Pipeline elbow data processing method and device, equipment and storage medium

Abstract

The application provides a pipeline elbow data processing method and device, equipment and a storage medium, wherein the method comprises: obtaining internal detection data and surveying data of a target pipeline, aligning the internal detection data with the surveying data according to the numbers of feature points in the internal detection data and the numbers of feature points in the surveying data, obtaining an internal detection feature point layer, generating a segmentation line layer and an elbow layer according to the internal detection feature point layer, spatially connecting the elbow layer and the segmentation line layer, extracting a segmentation line corresponding to the elbow, and determining the angle and curvature of the elbow according to the segmentation line corresponding to the elbow. Through the method of the application, the coordinates in the internal detection data can be maximally recovered according to the surveying information, and the angle and curvature radius of the elbow can be calculated according to the recovered part of the internal detection data, thereby improving the efficiency of pipeline elbow data processing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline bend detection, in particular to a pipeline bend data processing method and device, equipment and a storage medium. BACKGROUND

[0002] With long-distance pipelines as the main energy transportation mode, pipeline safety has become an important guarantee for energy security. Quickly obtaining pipeline bend angle and curvature information and mastering the change of pipeline direction are important guarantees for pipeline safety. Therefore, how to quickly obtain pipeline bend angle and curvature information has become a concern.

[0003] Currently, pipeline safety detection is mainly carried out by pipeline internal detection technology. Pipeline coordinate information is obtained according to a calibration box and an inertial navigation device, so as to calculate the bend angle and curvature information of the pipeline and master the change of the pipeline direction.

[0004] However, when the calibration box fails, accurate internal detection data coordinates and bend information cannot be obtained. When the inertial navigation device fails, internal detection data coordinates and bend information cannot be obtained. These will result in that the bend angle and curvature information of the pipeline cannot be calculated completely and accurately by the internal detection technology. SUMMARY

[0005] The present application aims at the deficiencies in the prior art, and provides a pipeline bend data processing method, device, equipment and storage medium to solve the problem that the existing internal detection technology cannot accurately obtain the bend angle and curvature radius information of the pipeline when the calibration box or the inertial navigation device fails.

[0006] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0007] In a first aspect, an embodiment of the present application provides a pipeline bend data processing method, which comprises:

[0008] Obtaining internal detection data and surveying data of a target pipeline, wherein the internal detection data comprises the number and attribute information of each feature point in the target pipeline, and the surveying data comprises the number and coordinates of each feature point in the target pipeline;

[0009] Aligning the internal detection data with the surveying data according to the attribute information of each feature point in the internal detection data and the attribute information of each feature point in the surveying data to obtain an internal detection feature point layer, wherein the internal detection feature point layer comprises a plurality of feature points, attribute information, coordinates and numbers of the feature points;

[0010] According to the inner detection feature point layer, a center line of the target pipeline is generated, and the center line is segmented according to a fold point of the center line to obtain a segmentation line layer, the segmentation line layer being used for identifying a connecting line between two adjacent feature points and an angle of the connecting line;

[0011] According to the inner detection feature point layer, a bend layer is generated, the bend layer including a feature point with attribute information of a bend and coordinates and a number of the feature point;

[0012] The bend layer and the segmentation line layer are spatially connected, and a segmentation line corresponding to the bend is extracted;

[0013] According to the segmentation line corresponding to the bend, an angle and a curvature of the bend are determined.

[0014] Optionally, the method further comprises:

[0015] The center line is segmented according to the fold point of the center line to obtain a plurality of connecting lines, two end points of each connecting line being two adjacent feature points in the target pipeline;

[0016] According to coordinates of the two end points of each connecting line and the fold point of the center line, an angle of each connecting line is calculated.

[0017] Optionally, the method further comprises:

[0018] A first fold point and a second fold point adjacent to each other and belonging to a same bend in the center line are obtained, and a third fold point adjacent to the first fold point and a fourth fold point adjacent to the second fold point are obtained;

[0019] An angle of a first connecting line connecting the first fold point and the third fold point and an angle of a second connecting line connecting the second fold point and the fourth fold point are calculated;

[0020] According to the angle of the first connecting line and the angle of the second connecting line, an angle of a third connecting line connecting the first fold point and the second fold point is calculated.

[0021] Optionally, the method further comprises:

[0022] A horizontal angle difference of the first connecting line and the second connecting line on a horizontal plane is calculated, and the horizontal angle difference is taken as a horizontal angle of the third connecting line;

[0023] A vertical angle difference of the first connecting line and the second connecting line on a vertical plane is calculated, and the vertical angle difference is taken as a vertical angle of the third connecting line.

[0024] Optionally, the method further comprises:

[0025] Using a feature point in the internal detection data as a reference feature point, searching the surveying and mapping data for a target feature point having the same attribute information as the feature point in the internal detection data, wherein the attribute information of the target feature point is the same as the attribute information of the reference feature point, and the attribute information of a preset number of feature points preceding the target feature point is respectively the same as the attribute information of the preset number of feature points preceding the reference feature point, and the attribute information of a preset number of feature points following the target feature point is respectively the same as the attribute information of the preset number of feature points following the reference feature point;

[0026] Assigning the coordinates of the target feature point to the reference feature point;

[0027] The reference points in the internal detection data are combined into the internal detection feature point layer.

[0028] Optionally, the method further includes:

[0029] Extracting attribute information as feature points of the elbow start point and the elbow end point from the inner detection feature point layer;

[0030] The attribute information of two adjacent feature points, which are the elbow start point and the elbow end point, are respectively regarded as an elbow feature point group;

[0031] Each elbow feature point is grouped into the elbow layer.

[0032] Optionally, the method further includes:

[0033] According to the identifier of the starting feature point and the identifier of the ending feature point in the first feature point group in the elbow layer, the connecting line and the angle of the connecting line corresponding to the first feature point group are searched in the dividing line layer to obtain the dividing line corresponding to the first feature point group, wherein the first feature point group is any feature point group in the elbow layer.

[0034] In a second aspect, another embodiment of the present application provides a pipeline elbow data processing device, the device comprising:

[0035] an acquisition module, configured to obtain internal detection data and surveying and mapping data of the target pipeline, wherein the internal detection data includes the number and attribute information of each feature point in the target pipeline, and the surveying and mapping data includes the number and coordinates of each feature point in the target pipeline;

[0036] an alignment module, configured to align the internal detection data with the surveying and mapping data based on the attribute information of each feature point in the internal detection data and the attribute information of each feature point in the surveying and mapping data, to obtain an internal detection feature point layer, wherein the internal detection feature point layer includes a plurality of feature points and the attribute information, coordinates, and number of each feature point;

[0037] The split line generation module is configured to generate a center line of the target pipeline according to the inner detection feature point layer, split the center line according to a fold point of the center line, and obtain a split line layer, the split line layer being used to identify a connecting line between two adjacent feature points and an angle of the connecting line.

[0038] The elbow generation module is configured to generate an elbow layer according to the inner detection feature point layer, the elbow layer including a feature point with attribute information of an elbow and coordinates and a number of the feature point.

[0039] The extraction module is configured to spatially connect the elbow layer and the split line layer, and extract a split line corresponding to the elbow.

[0040] The determination module is configured to determine an angle and a curvature of the elbow according to the split line corresponding to the elbow.

[0041] Optionally, the split line generation module is further configured to split the center line according to the fold point of the center line to obtain a plurality of connecting lines, two end points of each connecting line being two adjacent feature points in the target pipeline, and calculate an angle of each connecting line according to coordinates of the two end points of each connecting line and the fold point of the center line.

[0042] Optionally, the split line generation module is further configured to obtain a first fold point and a second fold point adjacent to each other and belonging to a same elbow in the center line, obtain a third fold point adjacent to the first fold point and a fourth fold point adjacent to the second fold point, calculate an angle of a first connecting line connecting the first fold point and the third fold point and an angle of a second connecting line connecting the second fold point and the fourth fold point, and calculate an angle of a third connecting line connecting the first fold point and the second fold point according to the angle of the first connecting line and the angle of the second connecting line.

[0043] Optionally, the split line generation module is further configured to calculate a horizontal angle difference of the first connecting line and the second connecting line on a horizontal plane, take the horizontal angle difference as a horizontal angle of the third connecting line, calculate a vertical angle difference of the first connecting line and the second connecting line on a vertical plane, and take the vertical angle difference as a vertical angle of the third connecting line.

[0044] Optionally, the aligning module is further configured to: take a feature point in the indoor detection data as a reference feature point, and search for a target feature point with the same attribute information as the reference feature point in the surveying data, wherein the attribute information of the target feature point is the same as that of the reference feature point, the attribute information of a preset number of feature points before the target feature point is the same as that of a preset number of feature points before the reference feature point, the attribute information of a preset number of feature points after the target feature point is the same as that of a preset number of feature points after the reference feature point; assign the coordinate of the target feature point to the reference feature point; and group the reference feature points in the indoor detection data into the indoor detection feature point layer.

[0045] Optionally, the bend generating module is further configured to: extract feature points with attribute information of bend start points and bend end points from the indoor detection feature point layer; take two feature points with attribute information of bend start points and bend end points respectively and adjacent to each other as a bend feature point group; and group the bend feature point groups into the bend layer.

[0046] Optionally, the extracting module is further configured to: according to the identification of the start point feature point and the identification of the end point feature point in a first feature point group in the bend layer, search for a line corresponding to the first feature point group and the angle of the line in the segmentation line layer, to obtain a segmentation line corresponding to the first feature point group, wherein the first feature point group is any feature point group in the bend layer.

[0047] In a third aspect, another embodiment of the present application provides an electronic device, comprising: a processor, a storage medium, and a bus, the storage medium stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the storage medium communicate through the bus, the processor executes the machine readable instructions to perform the steps of the method in the first aspect.

[0048] In a fourth aspect, another embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, when the computer program is run by a processor, the steps of the method in the first aspect are executed.

[0049] The beneficial effects of the present application are: by aligning the internal detection data and the surveying data, generating an internal detection feature point layer according to the aligned feature point coordinates, and generating a segmentation line layer and a bend layer according to the internal detection feature point layer, and finally spatially connecting the segmentation line layer and the bend layer and determining the angle and curvature of the bend. When the internal detection data is missing coordinate information, the coordinate information can be recovered according to the surveying data, and the angle and curvature radius of the bend are calculated. The complete recovery of the internal detection data under the failure state of the internal detection system inertial navigation or the calibration box is maximized, the cost increase caused by the secondary ball passing is avoided, and the calculation efficiency of the pipeline bend is improved. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0051] Figure 1 A flowchart of a pipeline bend data processing method provided by an embodiment of the present application is shown;

[0052] Figure 2 A flowchart of a method for calculating the angle of each connecting line provided by an embodiment of the present application is shown;

[0053] Figure 3 A schematic diagram of a segmentation line of a pipeline bend provided by an embodiment of the present application is shown;

[0054] Figure 4 A flowchart of a method for calculating the angle of a third connecting line provided by an embodiment of the present application is shown;

[0055] Figure 5 A schematic diagram of a horizontal projection and a vertical projection of a connecting line provided by an embodiment of the present application is shown;

[0056] Figure 6 A flowchart of a method for calculating the horizontal angle and the vertical angle of a connecting line provided by an embodiment of the present application is shown;

[0057] Figure 7 A flowchart of a method for determining an internal detection feature point layer provided by an embodiment of the present application is shown;

[0058] Figure 8 A flowchart of a method for determining a bend layer provided by an embodiment of the present application is shown;

[0059] Figure 9A structural schematic diagram of a pipeline elbow data processing device provided by an embodiment of the present application is shown.

[0060] Figure 10 A structural schematic diagram of an electronic device provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application merely serve the purpose of illustrating and describing and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn according to the actual proportions. The flowcharts in the present application show the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowcharts or one or more operations can be removed from the flowcharts under the guidance of the content of the present application.

[0062] In addition, the described embodiments are merely some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0063] It should be noted that the term “comprising” will be used in the embodiments of the present application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0064] The existing pipeline detection technology is mainly pipeline internal detection technology, which obtains coordinate information according to a calibration box and a pipeline device. However, during actual measurement, high-frequency vibration actions inevitably occur, causing the calibration box and the inertial navigation device to fail, so that accurate pipeline coordinate information cannot be obtained. Even if secondary measurement is performed, the high-frequency vibration actions cannot be avoided, and there is a very high cost. Therefore, how to obtain the elbow angle and the curvature information of the pipeline when internal detection fails and coordinate information is missing has become a problem to be solved.

[0065] The present application is based on the above problems, and proposes a pipeline elbow data processing method. The execution subject can be an electronic device with computing processing capability. The present application can be applied in the scene of detecting invalidity during pipeline detection. By aligning the internal detection data and the surveying and mapping data of the pipeline, an internal detection feature point layer is generated, and an elbow layer and a segmentation line layer are obtained according to the internal detection feature point layer. The elbow layer and the segmentation line layer are connected, so as to calculate the angle and the radius of curvature of the pipeline elbow, thereby solving the problem that the elbow angle and the radius of curvature cannot be obtained due to the missing coordinates in the internal detection data in the prior art.

[0066] Next, the pipeline elbow data processing method of the present application is described. As shown in Figure 1 , the method comprises:

[0067] S101: Obtain internal detection data and surveying and mapping data of a target pipeline. The internal detection data comprises the number and attribute information of each feature point in the target pipeline. The surveying and mapping data comprises the number and coordinates of each feature point in the target pipeline.

[0068] Optionally, the internal detection data can be data measured by a calibration box and an inertial navigation device. Since the application scenario of the present application is that the calibration box or the inertial navigation device cannot or cannot accurately obtain coordinate information when it is invalid, the internal detection data of the present application can comprise feature points obtained in internal detection, the number of the feature points, and the attribute information of the feature points.

[0069] Optionally, the feature points in the internal detection data can be a plurality of girth welds, a plurality of pipeline starting points, and a plurality of pipeline ending points in the pipeline, which can be detected by the device.

[0070] Optionally, the number of each feature point in the internal detection data can be a number generated from front to back according to the detection direction of the inertial navigation device, wherein the number of the starting point of the same pipeline elbow can be greater than the number of the ending point of the elbow.

[0071] Optionally, the attribute information of the feature points in the internal detection data can comprise the type of the feature points, the mileage of the feature points, and the loss information of the feature points, etc. For example, the type of the feature points can be girth weld, pipeline starting point, pipeline ending point, tee, valve, or cross, etc. The mileage of the feature points can be the pipeline length from the pipeline starting point to the current feature point. The loss information of the feature points can be deformation, metal loss, etc. occurring on the feature points.

[0072] For example, Table 1 gives an example of internal detection data. As shown in Table 1, the coordinates in the internal detection data are all empty when the inertial navigation device is invalid.

[0073] Table 1 Internal detection data

[0074] Number Type Coordinate Mileage (m) Loss information 610 Girth weld / 270.5 / 611 Tee / 282.4 Deformation 612 Girth weld / 294.3 / 613 Girth weld / 306.2 / 614 Elbow start / 318.1 / 615 Elbow end / 330.1 / 616 Girth weld / 341.9 / 617 Valve / 353.8 Metal loss 618 Girth weld / 365.7 / 619 Elbow start / 377.6 / 620 Elbow end / 389.5 / 621 Girth weld / 401.4 /

[0075] Optionally, the surveying data can be data obtained by synchronous detection of an actual pipeline, and the surveying data can include feature points obtained by surveying and coordinates of the feature points. After the surveying data obtained by synchronous detection is acquired, the surveying data can be first subjected to quality inspection to determine whether there is a topological error in the data. If there is, the topological error in the data can be first modified to improve the accuracy of subsequent steps.

[0076] Optionally, the feature points in the surveying data can be feature points that can be detected by the equipment and included in the pipeline body, such as a plurality of girth welds, a plurality of pipeline starting points, and a plurality of pipeline ending points. The number of the feature points in the surveying data can be the same as the number of the feature points in the internal detection data.

[0077] Optionally, the coordinates of the feature points in the surveying data can be three-dimensional position coordinates of the feature points in a surveying coordinate system.

[0078] S102: Align the internal detection data and the surveying data according to the attribute information of each feature point in the internal detection data and the attribute information of each feature point in the surveying data, to obtain an internal detection feature point layer. The internal detection feature point layer includes a plurality of feature points and attribute information, coordinates, and numbers of the feature points.

[0079] Optionally, as described above, the attribute information of the feature points in the internal detection data can be the same as the attribute information of the feature points in the surveying data. Therefore, the internal detection data and the surveying data with the same attribute information can be aligned to obtain the internal detection feature point layer.

[0080] Optionally, the internal detection feature point layer can be a layer obtained by unfolding a plurality of feature points with coordinates.

[0081] Optionally, the attribute information of the feature points in the internal detection feature point layer can be the same as the attribute information of the feature points in the internal detection data.

[0082] Optionally, the coordinates of the feature points in the internal detection feature point layer can be the same as the coordinates of the feature points with the same number in the surveying data.

[0083] S103: Generate a center line of the target pipeline according to the internal detection feature point layer, and segment the center line according to the break points of the center line to obtain a segmentation line layer. The segmentation line layer is used to identify a connecting line between two adjacent feature points and an angle of the connecting line.

[0084] Optionally, the center line of the target pipeline can be a line obtained by point set to line processing on the feature points in the internal detection feature point layer. The center line can be used as the internal detection feature point line layer to facilitate execution of subsequent steps on the center line.

[0085] Optionally, the inflection point of the center line can be a feature point in the center line that satisfies the following condition: one or more of the three differences between the coordinates of the feature point (x2, y2, z2) and the corresponding coordinate axis of the previous feature point (xl, yl, zl) is greater than a preset threshold.

[0086] It should be noted that in actual execution, the points on the center line with large coordinate changes can be the start and end points of the pipe elbow, and therefore, for example, a person skilled in the art can adjust the preset threshold so that the determined inflection point is the start and end point of the pipe elbow. Assuming that the start and end points of a pipe elbow are regarded as a group of inflection points, the split line layer can include multiple groups of inflection points. The split line layer can be a layer containing all split lines, and the inflection point of the center line can be multiple, and the split line layer can also include multiple split lines.

[0087] It should be noted that the coordinates of the end points of the split lines in the split line layer can be three-dimensional position coordinates.

[0088] Optionally, the angle of the connecting line can be the angle of the line segment relative to the horizontal direction and the vertical direction calculated according to the three-dimensional position coordinates of the line segment in the split line layer.

[0089] S104: generating an elbow layer according to the internal detection feature point layer, the elbow layer including feature points with attribute information of elbow, coordinates and numbers of the feature points.

[0090] Optionally, the elbow layer can be a layer generated according to the coordinates of the elbow start point and the elbow end point, wherein the elbow start point and the elbow end point can be obtained according to the attribute information of the internal detection feature point layer.

[0091] Optionally, the elbow layer can represent multiple elbow information, for example, the elbow layer can include one or more elbow start points and one or more elbow end points, and the multiple elbow start points and the multiple elbow end points can be corresponded to multiple groups of elbow information according to the numbers, wherein one group of elbow information can include a start point and an end point of an elbow.

[0092] It should be noted that the execution order of the above steps S103-S104 is not sequential.

[0093] S105: spatially linking the elbow layer and the split line layer to extract the split line corresponding to the elbow.

[0094] Optionally, as described above, the elbow layer can include multiple groups of elbow information, and the split line layer can also include multiple groups of inflection points. Spatially linking the corresponding elbow and inflection point can obtain the split line corresponding to the elbow.

[0095] Optionally, the split line corresponding to the elbow can be the split line where the inflection point corresponding to the elbow is located.

[0096] S106: Determine the angle and curvature of the elbow according to the split line corresponding to the elbow.

[0097] Optionally, the angle of the elbow can include the angle of the elbow and the direction of the elbow.

[0098] Optionally, the curvature radius of the elbow can be calculated according to the elbow angle and the elbow length. For example, the elbow length can be represented by S, which can be calculated by the following formula (1).

[0099] S = S c -S d (1)

[0100] Wherein, S c and S d respectively represent the start and end of the elbow, as shown in Table 1, the mileage difference can be calculated according to the mileage information in the internal detection data.

[0101] The curvature radius can be calculated according to the following formula (2):

[0102]

[0103] Wherein, n represents the angle of the elbow, and R represents the curvature radius of the elbow.

[0104] In the embodiments of the present application, the internal detection data and the survey data are first aligned, the internal detection feature point layer is generated according to the aligned feature point coordinates, the split line layer and the elbow layer are generated according to the internal detection feature point layer, and finally the split line layer and the elbow layer are spatially connected and the angle and curvature of the elbow are determined. Through the method of the present application, the coordinate information can be recovered according to the survey data when the internal detection data is missing coordinate information, the elbow layer and the split line layer are obtained through the internal detection feature point layer, and the elbow layer and the split line layer are spatially connected, so that the angle and curvature radius of the elbow can be accurately calculated, the complete recovery of the internal detection data under the condition of the failure of the inertial navigation system or the calibration box of the internal detection system is maximized, and the cost increase caused by the secondary ball passing and the difficulty of re-detecting the schedule are avoided. The dilemma of indefinite delay of secondary detection is avoided.

[0105] Next, the process of determining the split line layer in S103 is described, as shown in Figure 2 The above step S103 includes:

[0106] S201: Split the center line according to the fold point of the center line to obtain a plurality of lines, and the two end points of each line are two adjacent feature points in the target pipeline.

[0107] Optionally, as described above, the inflection points of the center line can be the start point and the end point of the elbow, and the start point and the end point of the elbow can be obtained by screening the attribute information of the elbow, and the adjacent feature points of the start point and the end point of the elbow can be determined according to the number, and the two end points of each line segment can be any one combination of the start point and the adjacent feature point of the start point of the elbow, the end point and the adjacent feature point of the end point of the elbow, and the start point and the end point of the elbow.

[0108] For example, continuing to refer to Figure 3 , C and D can be two inflection points on the center line, and the center line can be divided according to C and D, and combined with the adjacent feature points A and B of the inflection points, three division lines AC, CD and DB can be obtained, wherein C and D can be the start point and the end point of the elbow of the pipeline, A and C, and B and D are adjacent feature points, and AC and DB can be regarded as the straight pipe part of the elbow, and CD can be regarded as the elbow part of the elbow.

[0109] S202: According to the coordinates of the two end points of each line segment and the inflection points of the center line, the angle of each line segment is calculated.

[0110] Optionally, according to the coordinates of the two end points of each line segment and the inflection points of the center line, the straight pipe part and the elbow part of the elbow can be determined, the straight pipe part can be a straight line segment in the line segment, and the elbow part can be a curve segment in the line segment. According to the end point coordinates of the straight line segment, the angle information of the straight line segment can be determined, and according to the angle information of the straight line segment, the angle information of the elbow can be determined.

[0111] Next, the method for determining the angle of the line segment in S202 will be described, as shown in Figure 4 , the above step S202 includes:

[0112] S401: Obtain a first inflection point and a second inflection point adjacent to each other and belonging to the same elbow, and obtain a third inflection point adjacent to the first inflection point and a fourth inflection point adjacent to the second inflection point.

[0113] Optionally, the first inflection point can be the start point of the elbow screened according to the attribute information, and the second inflection point can be the end point of the elbow screened according to the attribute information.

[0114] Optionally, the third inflection point adjacent to the first inflection point can be a feature point adjacent to the start point of the elbow and having a number smaller than that of the start point of the elbow, and the fourth inflection point adjacent to the second inflection point can be a feature point adjacent to the end point of the elbow and having a number greater than that of the start point of the elbow.

[0115] For example, continuing to refer to Figure 3 , the first inflection point determined according to the center line can be point C, and the second inflection point can be point D, the third inflection point adjacent to the first inflection point C can be point A, and the fourth inflection point adjacent to the second inflection point D can be point B.

[0116] S402: Calculate the angle of the first connecting line connecting the first fold point and the third fold point, and the angle of the second connecting line connecting the second fold point and the fourth fold point.

[0117] Optionally, the first connecting line can be a line segment determined by the first fold point and the third fold point as endpoints, and the second connecting line can be a line segment determined by the second fold point and the fourth fold point as endpoints. For example, referring to Figure 3 , the first connecting line can be AC, and the second connecting line can be DB.

[0118] Optionally, the angle of the first connecting line can be the horizontal angle and the vertical angle of the line segment AC in the three-dimensional space.

[0119] For example, as Figure 5 shown, the horizontal angle of the first connecting line AC can be the angle θ AC between the line segment AC in the XOY plane under the three-dimensional coordinate system and the X axis after projection. AC Similarly, the horizontal angle and the vertical angle of the second connecting line DB are θ DB and Φ DB , respectively.

[0120] The calculation method of θ AC and θ DB may be as shown in the following formulas (3) and (4):

[0121]

[0122]

[0123] The calculation method of Φ AC and Φ DB may be as shown in the following formulas (5) and (6):

[0124]

[0125]

[0126] S403: According to the angle of the first connecting line and the angle of the second connecting line, calculate the angle of the third connecting line connecting the first fold point and the second fold point.

[0127] Optionally, the third connecting line can be a line segment corresponding to the elbow portion of the pipe elbow. For example, the third connecting line can be the CD segment. Figure 3

[0128] ​It should be noted that the angle information of the connecting line CD may include a horizontal angle and a vertical angle, and the horizontal angle and the vertical angle may be calculated based on the horizontal angle and the vertical angle of the first connecting line and the second connecting line, respectively.

[0129] Next, the method for calculating the angle of the third connecting line in the above S403 is described. Figure 6 As shown, the above step S403 includes:

[0130] S601: Calculate the horizontal angle difference between the first connecting line and the second connecting line on the horizontal plane, and use the horizontal angle difference as the horizontal angle of the third connecting line.

[0131] Optionally, the horizontal angle between the first connecting line and the second connecting line can be the angle between the first connecting line and the second connecting line and the X axis obtained by projecting the first connecting line and the second connecting line on the XOY plane. Figure 5 As shown, the horizontal angle of the first line can be θ AC , the horizontal angle of the second line can be θ DB , the horizontal angle of the third line CD can be calculated as follows:

[0132] θ CD =θ AC -θ DB (7)

[0133] Among them, θ CD It is the horizontal angle information of the third line CD.

[0134] S602: Calculate the vertical angle difference between the first connecting line and the second connecting line on the vertical plane, and use the vertical angle difference as the vertical angle of the third connecting line.

[0135] Optionally, the perpendicular angle between the first connecting line and the second connecting line may be an angle with the X-axis obtained by projecting the first connecting line and the second connecting line onto the XOZ plane.

[0136] For example, Figure 5 As shown, the vertical angle of the first line can be Φ AC , the vertical angle of the second line can be Φ DB , the vertical angle of the third line CD can be calculated as follows:

[0137] Φ CD =Φ AC -Φ DB (8)

[0138] Among them, Φ CD It is the vertical angle information of the third line CD.

[0139] It should be noted that, after the third connecting line of the elbow bend is determined in the above-mentioned third aspect of the present application, since the calculated elbow angle n can be between -360° and 360°, the line angle can also be converted to meet the actual use requirements, and the conversion method is as follows:

[0140] Table 2 Elbow horizontal angle conversion

[0141] Elbow angle Elbow value Elbow direction 0° < θ < 90° n Left elbow -90° < θ < -0° |n| Right elbow 270° < θ < 360° 360-n Right elbow -360° < θ < -270° 360+n Left elbow

[0142] Table 3 Elbow vertical angle conversion

[0143] Elbow angle Elbow value Elbow direction 0° < ψ < 90° n Up elbow -90° < ψ < -0° |n| Down elbow 270° < ψ < 360° 360-n Down elbow -360° < ψ < -270° 360+n Up elbow

[0144] The following is a description of the process of determining the inner detection feature point layer in S102 described above. As shown in FIG. 7, the above-mentioned step S102 includes: Figure 7

[0145] S701: Taking a feature point in the inner detection data as a reference feature point, find a target feature point in the surveying data which has the same attribute information as the reference feature point, wherein the attribute information of the target feature point is the same as that of the reference feature point, and the attribute information of the target feature point before a preset number of feature points is the same as that of the reference feature point before a preset number of feature points, and the attribute information of the target feature point after a preset number of feature points is the same as that of the reference feature point after a preset number of feature points.

[0146] Optionally, the reference feature point can be a feature point to be processed selected from the feature points in the inner detection data, and the target feature point can be a feature point in the surveying data which is first selected according to the attribute information of the reference feature point, and the attribute information of the first n continuous feature points of the target feature point in the surveying data is the same as that of the first n continuous feature points of the reference feature point corresponding to the target feature point in the inner detection data, and the attribute information of the last n continuous feature points of the target feature point in the surveying data is also the same as that of the last n continuous feature points of the reference feature point corresponding to the target feature point in the inner detection data.

[0147] ​For example, assuming that the benchmark feature point determined from the internal detection data is A12, based on the attribute information of A12, it can be determined that the feature points with the same attribute information in the surveying and mapping data include B23 and B45. Then, the n consecutive feature points before A12 can be compared with the n consecutive feature points before B23 and B45, and the n consecutive feature points after A12 can be compared with the n consecutive feature points after B23 and B45. Assuming that the result of the comparison is that the attribute information of A12 and B23 is the same, and the attribute information of the feature points before and after A12 and B23 is also the same, B23 can be used as the target feature point of the benchmark feature point A12.

[0148] S702: Assign the coordinates of the target feature point to the reference feature point.

[0149] Optionally, the coordinates of the target feature point are assigned to the reference feature point by copying the coordinates of the target feature point to the reference feature point with the same attribute information according to the attribute information, thereby obtaining the reference feature point with the coordinates.

[0150] S703: Organize each reference point in the internal detection data into an internal detection feature point layer.

[0151] Optionally, the coordinates of the reference feature points in the aforementioned internal detection data may be subjected to point set-to-line processing to obtain an internal detection feature point layer.

[0152] In an embodiment of the present application, by aligning the internal detection data with the surveying and mapping data, assigning the coordinate information in the surveying and mapping data to the internal detection data and generating an internal detection feature point layer, the coordinate information in the internal detection data can be restored to the maximum extent, thereby realizing the calculation of the elbow angle and curvature radius.

[0153] Next, the specific process of generating the elbow layer in the above S104 is described. Figure 8 As shown, the above step S104 includes:

[0154] S801: Extracting attribute information of feature points of the elbow start point and the elbow end point from the inner detection feature point layer.

[0155] Optionally, as shown in Table 1, the attribute information of the feature point may characterize the type of the feature point. Therefore, by screening the attribute information, feature points whose attribute information is the elbow start point and the elbow end point may be obtained.

[0156] It should be noted that the inner detection feature point layer may include multiple elbows, so there may also be multiple elbow start points and elbow end points extracted.

[0157] S802: Two adjacent feature points whose attribute information is respectively an elbow start point and an elbow end point are regarded as an elbow feature point group.

[0158] Optionally, according to the numbers of the extracted plurality of elbow start points and the plurality of elbow end points, a plurality of groups of adjacent numbered elbow start points and elbow end points can be determined, and an elbow feature point group can be a feature point group composed of one adjacent numbered elbow start point and one adjacent numbered elbow end point.

[0159] Optionally, a plurality of elbow feature point groups can be extracted in the inner detection feature point layer.

[0160] S803: Grouping the plurality of elbow feature point groups into an elbow layer.

[0161] Optionally, the coordinates of the plurality of elbow feature point groups obtained in the above process can be represented on the same map to obtain an elbow layer.

[0162] Optionally, the coordinates of each of the plurality of elbow feature point groups obtained in the above process can be represented on each map to obtain a plurality of elbow layers.

[0163] In the embodiments of the present application, by extracting the elbow start points and the elbow end points, an elbow layer can be generated, which better represents the position of the elbow in the map and facilitates subsequent calculation of the elbow angle and the radius of curvature.

[0164] The following is a description of the method for extracting the split line corresponding to the elbow in S105, and S105 includes:

[0165] According to the identification of the start point feature point and the identification of the end point feature point in the first feature point group in the elbow layer, the connecting line corresponding to the first feature point group and the angle of the connecting line are found in the split line layer, to obtain the split line corresponding to the first feature point group, wherein the first feature point group is any one feature point group in the elbow layer.

[0166] Optionally, the first feature point group can be any one feature point group selected in the elbow layer, including one adjacent numbered elbow start point and one adjacent numbered elbow end point.

[0167] Optionally, the identification of the start point feature point and the identification of the end point feature point in the first feature point group can be the numbers or coordinates of the elbow start point and the elbow end point.

[0168] For example, assuming that the number of the elbow start point C in the first feature point group is 614 and the number of the elbow end point D is 615, according to the numbers, the split lines AC, CD and DB corresponding to the elbow start point C and the elbow end point D can be found in the split line layer, i.e., the split lines corresponding to the feature point group points C and D, and the angles of the split lines AC, CD and DB calculated in the split line layer are obtained.

[0169] It should be noted that after selecting any one set of feature points as the first feature point set and completing the above steps, the next arbitrary feature point set can also be determined as the next first feature point set until the segmentation lines corresponding to all feature point sets are determined.

[0170] In the embodiment of the present application, by extracting the segmentation line corresponding to the elbow, the angle of the segmentation line corresponding to the start point and the end point of each elbow can be determined, so as to realize the calculation of the angle of the elbow.

[0171] Based on the same inventive concept, the embodiment of the present application also provides a pipeline elbow data processing device corresponding to the pipeline elbow data processing method. Since the principle of solving problems in the device of the embodiment of the present application is similar to the above-mentioned pipeline elbow data processing method of the embodiment of the present application, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described here.

[0172] Referring to Figure 9 FIG. 5 is a schematic diagram of a pipeline elbow data processing device provided in the fifth embodiment of the present application. The device comprises an acquisition module 901, an alignment module 902, a segmentation line generation module 903, an elbow generation module 904, an extraction module 905 and a determination module 906, wherein:

[0173] The acquisition module 901 is configured to acquire the internal detection data and the surveying data of the target pipeline. The internal detection data comprises the number and attribute information of each feature point in the target pipeline. The surveying data comprises the number and coordinates of each feature point in the target pipeline.

[0174] The alignment module 902 is configured to align the internal detection data and the surveying data according to the attribute information of each feature point in the internal detection data and the attribute information of each feature point in the surveying data, to obtain an internal detection feature point layer. The internal detection feature point layer comprises a plurality of feature points, attribute information, coordinates and numbers of the feature points.

[0175] The segmentation line generation module 903 is configured to generate a center line of the target pipeline according to the internal detection feature point layer, and to segment the center line according to the inflection points of the center line, to obtain a segmentation line layer. The segmentation line layer is configured to identify the connecting line between two adjacent feature points and the angle of the connecting line.

[0176] The elbow generation module 904 is configured to generate an elbow layer according to the internal detection feature point layer. The elbow layer comprises feature points with attribute information of elbows, coordinates and numbers of the feature points.

[0177] The extraction module 905 is configured to spatially connect the elbow layer and the segmentation line layer, and to extract the segmentation line corresponding to the elbow.

[0178] The determination module 906 is configured to determine the angle and curvature of the elbow according to the segmentation line corresponding to the elbow.

[0179] Optionally, the split line generation module 903 is further configured to split the center line according to the inflection points of the center line to obtain a plurality of connecting lines, two end points of each connecting line being two adjacent feature points in the target pipeline; and calculate an angle of each connecting line according to coordinates of the two end points of the connecting line and the inflection points of the center line.

[0180] Optionally, the split line generation module 903 is further configured to obtain a first inflection point and a second inflection point adjacent to each other and belonging to a same elbow in the center line, and obtain a third inflection point adjacent to the first inflection point and a fourth inflection point adjacent to the second inflection point; calculate an angle of a first connecting line connecting the first inflection point and the third inflection point and an angle of a second connecting line connecting the second inflection point and the fourth inflection point; and calculate an angle of a third connecting line connecting the first inflection point and the second inflection point according to the angle of the first connecting line and the angle of the second connecting line.

[0181] Optionally, the split line generation module 903 is further configured to calculate a horizontal angle difference of the first connecting line and the second connecting line on a horizontal plane, and take the horizontal angle difference as a horizontal angle of the third connecting line; and calculate a vertical angle difference of the first connecting line and the second connecting line on a vertical plane, and take the vertical angle difference as a vertical angle of the third connecting line.

[0182] Optionally, the alignment module 902 is further configured to take a feature point in the internal detection data as a reference feature point, and find a target feature point with same attribute information as the feature point in the internal detection data in the surveying and mapping data, where the attribute information of the target feature point is same as the attribute information of the reference feature point, attribute information of a preset number of feature points before the target feature point is same as attribute information of a preset number of feature points before the reference feature point, and attribute information of a preset number of feature points after the target feature point is same as attribute information of a preset number of feature points after the reference feature point; assign a coordinate of the target feature point to the reference feature point; and group the reference feature points in the internal detection data into an internal detection feature point layer.

[0183] Optionally, the elbow generation module 904 is further configured to extract feature points with attribute information of an elbow starting point and an elbow ending point from the internal detection feature point layer; group two feature points adjacent to each other and with attribute information of the elbow starting point and the elbow ending point respectively as an elbow feature point group; and group the elbow feature point groups into an elbow layer.

[0184] Optionally, the extraction module 905 is further configured to find a connecting line corresponding to a first feature point group and an angle of the connecting line in the split line layer according to an identifier of a starting point feature point and an identifier of an ending point feature point in the first feature point group in the elbow layer, to obtain a split line corresponding to the first feature point group, where the first feature point group is any one of the feature point groups in the elbow layer.

[0185] The description of the processing flow of each module in the device and the interaction flow between the modules can refer to the related description in the method embodiments, and will not be described in detail here.

[0186] The embodiment of the present application generates an internal detection feature point layer according to the aligned internal detection data with coordinates, and generates a bend layer and a segmentation line layer according to the internal detection feature point layer, and performs spatial connection between the bend layer and the segmentation line layer to obtain the angle and curvature of the bend, so that the angle and curvature radius of the bend can be calculated when the internal detection fails and the internal detection data lacks coordinate information, the cost increase caused by secondary internal detection is avoided, and the efficiency of pipeline bend calculation is improved.

[0187] The embodiment of the present application also provides a computer device, as shown in the figure, a structural schematic diagram of the computer device provided by the embodiment of the present application, comprising a processor 101, a memory 102, and a bus. The memory 102 stores machine readable instructions executable by the processor 101 (such as the execution instructions of the acquisition module, the alignment module, the segmentation line generation module, the bend generation module, the extraction module, and the determination module in the device in the foregoing method embodiment, etc.), when the computer device runs, the processor 101 and the memory 102 communicate through the bus, and the machine readable instructions are executed by the processor 101 to perform the processing corresponding to the method described above. Figure 10 Figure 9 The embodiment of the present application also provides a computer readable storage medium, and the computer program is stored on the computer readable storage medium, and the computer program is executed by the processor to perform the steps of the pipeline bend data processing method described above.

[0188] The skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be described in detail in the present application. In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented by other ways. The device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and actual implementation can have another division way, and for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some communication interface, indirect coupling or communication connection between the devices or modules, which can be electrical, mechanical or other forms.

[0189] The skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be described in detail in the present application. In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented by other ways. The device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and actual implementation can have another division way, and for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some communication interface, indirect coupling or communication connection between the devices or modules, which can be electrical, mechanical or other forms.

[0190] ​In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or partly contributed to the prior art or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0191] The above is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the protection scope of the present application.

Claims

1. A pipeline elbow data processing method, characterized in that: include: Acquire internal detection data and surveying and mapping data of the target pipeline, wherein the internal detection data includes: the number and attribute information of each feature point in the target pipeline, and the surveying and mapping data includes: the number and coordinates of each feature point in the target pipeline; Aligning the internal detection data with the surveying and mapping data based on the attribute information of each feature point in the internal detection data and the attribute information of each feature point in the surveying and mapping data to obtain an internal detection feature point layer, wherein the internal detection feature point layer includes multiple feature points and the attribute information, coordinates, and number of each feature point; Generate the center line of the target pipeline according to the internal detection feature point layer, and segment the center line according to the inflection points of the center line to obtain a segmentation line layer, wherein the segmentation line layer is used to identify the connection line between two adjacent feature points and the angle of the connection line; Generate an elbow layer according to the internal detection feature point layer, wherein the elbow layer includes attribute information of the feature points of the elbow and the coordinates and numbers of the feature points; The elbow layer and the dividing line layer are spatially linked to extract the dividing line corresponding to the elbow; Determine the angle and curvature of the elbow according to the dividing line corresponding to the elbow; The step of aligning the internal detection data with the surveying and mapping data according to the attribute information of each feature point in the internal detection data and the attribute information of each feature point in the surveying and mapping data to obtain an internal detection feature point layer includes: Using a feature point in the internal detection data as a reference feature point, searching the surveying and mapping data for a target feature point having the same attribute information as the feature point in the internal detection data, wherein the attribute information of the target feature point is the same as the attribute information of the reference feature point, and the attribute information of a preset number of feature points preceding the target feature point is respectively the same as the attribute information of the preset number of feature points preceding the reference feature point, and the attribute information of a preset number of feature points following the target feature point is respectively the same as the attribute information of the preset number of feature points following the reference feature point; Assigning the coordinates of the target feature point to the reference feature point; The reference points in the internal detection data are combined into the internal detection feature point layer.

2. The method according to claim 1, wherein The step of segmenting the center line according to the inflection points of the center line to obtain a segmentation line layer includes: The center line is segmented according to the inflection points of the center line to obtain a plurality of connecting lines, wherein the two endpoints of each connecting line are respectively two adjacent feature points in the target pipeline; The angle of each connecting line is calculated according to the coordinates of the two endpoints of each connecting line and the inflection point of the center line.

3. The method according to claim 2, wherein Calculating the angle of each connecting line according to the coordinates of the two endpoints of each connecting line and the turning point of the center line includes: Obtain a first inflection point and a second inflection point that are adjacent to each other and belong to the same elbow in the centerline, and obtain a third inflection point adjacent to the first inflection point and a fourth inflection point adjacent to the second inflection point; Calculate the angle of a first line connecting the first inflection point and the third inflection point and the angle of a second line connecting the second inflection point and the fourth inflection point; The angle of a third line connecting the first inflection point and the second inflection point is calculated based on the angle of the first line and the angle of the second line.

4. The method according to claim 3, wherein The calculating the angle of a third line connecting the first inflection point and the second inflection point according to the angle of the first line and the angle of the second line includes: Calculating a horizontal angle difference between the first connecting line and the second connecting line on a horizontal plane, and using the horizontal angle difference as the horizontal angle of the third connecting line; A vertical angle difference between the first connecting line and the second connecting line on a vertical plane is calculated, and the vertical angle difference is used as the vertical angle of the third connecting line.

5. The method according to any one of claims 1 to 4, characterized in that The step of generating an elbow layer according to the internal detection feature point layer includes: Extracting attribute information as feature points of the elbow start point and the elbow end point from the inner detection feature point layer; The attribute information of two adjacent feature points, which are the elbow start point and the elbow end point, are respectively regarded as an elbow feature point group; Each elbow feature point is grouped into the elbow layer.

6. The method according to claim 5, wherein The step of spatially linking the elbow layer and the dividing line layer to extract the dividing line corresponding to the elbow includes: According to the identifier of the starting feature point and the identifier of the ending feature point in the first feature point group in the elbow layer, the connecting line and the angle of the connecting line corresponding to the first feature point group are searched in the dividing line layer to obtain the dividing line corresponding to the first feature point group, wherein the first feature point group is any feature point group in the elbow layer.

7. A pipeline elbow data processing device, characterized in that: include: an acquisition module, configured to obtain internal detection data and surveying and mapping data of the target pipeline, wherein the internal detection data includes the number and attribute information of each feature point in the target pipeline, and the surveying and mapping data includes the number and coordinates of each feature point in the target pipeline; an alignment module, configured to align the internal detection data with the surveying and mapping data according to the number of each feature point in the internal detection data and the number of each feature point in the surveying and mapping data, to obtain an internal detection feature point layer, wherein the internal detection feature point layer includes multiple feature points and attribute information, coordinates, and numbers of each feature point; a segmentation line generation module, configured to generate the center line of the target pipeline based on the internal detection feature point layer, and segment the center line based on the inflection points of the center line to obtain a segmentation line layer, wherein the segmentation line layer is used to identify the connection line between two adjacent feature points and the angle of the connection line; An elbow generation module is used to generate an elbow layer according to the internal detection feature point layer, wherein the elbow layer includes attribute information of the feature points of the elbow and the coordinates and numbers of the feature points; An extraction module, used to spatially connect the elbow layer and the dividing line layer to extract the dividing line corresponding to the elbow; A determination module, configured to determine the angle and curvature of the elbow according to the separation line corresponding to the elbow; The alignment module is used to: Using a feature point in the internal detection data as a reference feature point, searching the surveying and mapping data for a target feature point having the same attribute information as the feature point in the internal detection data, wherein the attribute information of the target feature point is the same as the attribute information of the reference feature point, and the attribute information of a preset number of feature points preceding the target feature point is respectively the same as the attribute information of the preset number of feature points preceding the reference feature point, and the attribute information of a preset number of feature points following the target feature point is respectively the same as the attribute information of the preset number of feature points following the reference feature point; Assigning the coordinates of the target feature point to the reference feature point; The reference points in the internal detection data are combined into the internal detection feature point layer.

8. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to perform the steps of the pipeline elbow data processing method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the pipeline elbow data processing method according to any one of claims 1 to 6 are executed.

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