercepting 500 circumferential sections of the pipeline axially before and after processing the weld data characteristics under Matlab software. Figure 10 In Figure 10 , curve A is the change curve corresponding to the circumferential out-of-roundness obtained without deleting the curved surface part of the weld, and curve B is the change curve corresponding to the circumferential out-of-roundness obtained after deleting the curved surface part of the weld. In

[0076] Referring to Figure 10 , for the target pipeline in the pipe sections with axial positions of 0 mm - 700 mm and 1600 mm - 2500 mm, the circumferential straightness before weld feature processing is significantly greater than that after weld feature processing; comparing Figure 5 with Figure 7 it can be seen that due to the existence of weld features, the maximum outer diameter of the circumferential section of the target pipeline is located at the weld. After weld feature processing, the maximum outer diameter of the circumferential section of the target pipeline is located at a non-weld position. It can be seen that the weld has an impact on the analysis of the circumferential out-of-roundness of the target pipeline. For the target pipeline in the axial position section of 700 mm - 1200 mm, the circumferential out-of-roundness before and after weld feature processing is exactly the same. Comparing Figure 5 with Figure 7 it can be seen that this is due to the local convex deformation of the target pipeline in this section. The maximum outer diameter of the circumferential section before and after processing is not at the weld, indicating that the processing of the weld has no impact on the determination of the circumferential straightness at non-weld positions of the pipeline. Among them, the change range of the circumferential out-of-roundness based on laser scanning is 0.1439% - 0.7839%.

[0077] In summary, for a target pipeline with local outward convex deformation, whether to process the weld features affects the analysis of the axial straightness of the target pipeline, but does not affect the analysis of the circumferential non-circularity of the target pipeline. For a target pipeline without local outward convex deformation, whether to process the weld features affects both the axial straightness and the circumferential non-circularity of the target pipeline. In this application, by processing the local features of the weld, the analysis of any target pipeline can be performed, avoiding the influence of weld features on the analysis of the geometric features of the target pipeline.

[0078] In the embodiment of this application, in combination with the three-dimensional laser scanning technology, compared with the existing grid diameter measurement method, it can accurately and efficiently obtain the geometric data and morphology of the target pipeline, greatly reducing the deviation caused by human factors and the measurement accuracy of the equipment. In addition, the accurate axial straightness and circumferential non-circularity determined in this application can provide data support for the geometric deformation of buried pipelines, the analysis of pipeline buckling behavior, and the applicability evaluation, etc.

[0079] In the embodiment of this application, referring to Figure 11 , in addition to providing a method for analyzing the geometric features of a pipeline, a device 110 for analyzing the geometric features of a pipeline is also provided, which is used to execute the above-mentioned method for analyzing the geometric features of a pipeline; the device 110 for analyzing the geometric features of a pipeline includes:

[0080] An acquisition module 111, which is used to acquire the point cloud data on the surface of the target pipeline by using the three-dimensional laser scanning technology, and the point cloud data includes the three-dimensional coordinate information of multiple sampling points;

[0081] A preprocessing module 112, which is used to preprocess the three-dimensional coordinate information of multiple sampling points to obtain the corrected three-dimensional coordinate information of multiple sampling points. The preprocessing includes: sampling processing, triangular meshing processing, smoothing processing, fitting the central axis, cropping processing, alignment processing, and abnormal fluctuation processing, to obtain the corrected three-dimensional coordinate information of multiple sampling points. The alignment processing is to make the central axis of the target pipeline coincide with the Z-axis of the space rectangular coordinate system;

[0082] A conversion module 113, which is used to convert the corrected three-dimensional coordinate information into cylindrical coordinate information;

[0083] A fitting module 114, which is used to perform fitting processing on the cylindrical coordinate information in the cylindrical coordinate system to obtain a first surface;

[0084] A supplement module 115, which is used to delete the surface part corresponding to the weld on the first surface, and supplement the target surface in the area of the surface part to obtain a second surface;

[0085] A determination module 116, which is used to determine the distribution range of the axial straightness and / or the distribution range of the circumferential non-circularity of the target pipeline according to the second surface.

[0086] In an alternative embodiment, the fitting module 114 is specifically configured to: fit the cylindrical coordinate information into a first surface by using the multi - time B - spline interpolation method.

[0087] In an alternative embodiment, the supplement module 115 is specifically configured to: intercept and delete the surface part at the spiral weld and / or straight weld of the target pipeline on the first surface; supplement the target surface in the area of the surface part by using the multi - time B - spline interpolation method to obtain a second surface.

[0088] In an alternative embodiment, the determination module 116 is specifically configured to: determine a plurality of axial cross - sections of the target pipeline; for each axial cross - section, determine the axial straightness of the axial cross - section according to the cylindrical coordinate information of the axial cross - section on the second surface; determine a first change curve graph of the axial straightness with respect to the axial position of the target pipeline according to the axial straightness of the plurality of axial cross - sections, and the first change curve graph represents the distribution range of the axial straightness of the target pipeline.

[0089] In an alternative embodiment, when the determination module 116 determines the axial straightness of the axial cross - section according to the cylindrical coordinate information of the axial cross - section on the second surface, it is specifically configured to: use the following formula to determine the axial straightness of the axial cross - section:

[0090] M=(R true - R nominal ) / t;

[0091] In the above formula, M is the axial straightness, R true is the actual radius of the target pipeline determined according to the second surface, R nominal is the nominal radius of the target pipeline, and t is the wall thickness of the target pipeline.

[0092] In an alternative embodiment, the determination module 116 is specifically configured to: determine a plurality of circumferential cross - sections of the target pipeline; for each circumferential cross - section, determine the circumferential non - circularity of the circumferential cross - section according to the cylindrical coordinate information of the circumferential cross - section on the second surface; determine a second change curve of the circumferential non - circularity with respect to the axial position of the target pipeline according to the circumferential non - circularity of the plurality of circumferential cross - sections, and the second change curve represents the distribution range of the circumferential non - circularity of the target pipeline.

[0093] In an alternative embodiment, when the determination module 116 determines the circumferential non - circularity of the circumferential cross - section according to the cylindrical coordinate information of the circumferential cross - section on the second surface, it is specifically configured to:

[0094] Use the following formula to determine the circumferential non - circularity of the circumferential cross - section:

[0095] λ Ovality =(D max - D min ) / D nominal ;

[0096] In the above formula, λ Ovality is the circumferential out-of-roundness, D max is the maximum outer diameter of the circumferential section determined according to the second surface, D min is the minimum outer diameter of the circumferential section determined according to the second surface, D nominal is the nominal outer diameter of the target pipeline.

[0097] The pipeline geometric feature analysis device provided by the present application can automatically determine the distribution range of the axial straightness and / or the distribution range of the circumferential out-of-roundness of the target pipeline, thereby improving the analysis efficiency of the geometric features of the target pipeline. In addition, it can avoid the influence of the weld on the distribution range of the axial straightness and / or the distribution range of the circumferential out-of-roundness of the target pipeline, thereby improving the analysis accuracy of the geometric features of the target pipeline.

[0098] In addition, in some of the processes described in the above embodiments and the accompanying drawings, a plurality of operations appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order in which they appear in this document or may be executed in parallel. They are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions such as "first" and "second" in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, nor do they limit that "first" and "second" are of different types.

[0099] Figure 12 is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application. As Figure 9 shown, the electronic device 120 includes: a processor 121, and a memory 122 communicatively connected to the processor 121. The memory 122 stores computer-executable instructions.

[0100] Wherein, the processor executes the computer-executable instructions stored in the memory to implement the pipeline geometric feature analysis method provided by any of the above method embodiments. The specific functions and technical effects that can be achieved are not described in detail here.

[0101] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the pipeline geometric feature analysis method provided by any of the above method embodiments.

[0102] An embodiment of the present application also provides a computer program product, which includes: a computer program stored in a readable storage medium. At least one processor of the electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to enable the electronic device to execute the pipeline geometric feature analysis method provided in any of the above method embodiments.

[0103] In several embodiments provided by the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of systems or units can be in electrical, mechanical or other forms.

[0104] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0105] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit exists physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0106] The above integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above software functional units are stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the methods in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0107] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system described above can refer to the corresponding process in the foregoing method embodiments and will not be elaborated here.

[0108] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0109] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A method for analyzing the geometric characteristics of a pipeline, characterized in that, Including: Using 3D laser scanning technology to obtain point cloud data of the surface of the target pipeline, the point cloud data including three-dimensional coordinate information of multiple sampling points; Preprocessing the three-dimensional coordinate information of the multiple sampling points to obtain corrected three-dimensional coordinate information of the multiple sampling points, the preprocessing including: sampling processing, triangular meshing processing, smoothing processing, fitting the central axis, cropping processing, alignment processing, and abnormal fluctuation processing; Converting the corrected three-dimensional coordinate information into cylindrical coordinate information; Performing fitting processing on the cylindrical coordinate information in the cylindrical coordinate system to obtain a first surface; Deleting the surface part corresponding to the weld on the first surface and supplementing a target surface in the area of the surface part to obtain a second surface; Determining the distribution range of the axial straightness and / or the distribution range of the circumferential non-circularity of the target pipeline according to the second surface.

2. The pipeline geometric feature analysis method according to claim 1, wherein The performing fitting on the cylindrical coordinate information to obtain a first surface includes: Interpolating the cylindrical coordinate information into a first surface by using the multiple B-spline interpolation method.

3. The pipeline geometric feature analysis method according to claim 1, wherein The deleting the surface part corresponding to the spiral weld on the first surface and supplementing a target surface in the area of the surface part to obtain a second surface includes: On the first surface, intercepting and deleting the surface part of the spiral weld of the target pipeline; Interpolating a target surface in the area of the surface part by using the multiple B-spline interpolation method to obtain the second surface.

4. The pipeline geometric feature analysis method according to any one of claims 1 to 3, characterized in that Determining the distribution range of the axial straightness of the target pipeline according to the second surface includes: Determining multiple axial cross-sections of the target pipeline; For each axial cross-section, determining the axial straightness of the axial cross-section according to the cylindrical coordinate information of the axial cross-section on the second surface; Determining a first change curve graph of the axial straightness with respect to the axial position of the target pipeline according to the axial straightness of the multiple axial cross-sections, the first change curve graph representing the distribution range of the axial straightness of the target pipeline.

5. The pipeline geometric feature analysis method according to claim 4, characterized in that The determining the axial straightness of the axial cross-section according to the cylindrical coordinate information of the axial cross-section on the second surface includes: Using the following formula to determine the axial straightness of the axial cross-section: M = (R true - R nominal ) / t h ; In the above formula, M is the axial straightness, R true is the actual radius of the target pipe determined according to the second surface, R nominal is the nominal radius of the target pipe, t h is the wall thickness of the target pipe.

6. The pipeline geometric feature analysis method according to any one of claims 1 to 3, characterized in that Determining the distribution range of the circumferential non-circularity of the target pipeline according to the second surface includes: Determining multiple circumferential cross-sections of the target pipeline; For each circumferential cross-section, determining the circumferential non-circularity of the circumferential cross-section according to the cylindrical coordinate information of the circumferential cross-section on the second surface; Determining a second change curve of the circumferential non-circularity with respect to the axial position of the target pipeline according to the circumferential non-circularity of the multiple circumferential cross-sections, the second change curve representing the distribution range of the circumferential non-circularity of the target pipeline.

7. The pipeline geometric feature analysis method according to claim 6, wherein The determining the circumferential non-circularity of the circumferential cross-section according to the cylindrical coordinate information of the circumferential cross-section on the second surface includes: Using the following formula to determine the circumferential non-circularity of the circumferential cross-section: λ Ovality = (D max - D min ) / D nominal ; In the above formula, λ Ovality is the circumferential out-of-roundness, D max is the maximum outer diameter of the circumferential section determined according to the second surface, D min is the minimum outer diameter of the circumferential section determined according to the second surface, D nominal is the nominal outer diameter of the target pipeline.

8. A pipeline geometric feature analysis device, characterized in that Including: An acquisition module for using 3D laser scanning technology to obtain point cloud data of the surface of the target pipeline, the point cloud data including three-dimensional coordinate information of multiple sampling points; A preprocessing module, configured to preprocess the three-dimensional coordinate information of the multiple sampling points to obtain the corrected three-dimensional coordinate information of the multiple sampling points, where the preprocessing includes: sampling processing, triangular meshing processing, smoothing processing, fitting the central axis, cropping processing, alignment processing, and abnormal fluctuation processing; A conversion module, configured to convert the corrected three-dimensional coordinate information into cylindrical coordinate information; A fitting module, configured to perform fitting processing on the cylindrical coordinate information in the cylindrical coordinate system to obtain a first surface; A supplement module, configured to delete the surface part corresponding to the weld on the first surface and supplement a target surface in the area of the surface part to obtain a second surface; A determination module, configured to determine the distribution range of the axial straightness and / or the distribution range of the circumferential non-circularity of the target pipeline according to the second surface.

9. An electronic device, characterized in that, including: A processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the pipeline geometric feature analysis method described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by the processor, they are used to implement the pipeline geometric feature analysis method described in any one of claims 1 to 7.

Images