Underground pipeline generation method and system based on survey data of underwater robot

Abstract

The invention relates to an underground pipeline generation method and system based on underwater robot survey data, and the method comprises the steps: obtaining the underwater robot survey data, and converting the GPS coordinates of the underwater robot survey data into REVIT system coordinates; the underwater robot survey data converted into the REVIT system coordinates are input through a preset cable well standard data import template, cable well data are obtained, and the cable well data comprise a data point position table; according to a data point location table in the acquired cable well data, automatically generating a two-dimensional symbol through a working well two-dimensional symbol contour automatic modeling technology; setting size parameters of the cable well according to the generated two-dimensional symbols, and generating a three-dimensional model of the cable well; and correcting the generated three-dimensional model of the cable well. Compared with the prior art, the underground power pipeline design and construction efficiency is improved, and powerful support is provided for sustainable development of the power industry.

Description

Technical Field

[0001] The present invention relates to the technical field of underground pipeline data modeling, and particularly to a method and system for generating underground pipelines based on underwater robot survey data. Background Art

[0002] At present, in the application of generating three-dimensional models of underground pipelines in China, traditional manual surveys are often used to collect data of underground pipe networks, and then manual drawing is carried out based on these data. There is currently no research on the automated construction application of the digital space of underground pipelines.

[0003] Therefore, at the present stage, the investigation and design of underground pipe networks are complex, and the design efficiency is low, which cannot meet the complexity and high-efficiency requirements of current power grid engineering construction. There is an urgent need to develop an automated modeling technology for manholes using underwater robot survey data to meet the need for automated construction of the digital space of underground pipelines and further improve the overall ability of power grid engineering design and construction. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned existing technologies and provide a method and system for generating underground pipelines based on underwater robot survey data, so as to improve the efficiency of the design and construction of underground power pipelines.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A method for generating underground pipelines based on underwater robot survey data includes the following steps:

[0007] Obtain underwater robot survey data, and convert the GPS coordinates of the underwater robot survey data into REVIT system coordinates;

[0008] Input the underwater robot survey data converted into REVIT system coordinates into a pre-set standard data import template for cable wells to obtain cable well data, and the cable well data includes a data point table;

[0009] According to the data point table in the obtained cable well data, automatically generate two-dimensional symbols through the automated modeling technology of manhole two-dimensional symbol contours;

[0010] Set the size parameters of the cable well according to the generated two-dimensional symbols to generate a three-dimensional model of the cable well;

[0011] Modify the generated three-dimensional model of the cable well.

[0012] Furthermore, the process of converting the GPS coordinates of the underwater robot survey data into REVIT system coordinates is specifically as follows:

[0013] Analyze the GPS coordinates of the underwater robot survey data to determine the structural feature information;

[0014] Through the projection algorithm, map the longitude and latitude network of the GPS coordinates of the underwater robot survey data onto a plane network, so that there is a linear relationship between the longitude and latitude coordinates and the REVIT system coordinates; then convert the longitude and latitude values of the longitude and latitude network into radians, and calculate according to the projection formula to convert each GPS coordinate into the REVIT system coordinates and mark the corresponding structural feature information.

[0015] Further, the structural feature information includes a reference point, a rotation angle, and a scale factor.

[0016] Further, the standard data import template for the cable shaft is used to analyze different types of cable shafts in the underwater robot survey data to determine the coordinate data connection sequence of each cable shaft.

[0017] Further, the generation process of the two-dimensional symbol includes the following steps:

[0018] Obtain the data point table in the cable shaft data;

[0019] Perform two-dimensional parameter settings for the cable shaft according to the data point table in the cable shaft data;

[0020] Batch generate two-dimensional symbols of the cable shaft plane according to the position information of the data point table and the two-dimensional parameters of the corresponding cable shaft.

[0021] Further, the generation process of the three-dimensional model of the cable shaft includes the following steps:

[0022] Perform corresponding three-dimensional parameter settings according to the generated two-dimensional symbol of the cable shaft;

[0023] Generate a three-dimensional model of the cable shaft according to the two-dimensional symbol of the cable shaft and the corresponding three-dimensional parameters.

[0024] Further, the process of correcting the generated three-dimensional model of the cable shaft is specifically as follows:

[0025] Select the generated three-dimensional model of the cable shaft and obtain the corresponding cable shaft contour information;

[0026] Perform data correction on the cable shaft contour information.

[0027] Further, the cable shaft includes a straight shaft, a tee shaft, a cross shaft, a corner shaft, and a special-shaped shaft.

[0028] Further, the dimension parameters include the cable shaft type, shaft length, shaft width, and shaft height.

[0029] The present invention also provides an underground pipeline generation system based on underwater robot survey data, including:

[0030] A coordinate conversion module, configured to obtain underwater robot survey data and convert the GPS coordinates of the underwater robot survey data into REVIT system coordinates;

[0031] A standard data import module, configured to input data of the underwater robot survey data converted into REVIT system coordinates through a pre-set standard data import template of a cable well to obtain cable well data, where the cable well data includes a data point table;

[0032] A two-dimensional symbol generation module, configured to automatically generate two-dimensional symbols according to the data point table in the obtained cable well data through an automated modeling technology for the two-dimensional symbol contour of a manhole;

[0033] A three-dimensional model generation module, configured to set the dimension parameters of the cable well according to the generated two-dimensional symbols and generate a three-dimensional model of the cable well;

[0034] A model correction module, configured to correct the generated three-dimensional model of the cable well.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] (1) The method of the present invention first realizes data acquisition by converting the GPS coordinates of the cable well survey into REVIT system coordinates, then inputs data through the constructed standard data import template, first generates two-dimensional symbols of the cable well according to the data point table of the input data, then sets the corresponding dimension parameters, generates a three-dimensional model of the cable, and corrects the generated three-dimensional model, realizing the automated construction of a three-dimensional design model of the cable well;

[0037] The present invention improves the efficiency of the design and construction of underground power pipelines and provides strong support for the sustainable development of the power industry.

[0038] (2) The operability of each function of the solution of the present invention is good, greatly improving the design efficiency and quality and supporting the delivery of a three-dimensional design model. Description of the Drawings

[0039] Figure 1 It is a schematic flow chart of a method for generating an underground pipeline based on underwater robot survey data provided in an embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of the usage status data of a standard data import template provided in an embodiment of the present invention;

[0041] Figure 3It is a schematic diagram of two-dimensional symbols of the plane of a cable shaft provided in an embodiment of the present invention;

[0042] Figure 4 It is a schematic diagram of a three-dimensional model of a cable shaft provided in an embodiment of the present invention. Detailed implementation manners

[0043] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0045] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0046] Embodiment 1

[0047] As Figure 1 shown, this embodiment provides an underground pipeline generation method based on underwater robot survey data, including the following steps:

[0048] S1: Obtain underwater robot survey data and convert the GPS coordinates of the underwater robot survey data into REVIT system coordinates;

[0049] S2: Enter the underwater robot survey data converted into REVIT system coordinates into the data entry through a pre-set standard data import template for a cable shaft to obtain cable shaft data, and the cable shaft data includes a data point table;

[0050] S3: Automatically generate two-dimensional symbols according to the data point table in the obtained cable shaft data through the automated modeling technology of the two-dimensional symbol contour of a manhole;

[0051] S4: Set the size parameters of the cable shaft according to the generated two-dimensional symbols to generate a three-dimensional model of the cable shaft;

[0052] S5: Amend the generated three-dimensional model of the cable shaft.

[0053] The following describes each step in detail.

[0054] In step S1, the process of converting the GPS coordinates of the underwater robot survey data into REVIT system coordinates is specifically as follows:

[0055] Analyze the GPS coordinates of the underwater robot survey data to determine the structural feature information, which may include reference points, rotation angles, and scale factors;

[0056] Through the projection algorithm, map the longitude and latitude network of the GPS coordinates of the underwater robot survey data onto a plane network, so that there is a linear relationship between the longitude and latitude coordinates and the REVIT system coordinates; then convert the longitude and latitude values of the longitude and latitude network into radians, and calculate according to the projection formula to convert each GPS coordinate into the REVIT system coordinate and mark the corresponding structural feature information.

[0057] In this embodiment, first analyze the GPS coordinates surveyed by the underwater robot to confirm parameter information such as reference points, rotation angles, and scale factors.

[0058] Then, establish a coordinate conversion tool. Through the projection algorithm, map the longitude and latitude grid onto a plane grid, so that there is a linear relationship between the longitude and latitude coordinates and the revit system coordinates. Convert the longitude and latitude values into radians, calculate according to the formula of the projection method, and output the system coordinate values.

[0059] The coordinate conversion tool can also be embedded in the function background, and automatically convert it into the system coordinate value according to the coordinate information in the input point position information table.

[0060] In step S2, the standard data import template for the cable trench is used to analyze different types of cable trenches in the underwater robot survey data to determine the coordinate data connection sequence of each cable trench.

[0061] That is, step S2 mainly provides a standard data (unified point position information, direction information, etc.) import template for cable trenches (straight-through, three-way, four-way, corner, special-shaped manholes, etc.) to realize the input of standard data in the template format.

[0062] It is equivalent to including the following steps:

[0063] S201: Analyze according to different types of cable trenches (straight-through, three-way, four-way, corner, special-shaped manholes, etc.) and correspond with the GPS coordinate data surveyed by the underwater robot to clarify the coordinate data connection sequence.

[0064] S202: Establish a point position data template. In one template, it should be able to synchronously represent the coordinate data of multiple types of cable trenches and indicate the data information connection sequence, as Figure 2 shown.

[0065] Step S3 realizes the automatic generation of two-dimensional symbols through the automatic modeling technology of the two-dimensional symbol contour of the manhole.

[0066] The generation process of the two-dimensional symbols includes the following steps:

[0067] Obtain the data point table in the cable manhole data.

[0068] Perform two-dimensional parameter settings for the cable manhole according to the data point table in the cable manhole data.

[0069] According to the position information of the data point table and the corresponding two-dimensional parameters of the cable manhole, batch generate two-dimensional symbols of the cable manhole plane, as Figure 3 shown.

[0070] In step S4, through the manhole size parameter modeling method, the automatic generation of the three-dimensional model is realized after the size parameter setting (parameterization).

[0071] The generation process of the three-dimensional model of the cable manhole includes the following steps:

[0072] Perform corresponding three-dimensional parameter settings according to the generated two-dimensional symbols of the cable manhole.

[0073] Generate the three-dimensional model of the cable manhole according to the two-dimensional symbols of the cable manhole and the corresponding three-dimensional parameters, as Figure 4 shown.

[0074] In step S5, through the correction method after importing the manhole point information, the model generated from the manhole measurement point data is corrected.

[0075] The process of correcting the generated three-dimensional model of the cable manhole is specifically as follows:

[0076] Select the generated three-dimensional model of the cable manhole and obtain the corresponding cable manhole contour information.

[0077] Perform data correction on the cable manhole contour information.

[0078] Embodiment 2

[0079] This embodiment provides an underground pipeline generation system based on underwater robot survey data, including:

[0080] A coordinate conversion module, configured to obtain underwater robot survey data and convert the GPS coordinates of the underwater robot survey data into REVIT system coordinates.

[0081] A standard data import module, configured to import the underwater robot survey data converted into REVIT system coordinates through a pre-set standard data import template for the cable manhole to obtain cable manhole data, and the cable manhole data includes a data point table.

[0082] A two-dimensional symbol generation module, which is used to automatically generate two-dimensional symbols according to the data point table in the obtained cable shaft data through the automatic modeling technology of the two-dimensional symbol contour of the shaft.

[0083] A three-dimensional model generation module, which is used to set the size parameters of the cable shaft according to the generated two-dimensional symbols and generate a three-dimensional model of the cable shaft.

[0084] A model correction module, which is used to correct the generated three-dimensional model of the cable shaft.

[0085] Specifically, the operation process of the two-dimensional symbol generation module is as follows:

[0086] 31) Click the "Underwater robot survey information modeling" button in the function tree to open the function interface.

[0087] 32) Click the "Import template" button and select the underwater robot survey data point table for import.

[0088] 33) After the import is completed, click the "Modeling settings" button to switch to the modeling settings interface.

[0089] 34) Click the "Generate shaft" button to batch create a two-dimensional contour symbol model of the shaft.

[0090] The operation process of generating the three-dimensional model is as follows:

[0091] 41) Click the "Underwater robot survey modeling" button in the function tree to open the function interface.

[0092] 42) Click the "Detailed parameters" button, select the cable shaft type, and set the size parameters.

[0093] 43) After the settings are completed, click the "Generate shaft" button to create a two-dimensional contour symbol model of the shaft.

[0094] 44) After the two-dimensional symbol is generated, click the "Modeling and modification" button to open the three-dimensional modeling interface.

[0095] 45) Click the "Global modeling" button to automatically generate a three-dimensional model.

[0096] The overall operation process described above is as follows:

[0097] 51) Click the "Underwater robot survey modeling" button in the function tree to open the function interface.

[0098] 52) Click the "Import template" button and select the underwater robot survey data point table for import.

[0099] After the import is completed, click the "Modeling Settings" button to switch to the modeling settings interface.

[0100] 54) Click the "Generate Manholes" button to batch-create the two-dimensional contour symbol models of manholes.

[0101] 55) After the two-dimensional symbols are generated, click the "Modeling and Modification" button to open the 3D modeling interface.

[0102] 56) Click the "Global Modeling" button to automatically generate a 3D model.

[0103] The operation process of the correction method for the manhole point position information after import is as follows:

[0104] 51) Click the "Underwater Robot Survey Modeling" button in the function tree to open the function interface.

[0105] 52) Click the "Import Template" button and select the underwater robot survey data point table for import.

[0106] 53) Select the corresponding manhole and click the "Top / Bottom Surface" button to enter the manhole contour model correction interface.

[0107] 54) After the manhole contour model is corrected, click the "Finish" button to complete the correction of the measured point data model.

[0108] In summary, after using the underwater robot survey data manhole automatic modeling function module, a 3D model can be automatically generated by importing the underwater robot survey data point information template. The operability of the function is good, thus greatly improving the design efficiency and quality and supporting the delivery of the 3D design model.

[0109] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. A method for generating underground pipelines based on underwater robot survey data, characterized in that: The following steps are involved: Obtain underwater robot survey data and convert the GPS coordinates of the underwater robot survey data into REVIT system coordinates; The underwater robot survey data converted into REVIT system coordinates is input into the pre-set standard data import template of the cable well to obtain the cable well data, which includes a data point table; According to the data point table in the acquired cable well data, two-dimensional symbols are automatically generated through the automatic modeling technology of the well two-dimensional symbol contour; According to the generated two-dimensional symbols, the size parameters of the cable well are set to generate a three-dimensional model of the cable well; Modify the generated three-dimensional model of the cable well.

2. The method for generating underground pipelines based on underwater robot survey data according to claim 1, characterized in that: The process of converting the GPS coordinates of the underwater robot survey data into the REVIT system coordinates is specifically as follows: Analyzing the GPS coordinates of the underwater robot survey data to determine structural feature information; Through the projection algorithm, the longitude and latitude network of the GPS coordinates of the underwater robot survey data is mapped to the plane network, so that there is a linear relationship between the longitude and latitude coordinates and the REVIT system coordinates; then the longitude and latitude values ​​of the longitude and latitude network are converted into radians, and calculated according to the projection formula, each GPS coordinate is converted into REVIT system coordinates, and the corresponding structural feature information is marked.

3. The method for generating underground pipelines based on underwater robot survey data according to claim 2, characterized in that: The structural feature information includes a reference point, a rotation angle, and a scale factor.

4. The method for generating underground pipelines based on underwater robot survey data according to claim 1, characterized in that: The standard data import template for the cable well is used to analyze different types of cable wells in the underwater robot survey data and determine the connection sequence of the coordinate data of each cable well.

5. The method for generating underground pipelines based on underwater robot survey data according to claim 1, characterized in that: The generation process of the two-dimensional symbol comprises the following steps: Obtain a data point table in the cable well data; Set the two-dimensional parameters of the cable well according to the data point table in the cable well data; Based on the location information of the data point table and the corresponding two-dimensional parameters of the cable well, batch generate two-dimensional symbols of the cable well plane.

6. The method for generating underground pipelines based on underwater robot survey data according to claim 1, characterized in that: The generation process of the three-dimensional model of the cable well includes the following steps: According to the generated two-dimensional symbol of the cable well, set the corresponding three-dimensional parameters; A three-dimensional model of the cable well is generated according to the two-dimensional symbol of the cable well and the corresponding three-dimensional parameters.

7. The method for generating underground pipelines based on underwater robot survey data according to claim 1, characterized in that: The process of correcting the generated three-dimensional model of the cable well is specifically as follows: Select the generated three-dimensional model of the cable well to obtain the corresponding cable well contour information; The cable well contour information is corrected.

8. The method for generating underground pipelines based on underwater robot survey data according to claim 1, characterized in that: The cable wells include straight wells, three-way wells, four-way wells, corner wells and special-shaped wells.

9. The method for generating underground pipelines based on underwater robot survey data according to claim 1, characterized in that: The size parameters include cable well type, well length, well width and well height.

10. An underground pipeline generation system based on underwater robot survey data, characterized in that: include: A coordinate conversion module is used to obtain underwater robot survey data and convert the GPS coordinates of the underwater robot survey data into REVIT system coordinates; A standard data import module is used to input the underwater robot survey data converted into the REVIT system coordinates through a pre-set standard data import template for the cable well to obtain the cable well data, which includes a data point table; A two-dimensional symbol generation module is used to automatically generate two-dimensional symbols according to the data point table in the acquired cable well data through the automatic modeling technology of the two-dimensional symbol contour of the working well; A three-dimensional model generation module is used to set the size parameters of the cable well according to the generated two-dimensional symbols and generate a three-dimensional model of the cable well; The model correction module is used to correct the generated three-dimensional model of the cable well.

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