Axonometric Surveying Method of Pressure Pipeline

Abstract

The invention discloses a pressure pipeline axonometric mapping method, which comprises operating corresponding pipeline element buttons on a measuring module according to the type of pipeline element; measuring the target pipeline element based on a laser distance measuring component and a three-axis gyroscope to obtain the node distance, horizontal azimuth and pitch angle of the pipeline node; calculating the three-dimensional coordinates of the target pipeline node in an X-Y-Z rectangular coordinate system according to the node distance, horizontal azimuth and pitch angle; performing coordinate transformation on the three-dimensional coordinates to obtain the three-dimensional coordinate data under the reference coordinate system; drawing a three-dimensional wireframe model diagram according to the three-dimensional coordinate data and the type of pipeline element, and generating a pressure pipeline axonometric mapping. By measuring the node distance, horizontal azimuth and pitch angle of the pipeline node, the three-dimensional coordinates of the pipeline node are calculated and coordinate transformation is performed, thereby generating a pressure pipeline axonometric mapping, realizing on-site rapid mapping of the pressure pipeline axonometric mapping, and improving the integrity and accuracy of the pressure pipeline axonometric mapping.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline surveying and mapping, and in particular to a pressure pipeline axonometric surveying and mapping method. Background Art

[0002] The pressure pipeline axonometric drawing is an important reference material in the pressure pipeline inspection process. It uses wireframe symbols and text to intuitively display the pressure pipeline direction, pipeline components, pipeline properties and other information. In the actual pipeline inspection work, it is often the case that the original pressure pipeline axonometric drawing of the enterprise is lost, or the axonometric drawing exists but does not match the actual pipeline, so the inspectors need to conduct surveying and mapping on the pressure pipeline site.

[0003] When drawing the axonometric diagram of a pressure pipeline, the spatial distance information between the pressure pipeline components needs to be reflected. In the case of a long pressure pipeline, or a complex spatial structure of the pipeline with mutual occlusion, it is difficult for one surveying site to measure the node coordinates of all pipeline components on the pipeline, and multiple surveying sites need to be set up; since the pipeline node coordinates measured by each surveying site are based on the measurement module of the surveying site as the coordinate origin, the coordinate data measured by different surveying sites need to be transformed and unified into the same coordinate system to prepare for the subsequent generation of the axonometric diagram of the pressure pipeline. Using the existing axonometric diagram surveying method of the pressure pipeline, the axonometric diagram of the pressure pipeline drawn fails to reflect the spatial distance information of the pipeline, and only indicates the spatial direction of the pressure pipeline and the category of pipeline components, without involving the spatial coordinates of the pipeline components. There is a lack of steps to measure and calculate the three-dimensional coordinates of the pipeline node space, resulting in low integrity and accuracy of the axonometric diagram of the pressure pipeline. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a pressure pipeline axonometric mapping method, which measures the node distance, horizontal azimuth and pitch angle of the pipeline node, calculates the three-dimensional coordinates of the pipeline node and performs coordinate transformation, thereby generating a pressure pipeline axonometric mapping, realizing on-site rapid mapping of the pressure pipeline axonometric mapping, and improving the integrity and accuracy of the pressure pipeline axonometric mapping.

[0005] An embodiment of the present invention provides a pressure pipeline axonometric mapping method, which is applied to a pressure pipeline axonometric mapping system. The pressure pipeline axonometric mapping system includes a measurement module, an angle calibration module and a two-dimensional pan-tilt platform. The measurement module is provided with a laser ranging component, a three-axis gyroscope and a pipeline element button. The laser ranging component is used to measure the distance between the pipeline node and the measurement module; the three-axis gyroscope is used to measure the horizontal azimuth and pitch angle of the measurement module pointing to the pipeline node, and the angle calibration module is used to calibrate the horizontal azimuth and pitch angle of the three-axis gyroscope. The mapping method includes:

[0006] Fixing the measuring module and the angle calibration module on the two-dimensional pan-tilt platform, and performing angle calibration on the measuring module;

[0007] According to the type of pipeline element, a corresponding pipeline element button is operated on the measurement module;

[0008] Based on the laser ranging assembly and the three-axis gyroscope, the target pipeline element is measured to obtain the node distance, horizontal azimuth angle and pitch angle of the pipeline node;

[0009] Calculated according to the node distance, the horizontal azimuth angle and the pitch angle XYZ The three-dimensional coordinates of the target pipeline node in a rectangular coordinate system;

[0010] Performing coordinate transformation on the three-dimensional coordinates to obtain three-dimensional coordinate data in a reference coordinate system;

[0011] Draw a three-dimensional wireframe model diagram according to the three-dimensional coordinate data and the pipeline component type;

[0012] The observation view of the three-dimensional wireframe model diagram is set to an axonometric view to generate an axonometric view of the pressure pipeline.

[0013] According to some embodiments of the present invention, the pipeline node includes a weld node and a steering node, and the measuring of the pipeline element based on the laser ranging assembly and the three-axis gyroscope to obtain the node distance, horizontal azimuth angle and pitch angle of the pipeline node includes:

[0014] The target pipeline node is measured based on the laser ranging assembly and the three-axis gyroscope to obtain a first node distance, a first horizontal azimuth angle and a first pitch angle of the weld node;

[0015] The target pipeline node is measured based on the laser ranging component and the three-axis gyroscope to obtain a second node distance, a second horizontal azimuth angle and a second pitch angle of the steering node.

[0016] According to some embodiments of the present invention, the pipeline element category includes a first element category, a second element category and a third element category, the first element category has 2 weld nodes, the second element category has 2 weld nodes and 1 turning node located in the middle, and the third element category has 3 weld nodes and 1 turning node located in the middle.

[0017] According to some embodiments of the present invention, the pipeline elements of the first component category include straight pipes, valves, flanges, and reducers, the pipeline elements of the second component category include elbows, and the pipeline elements of the third component category include tees.

[0018] According to some embodiments of the present invention, the step of measuring the target pipeline element based on the laser ranging assembly and the three-axis gyroscope to obtain the node distance, horizontal azimuth and pitch angle of the pipeline node includes:

[0019] If the pipeline component type is the first component type, the node distance, horizontal azimuth angle and pitch angle of two weld nodes of the measured pipeline component relative to the origin of the coordinate system of the surveying station are obtained in sequence along the surveying direction;

[0020] If the pipeline component type is the second component type, the node distances, horizontal azimuth angles and pitch angles of two weld nodes and one turning node of the pipeline component relative to the origin of the coordinate system of the surveying station are measured in sequence along the surveying direction;

[0021] If the pipeline component type is the third component type, the node distances, horizontal azimuth angles and pitch angles of the three weld nodes and one turning node of the pipeline component relative to the origin of the coordinate system of the surveying station are measured in sequence along the surveying direction.

[0022] According to some embodiments of the present invention, the node distance, the horizontal azimuth angle and the pitch angle are calculated to obtain X - Y - Z The three-dimensional coordinates of the pipeline node in the rectangular coordinate system include:

[0023] The node distance, the horizontal azimuth angle and the pitch angle are calculated based on the first coordinate calculation formula to obtain the three-dimensional coordinates of the pipeline node [ x A , y A , z A ];

[0024] The first coordinate calculation formula is:

[0025] x A = L ·cos( α )·sin( θ ),

[0026] y A = L ·cos( α )·cos( θ ),

[0027] z A = L ·sin( α ) ;

[0028] In the formula, L is the distance between the coordinate origin O and the target pipeline node A, OA is the line between the coordinate origin O and the target pipeline node A, α is the pitch angle of OA, θ It is the angle between the horizontal projection line of OA and the Y axis.

[0029] According to some embodiments of the present invention, drawing a three-dimensional wireframe model diagram according to the three-dimensional coordinate data and the pipeline component type includes:

[0030] Presetting graphic elements of pipeline elements in the measurement module;

[0031] According to the type of the pipeline component, select a corresponding graphic element;

[0032] A three-dimensional wireframe model diagram is drawn according to the three-dimensional coordinate data and the selected graphic element.

[0033] According to some embodiments of the present invention, the step of performing coordinate transformation on the three-dimensional coordinates to obtain three-dimensional coordinate data in a reference coordinate system includes:

[0034] Each surveying and mapping site establishes its own measurement coordinate system, and calculates its own coordinate data in the measurement coordinate system based on the second coordinate calculation formula;

[0035] The second coordinate calculation formula is:

[0036] x Bk = L k ·cos( α k )·sin( θ k ),

[0037] y Bk = L k ·cos( α k )·cos( θ k ),

[0038] z Bk = L k ·sin( α k ) ;

[0039] In the formula, L k is the coordinate origin Ok With pipeline nodes B The distance between O k B is the coordinate origin O k With the target pipeline node B The connection between α k for O k B The pitch angle, θ k for O k B The projection line in the horizontal direction is Y The angle of the axes;

[0040] The measurement coordinate system of the first surveying and mapping site is used as a reference coordinate system, and the self-coordinate data is converted to the reference coordinate system to obtain three-dimensional coordinate data under the reference coordinate system.

[0041] According to some embodiments of the present invention, the method of using the measurement coordinate system of the first surveying and mapping site as a reference coordinate system and converting the own coordinate data into the reference coordinate system to obtain the three-dimensional coordinate data in the reference coordinate system includes:

[0042] The self-coordinate data is converted to the reference coordinate system based on the coordinate offset matrix to obtain the three-dimensional coordinate data in the reference coordinate system, and the calculation formula is: ;

[0043] In the formula, M k1 is a coordinate offset matrix, the coordinate offset matrix M k1 The calculation formulas for the three elements are:

[0044] M k1 - X = L k1 ·cos( α k1 )·sin( θ k1 ),

[0045] M k1 - Y = L k1 ·cos( α k1 )·cos( θ k1),

[0046] M k1 - Z = L k1 ·sin( α k1 ) ;

[0047] in L k1 is the coordinate origin O 1 Distance from the origin O k The distance O 1 O k is the coordinate origin O 1 and the coordinate origin O k The connection between α k1 for O 1 O k The pitch angle, θ k1 for O 1 O k The angle between the horizontal projection line and the Y axis.

[0048] According to some embodiments of the present invention, fixing the measuring module and the angle calibration module on the two-dimensional pan-tilt platform and performing angle calibration on the measuring module includes:

[0049] Fixing the measuring module and the angle calibration module on the two-dimensional pan-tilt platform;

[0050] Rotate the two-dimensional gimbal to point the angle calibration module to a position where the horizontal azimuth angle is 0° and the pitch angle is 0°;

[0051] The measuring module is angularly calibrated so that the horizontal azimuth angle of the three-axis gyroscope is 0° and the pitch angle is 0°.

[0052] The pressure pipeline axonometric mapping method according to the embodiment of the present invention has at least the following beneficial effects:

[0053] The embodiment of the present invention provides a method for measuring and mapping axonometric drawings of pressure pipelines. According to the type of pipeline elements, the corresponding pipeline element buttons are operated on the measurement module; the target pipeline elements are measured based on the laser distance measuring component and the three-axis gyroscope to obtain the node distance, horizontal azimuth and pitch angle of the pipeline nodes; the three-dimensional coordinates of the target pipeline nodes in the XYZ rectangular coordinate system are calculated according to the node distance, the horizontal azimuth and the pitch angle; the three-dimensional coordinates are transformed to obtain the three-dimensional coordinate data in the reference coordinate system; a three-dimensional wireframe model diagram is drawn according to the three-dimensional coordinate data and the type of pipeline elements, and a pressure pipeline axonometric drawing is generated. By measuring the node distance, horizontal azimuth and pitch angle of the pipeline nodes, the three-dimensional coordinates of the pipeline nodes are calculated and the coordinate transformation is performed, so as to generate the pressure pipeline axonometric drawing, realize the on-site rapid mapping of the pressure pipeline axonometric drawing, and improve the integrity and accuracy of the pressure pipeline axonometric drawing.

[0054] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0056] Figure 1 A flow chart of a method for isometric mapping of a pressure pipeline according to an embodiment of the present invention;

[0057] Figure 2 A flowchart of performing angle calibration on a measurement module according to an embodiment of the present invention;

[0058] Figure 3 It is a flow chart of measuring a target pipeline element based on a laser ranging component and a three-axis gyroscope according to an embodiment of the present invention;

[0059] Figure 4 A schematic diagram of measuring three-dimensional coordinates of pipeline nodes according to an embodiment of the present invention;

[0060] Figure 5 A schematic diagram of three-dimensional coordinate transformation of different surveying and mapping sites according to an embodiment of the present invention;

[0061] Figure 6 A schematic diagram of the structure of a pressure pipeline axonometric mapping system according to an embodiment of the present invention;

[0062] Figure 7 It is a module diagram of a pressure pipeline axonometric mapping system according to an embodiment of the present invention;

[0063] Figure 8A schematic diagram of the structure of a pressure pipeline to be mapped according to an embodiment of the present invention;

[0064] Fig. 9 A schematic diagram of a pressure pipeline mapping process according to an embodiment of the present invention;

[0065] Fig.10 This is an axonometric diagram of a pressure pipeline drawn according to the axonometric diagram surveying and drawing method of a pressure pipeline according to an embodiment of the present invention.

[0066] Reference numerals:

[0067] Bracket 100, two-dimensional gimbal 200, measurement module 300, laser ranging component 310, three-axis gyroscope 320, touch screen 330, processor 340, data storage unit 350, data communication unit 360, angle calibration module 400;

[0068] The pressure pipe 500 , the first straight pipe 511 , the second straight pipe 512 , the third straight pipe 513 , the first flange 521 , the first three-way pipe 531 , the second three-way pipe 532 , the first valve 541 , the first elbow 551 , the second elbow 552 , the third elbow 553 , and the first reducer 561 . DETAILED DESCRIPTION

[0069] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0070] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0071] In the description of the present invention, "several" means one or more, "multiple" means more than two, greater than, less than, and exceeding are understood as not including the number itself, and "above", "below", and "within" are understood as including the number itself. If there is a description of "first", "second", etc., it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0072] The pressure pipeline axonometric drawing is an important reference material in the pressure pipeline inspection process, and is usually used to assist in identifying the inspection data of various parts of the pipeline. However, many pipelines reported for inspection, especially old pipelines with a long service life, often have lost or incomplete pipeline axonometric drawing files; and some companies provide pipeline axonometric drawings that do not match the actual pipeline direction and cannot be used for on-site inspection. In the case of the above-mentioned axonometric drawing being lost or the axonometric drawing being available but not matching the actual pipeline, the inspector needs to conduct surveying and mapping on the pipeline site.

[0073] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments.

[0074] This embodiment provides a pressure pipeline isometric mapping method, which is applied to a pressure pipeline isometric mapping system. Figure 6 and Figure 7 The pressure pipeline axonometric mapping system includes a bracket 100, a two-dimensional pan-tilt platform 200, a measuring module 300 and an angle calibration module 400. The measuring module 300 is provided with a laser distance measuring component 310, a three-axis gyroscope 320 and a pipeline element button. The laser distance measuring component 310 is used to measure the distance between the pipeline node and the measuring module 300; the three-axis gyroscope 320 is used to measure the horizontal azimuth angle of the measuring module 300 pointing to the pipeline node and the pitch angle of the measuring module 300 pointing to the pipeline node, and the angle calibration module 400 is used to calibrate the horizontal azimuth angle and pitch angle of the three-axis gyroscope 320. It should be noted that the pipeline node includes a weld node and a steering node; the pipeline element category includes a first element category, a second element category and a third element category, the first element category has two weld nodes, the second element category has two weld nodes and one steering node located in the middle, and the third element category has three weld nodes and one steering node located in the middle. The first component category includes straight pipes, valves, flanges, and reducers; the second component category includes elbows; and the third component category includes tees.

[0075] See also Figure 1 The pressure pipeline axonometric mapping method mainly includes steps S101 to S107:

[0076] S101 , fixing the measuring module 300 and the angle calibration module 400 on the two-dimensional pan-tilt platform 200 , and performing angle calibration on the measuring module 300 .

[0077] S102 . Operating corresponding pipeline component buttons on the measurement module 300 according to the type of the pipeline component.

[0078] S103, measuring the target pipeline element based on the laser ranging component 310 and the three-axis gyroscope 320 to obtain the node distance, horizontal azimuth angle and pitch angle of the pipeline node.

[0079] S104, calculating the three-dimensional coordinates of the target pipeline node in the XYZ rectangular coordinate system according to the node distance, the horizontal azimuth angle and the pitch angle.

[0080] S105 , performing coordinate transformation on the above three-dimensional coordinates to obtain three-dimensional coordinate data in a reference coordinate system.

[0081] S106. Draw a three-dimensional wireframe model diagram according to the three-dimensional coordinate data and the pipeline component type.

[0082] S107. Set the observation view of the three-dimensional wireframe model diagram to an axonometric view, and generate an axonometric view of the pressure pipeline.

[0083] See also Figure 2 In the above step S101, the measuring module 300 and the angle calibration module 400 are fixed on the two-dimensional gimbal 200, and the angle calibration of the measuring module 300 is performed, including:

[0084] S201 , fixing the measuring module 300 and the angle calibration module 400 on the two-dimensional pan-tilt platform 200 , and placing the angle measuring axes of the two modules in parallel.

[0085] S202 , rotating the two-dimensional pan-tilt platform to direct the angle calibration module 400 to a position where the horizontal azimuth angle is 0° and the pitch angle is 0°.

[0086] S203, calibrate the measurement module 300 so that the horizontal azimuth angle and the pitch angle of the three-axis gyroscope 320 are 0° and 0°, respectively. The horizontal azimuth angle obtained by subsequent measurement is the absolute horizontal azimuth angle, and the pitch angle obtained by subsequent measurement is the absolute azimuth angle.

[0087] It should be noted that the measurement accuracy of the change in horizontal azimuth and pitch angle by the three-axis gyroscope 320 is not affected by external magnetic fields. Compared with the electronic compass, the three-axis gyroscope 320 has higher angle measurement accuracy in a short time. Although the three-axis gyroscope 320 can obtain the change in horizontal azimuth and pitch angle, it cannot obtain absolute horizontal azimuth data and absolute pitch angle data. Before performing pressure pipeline axonometric mapping, it is necessary to use an angle calibration module to calibrate the 0° horizontal azimuth and 0° pitch angle of the three-axis gyroscope 320 in the measurement module 300, so that the azimuth measured by the three-axis gyroscope 320 is the absolute horizontal azimuth, and the pitch angle measured is the pitch angle relative to the horizontal plane. The range of the horizontal azimuth angle θ is 0°~360°, that is, the north direction is 0° or 360 degrees, the east direction is 90°, the south direction is 180°, and the west direction is 270°; the measurement range of the pitch angle is -90°~90°, that is, the horizontal direction is 0°, vertically downward is -90°, and vertically upward is 90°.

[0088] See also Figure 3The above-mentioned step S103 measures the target pipeline element based on the laser ranging component 310 and the three-axis gyroscope 320 to obtain the node distance, horizontal azimuth and pitch angle of the pipeline node, including but not limited to the following steps:

[0089] S301. If the pipeline component type is the first component type, the node distance, horizontal azimuth angle and pitch angle of two weld nodes of the target pipeline component relative to the origin of the surveying site coordinate system are obtained in sequence along the surveying direction.

[0090] For details, see Figure 8 Taking the second straight pipe 512 as an example, the weld nodes on both sides of the invariant direction pipeline element, i.e., node ② and node ③, are measured in sequence along the axonometric surveying direction at the first surveying station. The node distance, horizontal azimuth and pitch angle relative to the origin of the coordinate system of the first surveying station are converted into coordinate values ​​in the X1-Y1-Z1 coordinate system to obtain the three-dimensional coordinate values ​​of the two weld nodes of the second straight pipe 512.

[0091] S302: If the pipeline component type is the second component type, the node distances, horizontal azimuth angles, and pitch angles of two weld nodes and one turning node of the target pipeline component relative to the origin of the surveying site coordinate system are measured in sequence along the surveying direction.

[0092] See also Figure 8 Taking the first elbow 551 as an example, the node distances, horizontal azimuth angles and pitch angles of the weld nodes on both sides of the elbow, i.e., node ⑧ and node ⑩, and the turning node of node ⑨ relative to the origin of the coordinate system of the second surveying station are measured in sequence along the axonometric surveying direction at the second surveying station. These three data are converted into coordinate values ​​in the X1-Y1-Z1 coordinate system through coordinate transformation, and the three-dimensional coordinate values ​​of the two weld nodes and the turning node of the first elbow 551 are obtained.

[0093] S303: If the pipeline component type is the third component type, the node distances, horizontal azimuth angles, and pitch angles of three weld nodes and one turning node of the target pipeline component relative to the origin of the surveying site coordinate system are measured in sequence along the surveying direction.

[0094] See also Figure 8 Taking the first tee 531 as an example, the initial weld node of the first tee 531, the initial weld node of the next surveying pipeline element, the third weld node and the turning node, i.e., node ④, node ⑥, node ⑦ and node ⑤, are measured in sequence along the axonometric surveying direction at the first surveying site. The node distances, horizontal azimuths and pitch angles of these four nodes relative to the origin of the coordinate system of the first surveying site are converted into coordinate values ​​in the X1-Y1-Z1 coordinate system to obtain the three-dimensional coordinate values ​​of the three weld nodes and the turning node of the first tee 531.

[0095] See also Figure 4 , the three-dimensional coordinates of the target pipeline node in the XYZ rectangular coordinate system are calculated according to the node distance, horizontal azimuth angle and pitch angle in the above step S104, including:

[0096] Based on the first coordinate calculation formula, the node distance, horizontal azimuth and pitch angle are converted and calculated to obtain the three-dimensional coordinates of the pipeline node [ x A , y A , z A ];

[0097] The first coordinate calculation formula is:

[0098] x A = L ·cos( α )·sin( θ ) (1)

[0099] y A = L ·cos( α )·cos( θ ) (2)

[0100] z A = L ·sin( α ) (3)

[0101] In the formula, L is the coordinate origin O Distance Pipeline Node A The distance OA is the coordinate origin O With the target pipeline node A The connection between α for OA The pitch angle, θ for OA The projection line in the horizontal direction is Y The angle between the axes is the horizontal azimuth.

[0102] See also Figure 5 , the three-dimensional coordinates in the above step S105 are transformed to obtain the three-dimensional coordinate data in the reference coordinate system, and the detailed steps are as follows:

[0103] The measurement module 300 of the first surveying and mapping station is located at position O1, and the measurement module 300 of the kth surveying and mapping station is located at position O k Location;

[0104] The measurement coordinate system of the first surveying and mapping station is the X1-Y1-Z1 coordinate system, and the measurement coordinate system of the kth surveying and mapping station is the X k -Y k -Z k Coordinate system;

[0105] Pipeline Node B exist O k The origin of the coordinate k The three-dimensional coordinates measured by the surveying station are [ x Bk , y Bk , z Bk ], pipeline node B exist O 1 is the first surveying station of the coordinate origin X 1- Y 1- Z 1 The coordinates of the coordinate system are [ x B1 , y B1 , z B1 ];

[0106] Based on the second coordinate calculation formula, the node distance, horizontal azimuth and pitch angle are converted and calculated to obtain the three-dimensional coordinates of pipeline node B [ x Bk , y Bk , z Bk ];

[0107] The second coordinate calculation formula is:

[0108] x Bk = L k ·cos( α k )·sin( θ k ) (4)

[0109] y Bk = L k ·cos( α k )·cos( θ k ) (5)

[0110] z Bk = L k·sin( α k ) (6)

[0111] In the formula, L k is the coordinate origin O k Distance Pipeline Node B The distance O k B is the coordinate origin O k With the target pipeline node B The connection between α k for O k B The pitch angle, θ k for O k B The angle between the projection line in the horizontal direction and the Y axis;

[0112] Then perform a three-dimensional coordinate transformation on the three-dimensional coordinates of pipeline node B:

[0113] The coordinate offset matrix of the kth surveying station relative to the first surveying station M k1 for[ M k1 - X , M k1 - Y , M k1 - Z ], that is, [ x k1, y k1 , z k1 ];

[0114] Coordinate offset matrix M k1 The calculation formulas for the three elements are:

[0115] M k1 - X = L k1 ·cos( α k1 )·sin( θ k1 ) (7)

[0116] Mk1 - Y = L k1 ·cos( α k1 )·cos( θ k1 ) (8)

[0117] M k1 - Z = L k1 ·sin( α k1 ) (9)

[0118] Calculate the measured node B at O 1 is the first surveying station of the coordinate origin X 1- Y 1- Z 1 Coordinates of the coordinate system [ x B1 , y B1 , z B1 ]: (10)

[0119] The three-dimensional coordinates of pipeline node B in the coordinate system of the first surveying and mapping site are calculated:

[0120] (11)

[0121] In the formula, L k1 is the coordinate origin O 1 Distance from the origin O k The distance O 1 O k is the coordinate origin O 1 and the coordinate origin O k The connection between α k1 for O 1 O k The pitch angle, θ k1 for O 1 O k The angle between the horizontal projection line and the Y axis.

[0122] You can get any k Coordinate offset matrix from surveying station No. 1 to surveying station No. 1 Mk1 , will k The node distance and angle data measured by the first surveying and mapping station are converted into the three-dimensional coordinates of the pipeline node under the first surveying and mapping station. In the case of multiple surveying and mapping stations, after multiple coordinate transformations, the three-dimensional coordinates of the pipeline node under the first surveying and mapping station are finally transformed.

[0123] Drawing a three-dimensional wireframe model diagram according to the three-dimensional coordinate data and the pipeline component type in the above step S106 includes but is not limited to the following steps:

[0124] Graphic primitives of pipeline components are preset in the measurement module 300. The graphic primitives are in the form of three-dimensional wireframes.

[0125] Depending on the piping component type, select the corresponding entity.

[0126] A three-dimensional wireframe model diagram is drawn according to the three-dimensional coordinate data and the selected graphic elements.

[0127] For example, see Figure 7 The measurement module 300 further includes a touch screen 330, a processor 340, a data storage unit 350, a data communication unit 360 and function keys, and the pipeline component keys include a straight pipe key, a valve key, a flange key, a reducer key, an elbow key and a tee key. The function keys include a start key, an end key and a coordinate offset key. It should be noted that these pipeline component keys and function keys can be physical keys or virtual keys set on the touch screen 330.

[0128] Below Fig. 9 Take this as an example to describe the detailed steps of surveying and mapping the axonometric drawing of a pressure pipeline:

[0129] At the first surveying and mapping site, the measuring module 300 is angle-calibrated, and the horizontal azimuth and pitch angles of the three-axis gyroscope 320 are calibrated using the angle calibration module 400;

[0130] At the first surveying and mapping site, press the start button on the measuring module 300, rotate the two-dimensional pan-tilt platform 200, and measure the three-dimensional coordinates of the pipeline node ①, indicating that the starting point of the surveying and mapping is at the measuring pipeline node ①;

[0131] At the first surveying and mapping site, the straight pipe button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200 to measure the three-dimensional coordinates of the pipeline node ②, thereby automatically drawing a three-dimensional wireframe model of the first straight pipe 511;

[0132] At the first surveying and mapping site, the straight pipe button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200 to measure the three-dimensional coordinates of the pipeline node ③, thereby automatically drawing a three-dimensional wireframe model of the second straight pipe 512;

[0133] At the first surveying and mapping site, press the flange button on the measuring module 300, rotate the two-dimensional pan-tilt platform 200, measure the three-dimensional coordinates of the pipeline node ④, and automatically draw a three-dimensional wireframe model of the first flange 521;

[0134] At the first surveying and mapping site, the three-way button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200 to measure the three-dimensional coordinates of the pipeline node ⑥, the pipeline node ⑦, and the pipeline node ⑤ in sequence, thereby automatically drawing a three-dimensional wireframe model of the first three-way 531;

[0135] At the first surveying and mapping site, the valve button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200 to measure the three-dimensional coordinates of the pipeline node⑧, thereby automatically drawing a three-dimensional wireframe model of the first valve 541;

[0136] Move the measurement module 300 to the second surveying and mapping site, and perform angle calibration on the measurement module 300;

[0137] At the second surveying and mapping site, press the coordinate offset button on the measuring module 300, rotate the two-dimensional pan-tilt platform 200, point the laser ranging component 310 to the coordinate origin of the first surveying and mapping site, that is, to the location where the measuring module 300 is placed, and measure the coordinate offset matrix M21 of the second surveying and mapping site relative to the first surveying and mapping site;

[0138] At the second surveying and mapping site, the elbow button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200 to measure the three-dimensional coordinates of the pipeline node ⑩ and the pipeline node ⑨ respectively, and the coordinates are converted into the coordinate system of the first surveying and mapping site according to the coordinate offset matrix M21, so as to automatically draw the three-dimensional wireframe model of the first elbow 551;

[0139] At the second surveying and mapping site, the reducer button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200 to measure the three-dimensional coordinates of the pipeline node ⑪, and the coordinates are converted into the coordinates of the first surveying and mapping site coordinate system according to the coordinate offset matrix M21, thereby automatically drawing a three-dimensional wireframe model of the first reducer 561;

[0140] At the second surveying and mapping site, the elbow button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200 to measure the three-dimensional coordinates of the pipeline node ⑬ and node ⑫ respectively, and the coordinates are converted into the coordinate system of the first surveying and mapping site according to the coordinate offset matrix M21, so as to automatically draw the three-dimensional wireframe model of the second elbow 552;

[0141] At the second surveying and mapping site, the three-way button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200, and the three-dimensional coordinates of the pipeline node ⑮, pipeline node ⑯, and pipeline node ⑭ are measured in sequence, and converted into coordinates in the coordinate system of the first surveying and mapping site according to the coordinate offset matrix M21, thereby automatically drawing a three-dimensional wireframe model of the second three-way 532;

[0142] At the second surveying and mapping site, the elbow button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200 to measure the three-dimensional coordinates of the pipeline node ⑱ and the pipeline node ⑰ respectively, and the coordinates are converted into the coordinate system of the first surveying and mapping site according to the coordinate offset matrix M21, so as to automatically draw the three-dimensional wireframe model of the third elbow 553;

[0143] At the second surveying and mapping site, the straight pipe button on the measuring module 300 is pressed to rotate the two-dimensional pan-tilt platform 200 to measure the three-dimensional coordinates of the pipeline node ⑲, and the coordinates are converted into the coordinates of the first surveying and mapping site coordinate system according to the coordinate offset matrix M21, thereby automatically drawing the three-dimensional wireframe model of the third straight pipe 513;

[0144] Press the end button on the measurement module 300 to indicate that all pipeline components have been mapped;

[0145] After the above operations, a 3D wireframe model diagram of the pressure pipeline 500 has been drawn according to the 3D coordinates of each pipeline node and the type of pipeline element. The observation view of the 3D wireframe model diagram is set to the axonometric view, and the drawn axonometric view of the pressure pipeline is displayed on the touch screen 330, as shown in FIG. Fig.10 As shown in the figure, the pressure piping isometric drawing automatically uses arrows to mark the "east, south, west and north" directions. In addition, the piping component number can be automatically displayed in text form near the piping component wireframe symbol in the pressure piping isometric drawing, for example Fig.10 ZG1, ZG2, FL1, ST1, F1 and WT1 in the figure; each weld node is represented by a solid circle, and the weld node number is automatically displayed in text format nearby, for example Fig.10 h1, h2, h3 and h4 in.

[0146] The pressure pipeline axonometric mapping method provided by the embodiment of the present invention operates the corresponding pipeline element button on the measurement module 300 according to the type of pipeline element; measures the pipeline element to obtain the node distance, horizontal azimuth and pitch angle of the pipeline node; calculates the three-dimensional coordinates of the pipeline node in the XYZ rectangular coordinate system according to the node distance, horizontal azimuth and pitch angle; performs coordinate transformation on the three-dimensional coordinates measured at different mapping sites to obtain the three-dimensional coordinate data in the same coordinate system; draws a three-dimensional wireframe model diagram according to the three-dimensional coordinate data and the type of pipeline element, and generates the pressure pipeline axonometric map. By measuring the node distance, horizontal azimuth and pitch angle of the pipeline node, the three-dimensional coordinates of the pipeline node are calculated and coordinate transformation is performed, thereby generating the pressure pipeline axonometric map, realizing the on-site rapid mapping of the pressure pipeline axonometric map, and improving the integrity and accuracy of the pressure pipeline axonometric map.

[0147] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A pressure pipeline axonometric mapping method, applied to a pressure pipeline axonometric mapping system, characterized in that: The pressure pipeline axonometric mapping system comprises a measuring module, an angle calibration module and a two-dimensional pan-tilt platform. The measuring module is provided with a laser distance measuring component, a three-axis gyroscope and a pipeline element button. The laser distance measuring component is used to measure the distance between the pipeline node and the measuring module; the three-axis gyroscope is used to measure the horizontal azimuth and pitch angle of the measuring module pointing to the pipeline node, and the angle calibration module is used to calibrate the horizontal azimuth and pitch angle of the three-axis gyroscope. The mapping method comprises: Fixing the measuring module and the angle calibration module on the two-dimensional pan-tilt platform, and performing angle calibration on the measuring module; According to the type of pipeline element, a corresponding pipeline element button is operated on the measurement module; Based on the laser ranging assembly and the three-axis gyroscope, the target pipeline element is measured to obtain the node distance, horizontal azimuth angle and pitch angle of the pipeline node; Calculating the three-dimensional coordinates of the target pipeline node in the XYZ rectangular coordinate system according to the node distance, the horizontal azimuth angle and the pitch angle; Performing coordinate transformation on the three-dimensional coordinates to obtain three-dimensional coordinate data in a reference coordinate system; Draw a three-dimensional wireframe model diagram according to the three-dimensional coordinate data and the pipeline component type; Setting the observation view of the three-dimensional wireframe model diagram to an axonometric view to generate an axonometric view of the pressure pipeline; Wherein, the pipeline node includes a weld node and a steering node, the pipeline component type includes a first component category, a second component category and a third component category, the first component category has 2 weld nodes, the second component category has 2 weld nodes and 1 steering node located in the middle, and the third component category has 3 weld nodes and 1 steering node located in the middle; The method of measuring the pipeline elements based on the laser ranging component and the three-axis gyroscope to obtain the node distance, horizontal azimuth angle and pitch angle of the pipeline node includes: The target pipeline node is measured based on the laser ranging assembly and the three-axis gyroscope to obtain a first node distance, a first horizontal azimuth angle and a first pitch angle of the weld node; Based on the laser ranging component and the three-axis gyroscope, the target pipeline node is measured to obtain a second node distance, a second horizontal azimuth angle and a second pitch angle of the steering node; The step of performing coordinate transformation on the three-dimensional coordinates to obtain three-dimensional coordinate data in a reference coordinate system includes: Each surveying and mapping site establishes its own measurement coordinate system, and calculates its own coordinate data in the measurement coordinate system based on the second coordinate calculation formula; The second coordinate calculation formula is: x Bk = L k ·cos( α k )·without( θ k ) , y Bk = L k ·cos( α k )·cos( θ k ) , With Bk = L k ·sin( α k ) ; In the formula, L k is the coordinate origin O k With pipeline nodes B The distance between O k B is the coordinate origin O k With the target pipeline node B The connection between α k for O k B The pitch angle, θ k for O k B The projection line in the horizontal direction is Y The angle of the axis; The self-coordinate data is converted to the reference coordinate system based on the coordinate offset matrix to obtain the three-dimensional coordinate data in the reference coordinate system, and the calculation formula is: ; In the formula, M k1 is a coordinate offset matrix, the coordinate offset matrix M k1 The calculation formulas for the three elements are: M k1 - X = L k1 ·cos( α k1 )·without( θ k1 ) , M k1 - Y = L k1 ·cos( α k1 )·cos( θ k1 ) , M k1 - Z = L k1 ·sin( α k1 ) ; in L k1 is the coordinate origin O 1 Distance from the origin O k The distance O 1 O k is the coordinate origin O 1 and the coordinate origin O k The connection between α k1 for O 1 O k The pitch angle, θ k1 for O 1 O k The angle between the horizontal projection line and the Y axis.

2. The pressure pipeline axonometric mapping method according to claim 1 is characterized in that: The pipeline elements of the first component category include straight pipes, valves, flanges, and reducers; the pipeline elements of the second component category include elbows; and the pipeline elements of the third component category include tees.

3. The pressure pipeline axonometric mapping method according to claim 2 is characterized in that: The step of measuring the target pipeline element based on the laser ranging assembly and the three-axis gyroscope to obtain the node distance, horizontal azimuth and pitch angle of the pipeline node includes: If the pipeline component type is the first component category, the node distance, horizontal azimuth angle and pitch angle of two weld nodes of the measured pipeline component relative to the origin of the coordinate system of the surveying station are obtained in sequence along the surveying direction; If the pipeline component type is the second component category, the node distances, horizontal azimuth angles and pitch angles of two weld nodes and one turning node of the pipeline component relative to the origin of the coordinate system of the surveying station are measured in sequence along the surveying direction; If the pipeline component type is the third component category, the node distances, horizontal azimuth angles and pitch angles of the three weld nodes and one turning node of the pipeline component relative to the origin of the coordinate system of the surveying station are measured in sequence along the surveying direction.

4. The pressure pipeline axonometric mapping method according to claim 1, characterized in that: Calculated according to the node distance, the horizontal azimuth angle and the pitch angle X - Y - Z The three-dimensional coordinates of the pipeline node in the rectangular coordinate system include: The node distance, the horizontal azimuth angle and the pitch angle are calculated based on the first coordinate calculation formula to obtain the three-dimensional coordinates of the pipeline node [ x A , y A , z A ]; The first coordinate calculation formula is: x A = L ·cos( α )·without( θ ) , y A = L ·cos( α )·cos( θ ) , z A = L ·sin( α ) ; In the formula, L is the coordinate origin O With the target pipeline node A The distance between OA is the coordinate origin O With the target pipeline node A The connection between α for OA The pitch angle, θ for OA The projection line in the horizontal direction is Y The angle of the axis.

5. The pressure pipeline axonometric mapping method according to claim 1 is characterized in that: The step of drawing a three-dimensional wireframe model diagram according to the three-dimensional coordinate data and the pipeline component type includes: Presetting graphic elements of pipeline elements in the measurement module; According to the type of the pipeline component, select a corresponding graphic element; A three-dimensional wireframe model diagram is drawn according to the three-dimensional coordinate data and the selected graphic element.

6. The pressure pipeline axonometric mapping method according to claim 1, characterized in that: The step of fixing the measuring module and the angle calibration module on the two-dimensional pan-tilt platform and performing angle calibration on the measuring module comprises: Fixing the measuring module and the angle calibration module on the two-dimensional pan-tilt platform; Rotate the two-dimensional gimbal to point the angle calibration module to a position where the horizontal azimuth angle is 0° and the pitch angle is 0°; The measuring module is angularly calibrated so that the horizontal azimuth angle of the three-axis gyroscope is 0° and the pitch angle is 0°.

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