Pipeline inspection method, system and device based on 3D visualization and virtual technology

Abstract

The embodiment of the invention provides a pipeline inspection method, system and device based on 3D visualization and virtual technology, and belongs to the field of 3D visualization and virtual technology. The method comprises the steps of obtaining a gas pipeline information base; establishing a gas pipe network 3D model according to the gas pipeline information base; obtaining environment feature points according to a virtual technology; according to the environment feature points and the gas pipe network 3D model, a matching model is obtained; and obtaining pipeline inspection information according to the matching model. The inspection efficiency can be improved, and the manual inspection time and cost can be reduced.

Description

Technical Field

[0001] The present application relates to the field of 3D visualization and virtual technology, and in particular to a pipeline inspection method, system and device based on 3D visualization and virtual technology. Background Art

[0002] Gas pipeline inspection is an important part of ensuring the safe operation of gas pipelines and protecting the lives and property of the people. Through inspection, safety hazards in gas pipelines can be discovered and eliminated in a timely manner to prevent accidents such as gas leaks. At present, the inspection of gas pipelines mainly relies on manual line inspections, and the manual inspection tracks are obtained through the monitoring platform. If there are abnormal situations such as third-party construction or leakage, the inspection personnel can report to the system, and the management personnel or dispatching personnel can monitor on duty on the monitoring platform through personnel tracks, reported events, and feedback from pressure monitoring equipment. When the line inspectors are inspecting the gas pipelines, since most of the gas pipelines are buried, the line inspectors cannot see or know the specific buried depth, location, direction, connection relationship, etc. of the gas pipelines on site, and cannot visually inspect the current status of the pipelines. It can be seen that personnel need to go to the site for inspection, and the inspection efficiency is not high. Traditional inspection methods often rely on drawings and two-dimensional planes, which not only make it difficult to intuitively display the spatial layout of the pipeline, but also easily lead to omissions or misjudgments during the inspection process. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to provide a pipeline inspection method, system and device based on 3D visualization and virtual technology.

[0004] On the one hand, an embodiment of the present invention provides a pipeline inspection method based on 3D visualization and virtual technology, the method comprising the following steps:

[0005] Obtain gas pipeline information database;

[0006] Establishing a 3D model of a gas pipeline network according to the gas pipeline information database;

[0007] According to virtual technology, obtain environmental feature points;

[0008] Obtaining a matching model according to the environmental feature points and the gas pipeline network 3D model;

[0009] According to the matching model, pipeline inspection information is obtained.

[0010] Furthermore, the obtaining of the gas pipeline information database comprises the following steps:

[0011] Combined with on-site measurements and drawing data, the detailed information of the pipeline is extracted using the gas pipeline network geographic information system to obtain the information of the gas pipeline;

[0012] The information of the gas pipeline includes the coordinate position data of the gas pipeline, the pipe diameter data, the pipe material data, the pipeline burial depth data, the pipeline laying method data, and the pipeline connection direction data;

[0013] A gas pipeline information database is formed using the information of the gas pipeline.

[0014] Furthermore, the step of establishing a 3D model of a gas pipeline network according to the gas pipeline information database comprises the following steps:

[0015] Using building information modeling, three-dimensional modeling software and virtual reality engine, the gas pipeline information library is screened, processed and analyzed to construct a 3D model of the gas pipeline network.

[0016] Furthermore, the step of obtaining environmental feature points based on virtual technology includes the following steps:

[0017] Select an augmented reality development platform; the augmented reality development platform includes ARKit, ARCore, Unity3D, and Vuforia;

[0018] According to the augmented reality development platform, a panoramic camera is used to scan the scene environment and generate a depth map;

[0019] According to the depth map, environmental feature points are obtained.

[0020] Furthermore, obtaining a matching model according to the environmental feature points and the gas pipe network 3D model comprises the following steps:

[0021] Acquire characteristic points of the gas pipeline network 3D model;

[0022] Matching the environmental feature points with the feature points of the gas pipe network 3D model to obtain matching data;

[0023] The pipeline model is rendered in the augmented reality scene using the matching data to obtain a matching model.

[0024] Furthermore, obtaining pipeline inspection information according to the matching model includes the following steps:

[0025] According to the matching model, an online inspection of the gas pipeline network is performed through a visualization platform to obtain pipeline inspection information.

[0026] Furthermore, the pipeline inspection method based on 3D visualization and virtual technology also includes the following steps:

[0027] Design interface and interactive modules;

[0028] Obtain online monitoring pipeline information from smart sensors;

[0029] Visual monitoring information is obtained according to the interface and interaction module and the online monitoring pipeline information.

[0030] Furthermore, the step of obtaining online monitoring pipeline information from the intelligent sensor comprises the following steps:

[0031] The intelligent sensor includes a pressure sensor and a vibration sensor;

[0032] Obtaining internal pressure information of the pipeline from the pressure sensor;

[0033] Obtaining external force information of the pipeline from the vibration sensor;

[0034] The internal pressure information of the pipeline and the external force information of the pipeline are used as the online monitoring pipeline information.

[0035] On the other hand, an embodiment of the present invention further provides a pipeline inspection system based on 3D visualization and virtual technology, the system comprising:

[0036] The first module is used to obtain the gas pipeline information database;

[0037] The second module is used to establish a 3D model of the gas pipeline network according to the gas pipeline information database;

[0038] The third module is used to obtain environmental feature points based on virtual technology;

[0039] The fourth module is used to obtain a matching model according to the environmental feature points and the gas pipe network 3D model;

[0040] The fifth module is used to obtain pipeline inspection information according to the matching model.

[0041] On the other hand, an embodiment of the present invention also provides a pipeline inspection device based on 3D visualization and virtual technology, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described above when executing the computer program.

[0042] The embodiments of the present application include at least the following beneficial effects: The present application provides a pipeline inspection method, system and device based on 3D visualization and virtual technology. The present invention obtains a gas pipeline information library; establishes a 3D model of a gas pipeline network according to the gas pipeline information library; obtains environmental feature points according to virtual technology; obtains a matching model according to the environmental feature points and the 3D model of the gas pipeline network; obtains pipeline inspection information according to the matching model. The present invention can improve inspection efficiency and reduce the time and cost of manual inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1It is a flow chart of a pipeline inspection method based on 3D visualization and virtual technology provided by an embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram of a pipeline inspection system based on 3D visualization and virtual technology provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0046] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0047] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0049] Before describing the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application are first described. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0050] 1) AR, which refers to Augmented Reality, is a technology that creates an enhanced visual experience for users by combining virtual information with the physical environment in the real world.

[0051] 2) GIS, short for Geographic Information System, is a technology used to capture, store, retrieve, analyze and display geospatial data.

[0052] 3) BIM, short for Building Information Modeling, is an integrated, digital engineering design and construction process that is achieved by creating virtual models of buildings and infrastructure.

[0053] The present invention takes into account that the traditional method requires personnel to conduct on-site inspections, which is inefficient. The traditional inspection method often relies on drawings and two-dimensional plane diagrams, which not only makes it difficult to intuitively display the spatial layout of the pipeline, but also easily leads to omissions or misjudgments during the inspection process. The present invention allows inspectors to intuitively see every detail of the pipeline, thereby quickly and accurately discovering potential safety hazards.

[0054] The purpose of the present invention is to enable inspection personnel to log in to the gas pipeline network visualization platform through a handheld terminal or a computer, so that they can freely shuttle through it and intuitively see the three-dimensional spatial form of the gas pipeline, including the layout, direction, connection status, etc. of the pipeline. The pipeline pressure and vibration conditions can be obtained in real time through intelligent sensors, and people can be sent to the site for verification if there are any abnormal conditions.

[0055] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0056] On the one hand, an embodiment of the present invention provides a pipeline inspection method based on 3D visualization and virtual technology. Specifically, referring to Figure 1 , the method comprises the following steps:

[0057] S100, obtaining a gas pipeline information database;

[0058] S200, establishing a 3D model of the gas pipeline network according to the gas pipeline information database;

[0059] S300, obtaining environmental feature points according to virtual technology;

[0060] S400, obtaining a matching model according to the environmental feature points and the 3D model of the gas pipeline network;

[0061] S500: Obtain pipeline inspection information according to the matching model.

[0062] Step S100 of the embodiment of the present invention obtains a gas pipeline information database, including the following steps:

[0063] S110, combining on-site measurements and drawing data, using the gas pipeline network geographic information system to extract detailed information of the pipeline, and obtain information on the gas pipeline;

[0064] S120, the information of the gas pipeline includes the coordinate position data of the gas pipeline, the pipe diameter data, the pipe material data, the pipeline burial depth data, the pipeline laying method data, and the pipeline connection direction data;

[0065] S130. Use the information of the gas pipeline to obtain a gas pipeline information database.

[0066] As an optional implementation, the embodiment of the present invention utilizes the gas pipeline network geographic information system (GIS), combined with field measurements and drawing materials, to collect detailed information on gas pipelines, such as coordinate location, pipe diameter, material, buried depth, laying method, and connection direction, etc. These data are integrated into a unified gas pipeline information database.

[0067] Step S200 of the embodiment of the present invention establishes a 3D model of a gas pipeline network according to a gas pipeline information library, and includes the following steps:

[0068] S210. Use building information modeling, three-dimensional modeling software and virtual reality engine to screen, process and analyze the gas pipeline information database to construct a 3D model of the gas pipeline network.

[0069] The embodiment of the present invention uses BIM (Building Information Modeling), 3D modeling software and other data processing tools to filter and process the data in the gas pipeline information library to construct a 3D model of the gas pipeline network. This model includes not only the geometric shape of the pipeline, but also the attribute information of the pipeline, such as material, diameter, etc.

[0070] Step S300 of the embodiment of the present invention obtains environmental feature points based on virtual technology, and includes the following steps:

[0071] S310. Select an augmented reality development platform; augmented reality development platforms include ARKit, ARCore, Unity3D, and Vuforia;

[0072] S320, according to the augmented reality development platform, using a panoramic camera to scan the scene environment and generate a depth map;

[0073] S330: Obtain environmental feature points according to the depth map.

[0074] The embodiment of the present invention selects a suitable AR development platform (such as ARKit, ARCore, Unity3D or Vuforia), uses a panoramic camera to scan the scene environment, and generates a depth map or point cloud data of the environment. These data contain feature points in the environment, such as the structure and features of walls, ground, buildings, etc.

[0075] Step S400 of the embodiment of the present invention obtains a matching model based on the environmental feature points and the 3D model of the gas pipe network, and includes the following steps:

[0076] S410, obtaining characteristic points of the 3D model of the gas pipeline network;

[0077] S420, matching the environmental feature points with the feature points of the 3D model of the gas pipe network to obtain matching data;

[0078] S430: Render the pipeline model in the augmented reality scene using the matching data to obtain a matching model.

[0079] The embodiment of the present invention matches the environmental feature points obtained by scanning with the feature points in the previously established 3D model of the gas pipeline network. Through this process, the position and posture of the model in the actual environment are determined, ensuring that the model can accurately correspond and match the actual environment in the AR scene.

[0080] Step S500 of the embodiment of the present invention obtains pipeline inspection information according to the matching model, including the following steps:

[0081] S510. Based on the matching model, an online inspection of the gas pipeline network is performed through a visualization platform to obtain pipeline inspection information.

[0082] The embodiment of the present invention develops a user interface and an interactive mode module based on the matched 3D model, so that users can log in to the visualization platform through mobile devices or computers. Users can conduct online inspections of the gas pipeline network and obtain various pipeline information in real time, such as pressure conditions, vibration data, etc. This method greatly improves the efficiency and accuracy of inspections, making pipeline management and maintenance more intuitive and convenient.

[0083] The pipeline inspection method based on 3D visualization and virtual technology disclosed in the embodiment of the present invention also includes the following steps:

[0084] S600, design interface and interaction module;

[0085] S700, obtain online monitoring pipeline information from smart sensors;

[0086] S800. Obtain visual monitoring information according to the interface and the interactive module and the online monitoring pipeline information.

[0087] Step S700 of the embodiment of the present invention obtains online monitoring pipeline information from the smart sensor, including the following steps:

[0088] S710, intelligent sensors include pressure sensors and vibration sensors;

[0089] S720, obtaining internal pressure information of the pipeline from the pressure sensor;

[0090] S730, obtaining external force information of the pipeline from the vibration sensor;

[0091] S740: Use the internal pressure information of the pipeline and the external force information of the pipeline as the online monitoring pipeline information.

[0092] Embodiment S600 of the present invention involves designing an interface and an interactive module. In this step, the system developer or designer is responsible for creating a user interface to ensure that it can effectively interact with the user. The interface design needs to take into account the intuitiveness of the operation and the user experience so that the user can easily browse, analyze and operate the relevant information of the pipeline inspection.

[0093] S700 includes obtaining online monitoring pipeline information from smart sensors. These sensors may include various types of technical equipment, such as high-precision cameras, pressure sensors, temperature detectors, etc., which are used to capture various key data inside and around the pipeline in real time. The data obtained by these sensors will serve as the basis for visualizing monitoring information in subsequent steps.

[0094] S800 generates and displays visual monitoring information based on the designed interface and interactive modules as well as online monitoring pipeline information. In this step, the system will use advanced 3D visualization technology, combined with real-time acquired pipeline data, to generate dynamic, highly realistic pipeline models. These models can display important information such as the internal status of the pipeline, the damage of the pipe wall, and the flow status of the fluid in an intuitive and easy-to-understand way. Users can navigate, zoom in, rotate, and perform other operations on this information through the interactive module to deeply analyze and evaluate the operation status of the pipeline, and promptly discover and deal with potential problems and risks.

[0095] On the other hand, an embodiment of the present invention further provides a pipeline inspection system based on 3D visualization and virtual technology, the system comprising:

[0096] The first module is used to obtain the gas pipeline information database;

[0097] The second module is used to establish a 3D model of the gas pipeline network based on the gas pipeline information database;

[0098] The third module is used to obtain environmental feature points based on virtual technology;

[0099] The fourth module is used to obtain a matching model based on environmental feature points and the 3D model of the gas pipeline network;

[0100] The fifth module is used to obtain pipeline inspection information based on the matching model.

[0101] As an optional implementation, refer to Figure 2 , the steps of the present invention include:

[0102] 1. Through the existing gas pipeline network geographic information system (GIS) combined with on-site measurements and drawing materials, the existing gas pipeline conditions, such as coordinate position, pipe diameter, material, burial depth, laying method, connection direction, etc., are extracted to form a gas pipeline data information database.

[0103] 2. Through BIM, 3D modeling software, virtual reality engine, data processing and analysis tools, the above-mentioned gas pipeline data information database data is screened and processed to build a 3D model of the gas pipeline network.

[0104] 3. Select an AR development platform suitable for the project, including but not limited to: ARKit (i0s platform), ARCore (Android platform), Unity3D engine, Vuforia, etc. Use a panoramic camera to scan the scene and generate a depth map or point cloud data of the environment. Match the scanned environmental feature points with the feature points of the 3D model of the gas pipeline network to determine the position and posture of the model in the loop. Based on the matching results, render the model in the AR scene to match it with the actual environment.

[0105] 4. Design user interface and interaction modules so that users can interact with the model, such as forward, backward, zoom, rotate, move, etc. Optimize the number of polygons, texture size, etc. of the model to ensure smooth operation on the device.

[0106] 5. Real-time intelligent sensor data collection module: Install intelligent pressure sensors at key locations of the gas pipeline, such as the end, diameter change, gas supply area inlet and outlet, and pressure regulating station cabinet to monitor the pressure conditions; install vibration sensors on the pipeline to monitor the external force on the pipeline and prevent damage by a third party.

[0107] 6. Users can log in to the visualization platform through mobile devices or computers to conduct online inspections of the gas pipeline network, which greatly improves inspection efficiency and is intuitive and convenient.

[0108] On the other hand, an embodiment of the present invention also provides a pipeline inspection device based on 3D visualization and virtual technology, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above method is implemented.

[0109] The pipeline inspection device based on 3D visualization and virtual technology in the embodiment of the present invention includes a memory and a processor.

[0110] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0111] The memory may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. Among them, ROM can store static data or instructions required by the processor or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0112] The memory stores executable codes, and when the executable codes are processed by the processor, the processor can execute part or all of the methods described above.

[0113] On the other hand, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above method.

[0114] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0115] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A pipeline inspection method based on 3D visualization and virtual technology, characterized in that: The method comprises the following steps: Obtain gas pipeline information database; Establishing a 3D model of a gas pipeline network according to the gas pipeline information database; According to virtual technology, obtain environmental feature points; Obtaining a matching model according to the environmental feature points and the gas pipeline network 3D model; According to the matching model, pipeline inspection information is obtained.

2. The method according to claim 1, characterized in that The step of obtaining the gas pipeline information database comprises the following steps: Combined with on-site measurements and drawing data, the detailed information of the pipeline is extracted using the gas pipeline network geographic information system to obtain the information of the gas pipeline; The information of the gas pipeline includes the coordinate position data of the gas pipeline, the pipe diameter data, the pipe material data, the pipeline burial depth data, the pipeline laying method data, and the pipeline connection direction data; A gas pipeline information database is formed using the information of the gas pipeline.

3. The method according to claim 1, characterized in that The step of establishing a 3D model of a gas pipeline network according to the gas pipeline information database comprises the following steps: Using building information modeling, three-dimensional modeling software and virtual reality engine, the gas pipeline information library is screened, processed and analyzed to construct a 3D model of the gas pipeline network.

4. The method according to claim 1, characterized in that: The method of obtaining environmental feature points according to virtual technology includes the following steps: Select an augmented reality development platform; the augmented reality development platform includes ARKit, ARCore, Unity3D, and Vuforia; According to the augmented reality development platform, a panoramic camera is used to scan the scene environment and generate a depth map; According to the depth map, environmental feature points are obtained.

5. The method according to claim 1, characterized in that: The step of obtaining a matching model according to the environmental feature points and the gas pipe network 3D model comprises the following steps: Acquire characteristic points of the 3D model of the gas pipeline network; Matching the environmental feature points with the feature points of the gas pipe network 3D model to obtain matching data; The pipeline model is rendered in the augmented reality scene using the matching data to obtain a matching model.

6. The method according to claim 1, characterized in that Obtaining pipeline inspection information according to the matching model includes the following steps: According to the matching model, an online inspection of the gas pipeline network is performed through a visualization platform to obtain pipeline inspection information.

7. The method according to claim 1, characterized in that The pipeline inspection method based on 3D visualization and virtual technology also includes the following steps: Design interface and interactive modules; Obtain online monitoring pipeline information from smart sensors; Visual monitoring information is obtained according to the interface and interaction module and the online monitoring pipeline information.

8. The method according to claim 7, characterized in that The method of obtaining online monitoring pipeline information from the intelligent sensor includes the following steps: The intelligent sensor includes a pressure sensor and a vibration sensor; Obtaining internal pressure information of the pipeline from the pressure sensor; Obtaining external force information of the pipeline from the vibration sensor; The internal pressure information of the pipeline and the external force information of the pipeline are used as the online monitoring pipeline information.

9. A pipeline inspection system based on 3D visualization and virtual technology, characterized in that: The system comprises: The first module is used to obtain the gas pipeline information database; The second module is used to establish a 3D model of the gas pipeline network according to the gas pipeline information database; The third module is used to obtain environmental feature points based on virtual technology; The fourth module is used to obtain a matching model according to the environmental feature points and the gas pipe network 3D model; The fifth module is used to obtain pipeline inspection information according to the matching model.

10. A pipeline inspection device based on 3D visualization and virtual technology, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 8 when executing the computer program.

Images