A centerline coordinate-based integrated automatic modeling method for pipelines

Abstract

The application belongs to the technical field of oil and gas pipeline modeling, and relates to a pipeline integrated automatic modeling method based on center line coordinates, comprising: 1, integrated modeling data, unified processing of pipeline data for subsequent model construction; 2, reference circular surface drawing, calculating the pipeline reference circular surface, then translating to the pipeline center line node, rotating according to the quaternion of the node direction vector, and obtaining the actual position coordinates of the reference surface node; 3, straight pipe segment construction, drawing a grid between the pipeline center line reference circular surface, and generating a triangular index array of the cylindrical grid; 4, elbow construction, for the case that complete pipeline elbow center line coordinates cannot be provided, fitting the elbow by using the tangent circular arc of two straight pipe segments according to the out and in elbow straight pipe segment pipe center line coordinate points; the application can realize the integrated automatic construction of the pipeline through the pipeline center line coordinates, and can realize the automatic construction of the elbow when the complete elbow center line coordinates cannot be obtained.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of oil and gas pipeline modeling, and relates to a pipeline integrated automatic modeling method based on center line coordinates. BACKGROUND

[0002] Pipeline transportation is the main mode of oil and gas transportation, which has the advantages of long distance, low cost and large capacity. Oil and gas long-distance pipelines are affected by soil conditions and geological movements, and may be easily leaked due to corrosion, third-party damage, etc., and even cause combustion or explosion accidents. Rapid three-dimensional modeling of pipelines is very important for carrying out pipeline safety repair at leakage points, shortening the construction period and daily operation and maintenance management of the pipeline network. At present, the management and repair of underground pipelines mainly rely on two-dimensional drawings and three-dimensional design data, which has the problems of insufficient visualization of spatial information, low management efficiency, lagging dynamic adjustment response, etc., and is difficult to meet the needs of intelligent operation and maintenance. Under this background, the construction of pipeline three-dimensional visualization system has gradually become the focus of the industry, and the rapid three-dimensional modeling technology of pipelines as its core foundation, the existing methods mainly include: Plant Design Management system (PDMS) pipeline automatic modeling method based on key points, pipeline three-dimensional modeling method based on secondary development of Geographic Information System (GIS) and Building Information Modeling (BIM) components, these methods usually construct prefabricated models of pipeline elbows, valves, three-way interfaces, etc., import the start and end point data of straight pipe sections, elbow, three-way interface, etc., and construct them combined with the logical topological relationship between pipeline components.

[0003] However, the existing three-dimensional modeling technology can construct a pipeline spatial model, but has the following technical bottlenecks: (1) The modeling process relies on manual feature point labeling and parameter input, and due to the lack of direct data docking with pipeline internal detectors, ground penetrating radar and other equipment, it is difficult to efficiently process a large amount of pipeline data, and cannot meet the actual needs of rapid response of pipeline leakage accident emergency rescue; (2) The prefabricated elbow model is limited to the standard angle library (such as 90° / 120°), and has a certain deviation from the actual pipeline elbow effect; (3) The parameterized modeling method adopts the combination mode of "straight pipe section + prefabricated elbow", which lacks the representation ability of continuous bending deformation of pipelines caused by complex working conditions such as geological subsidence and external extrusion. The above defects make it difficult for the existing technology to meet the timeliness requirements of oil and gas pipeline leakage emergency response, and restrict the construction of large-scale pipeline network digital twin system.

[0004] Therefore, developing a full-automatic modeling method based on data such as in-pipe detection and ground penetrating radar, realizing continuous curved surface adaptive generation driven by a pipeline center line, adaptive fitting of straight pipes and bent pipes and integrated construction of a three-dimensional model has become a key technical requirement for improving the digital operation and maintenance level of a pipe network. SUMMARY

[0005] The present application aims to develop a pipeline rapid integrated automatic modeling method based on center line coordinates, which is used to realize automatic grid construction of a pipeline when developing a pipeline three-dimensional visualization system by a computer. In pipeline emergency repair and daily operation and maintenance management, a three-dimensional model containing straight pipe sections and bent pipe sections is quickly generated according to the center line coordinates, the pipeline trend and the spatial position relationship with adjacent pipelines are accurately displayed, so as to reduce the operation and maintenance cost and the repair risk, improve the accident response speed, shorten the repair construction period, effectively prevent secondary disasters and ensure the safe and efficient operation of the pipeline system.

[0006] The technical scheme adopted by the present application to solve the technical problem is: a pipeline integrated automatic modeling method based on center line coordinates, comprising the following steps:

[0007] Step 1, integrate modeling data, uniformly process pipeline data of different sources and different formats into a structured and standardized data set for subsequent model construction; the pipeline data includes pipeline center line three-dimensional coordinates and pipe diameter parameters;

[0008] Step 2, base circle surface drawing, adopt angle differential method, calculate the pipeline base circle surface through the in-circle regular polygon of the circle; translate the pipeline base circle surface to the corresponding pipeline center line node and calculate the quaternion of the pipeline base circle surface rotating to the pipeline center line node direction vector; adopt quaternion to calculate the actual position coordinates of each node of the pipeline base circle surface;

[0009] Step 3, straight pipe section construction, draw a grid between two adjacent pipeline center line base circle surfaces to generate a triangular index array of a cylindrical grid;

[0010] Step 4, bend construction, for the case that complete pipeline bend center line coordinates cannot be provided, adopt the method of two straight pipe section inscribed circle arcs to fit the bend according to the in-bend straight pipe center line coordinate point and the out-bend straight pipe center line coordinate point, calculate the path point at the bend to realize integrated construction of the pipeline.

[0011] Preferably, in the step 1, the pipeline center line three-dimensional coordinates are XYZ three-axis relative coordinates, and the pipeline center line three-dimensional coordinates are arranged in the order of the pipeline trend.

[0012] More preferably, in the step 1, the pipeline center line trend direction is:

[0013]

[0014] In formula (1), (X n，j , Y n，j , Z n，j ) represents the relative coordinates of the former node in two adjacent nodes, and (X n，j+1 , Y n，j+1 , Z n，j+1 ) represents the relative coordinates of the latter node in two adjacent nodes.

[0015] Preferably, in step 2, the actual position coordinates P of each node of the pipe reference circular surface are:

[0016] P=q·P'+i (5)

[0017] In formula (5), q represents a quaternion, P' represents a parametric equation of a circular uniform discrete point, and i represents a pipe center line node; wherein q is:

[0018]

[0019] In formula (4), r x , r y , and r z represent the x, y, and z direction component vectors of the normalized direction vector of node i, respectively.

[0020] Preferably, step 3 comprises the following sub-steps:

[0021] Step 3-1, setting vertex array generation, wherein L represents the number of pipe reference surfaces, C represents the number of vertices on each reference surface, and the index position Index(i,j) in the vertex array is:

[0022] Index(i,j)=i×L+j (6)

[0023] The vertex coordinates are assigned to the vertex array as:

[0024] vertices[Index(i,j)]=V i，j (7)

[0025] In formula (6) and formula (7), V i,j represents the coordinates of the jth vertex on the ith section, wherein the vertex of section 1 is V 1,j =(x 1,j ,y 1,j ,z 1,j ), and the vertex of section 2 is V 2,j =(x 2,j ,y 2,j ,z 2,j ).

[0026] ​Step 3-2, triangle index array generation, the grid surface is formed by connecting the vertices of adjacent sections to form triangular patches, the i-th point of the current section is connected with the i+1-th point of the adjacent section, and the j-th point of the current section is connected with the j+1-th point of the adjacent section, to form two triangular grids.

[0027] Preferably, the step 4 comprises the following sub-steps:

[0028] Step 4-1, calculating the vector cross product of the center line direction vector of the inlet elbow straight pipe section and the center line direction vector of the outlet elbow straight pipe section;

[0029] Step 4-2, calculating the modulus of the vector cross product obtained in step 4-1;

[0030] Step 4-3, calculating the center line node vector of the inlet elbow straight pipe section and the center line node vector of the outlet elbow straight pipe section;

[0031] Step 4-4, calculating the coordinates of the intersection point P of the inlet elbow straight pipe section center line and the outlet elbow straight pipe section center line;

[0032] Step 4-5, calculating the coordinates of the center O of the circular arc at the elbow and the radius r of the inscribed circular arc;

[0033] Step 4-6, calculating the coordinates of the circular arc modeling path points, sequentially passing through the path point coordinates to realize the construction of the pipe elbow path, making a straight pipe section between the adjacent two path points, and performing grid construction to realize automatic modeling of the elbow.

[0034] More preferably, in the step 4-4, the coordinates of the intersection point P are:

[0035] P = P1 + t·d1 (11)

[0036] In formula (11), p1 represents the coordinate point vector of the system origin to the inlet elbow straight pipe section pipe center line, d1 represents the inlet elbow straight pipe section center line direction vector, and t is:

[0037]

[0038] In formula (10), Δ represents the difference vector of the coordinate point vector of the system origin to the inlet elbow straight pipe section pipe center line and the coordinate point vector of the system origin to the outlet elbow straight pipe section pipe center line, d2 represents the outlet elbow straight pipe section center line direction vector, and c = d1 x d2 represents the vector product of the two vectors.

[0039] More preferably, in the step 4-5, the coordinates of the center are:

[0040]

[0041] In formula (15), represents the direction vector of the sum vector of the intersection point P to the vector in-bend straight pipe segment center line node vector and the intersection point P to the vector out-bend straight pipe segment center line node vector, d represents the distance from the intersection point P to the center of the circle, represents the coordinate vector of the intersection point P.

[0042] The present application has the following advantages:

[0043] 1. The present application can realize integrated automatic construction of pipelines only through pipeline center line coordinates.

[0044] 2. The present application can realize automatic construction of elbows when complete elbow center line coordinates cannot be obtained.

[0045] 3. The elbow construction of the present application can realize construction of elbows of any angle according to automatic calculation of in-bend and out-bend straight pipeline center line coordinate points. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 is a pipeline center line direction vector calculation schematic diagram of a pipeline integrated automatic modeling method based on center line coordinates of the present application;

[0047] Figure 2 is a pipeline reference circle surface method schematic diagram of the present application using angle differential method polygon fitting;

[0048] Figure 3 is a pipeline reference circle surface calculation principle diagram of the present application;

[0049] Figure 4 is a straight pipeline grid division schematic diagram of the present application;

[0050] Figure 5 is an elbow fitting schematic diagram of the present application;

[0051] Figure 6 is a 90° elbow automatic modeling schematic diagram of the present application;

[0052] Figure 7 is a 120° elbow automatic modeling schematic diagram of the present application;

[0053] Figure 8 is a 150° elbow automatic modeling schematic diagram of the present application;

[0054] Figure 9 is a dense pipe point elbow segment automatic modeling schematic diagram of the present application;

[0055] Figure 10 is a method step schematic diagram of the present application. DETAILED DESCRIPTION

[0056] Next, in combination with the drawings in the embodiments of the present invention, the related technologies in the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0057] Reference Figures 1-10 , in this embodiment, an integrated automatic modeling method for pipelines based on centerline coordinates. The specific steps are as follows:

[0058] 1. Integrate modeling data

[0059] The data required for automatic pipeline modeling are the three-dimensional coordinates of the pipeline centerline and the pipe diameter parameters. The centerline coordinates are the relative coordinates of the XYZ three axes, and the coordinates need to be arranged in order according to the pipeline trend.

[0060] An underground pipeline may contain several (at least two) coordinate nodes. The pipeline entity between every two adjacent nodes (X n,j , Y n,j , Z n,j ) can be regarded as a straight pipe section connection, and the trend direction of the pipeline centerline is determined by Equation (1).

[0061]

[0062] The length of the pipeline centerline coordinate data is length. In computer programming, usually starting from 0 as the first set of data, the difference between adjacent two center points is calculated respectively as the pipeline trend direction. As Figure 1 shown, when the data point i < lengh - 1, the direction vector of the pipeline centerline at this point is: When the data point i = lengh - 1, that is, the last pipeline centerline node, the direction vector of the pipeline centerline at this point is:

[0063] 2. Draw the reference circular plane

[0064] The reference circle is drawn by using the angle differential method in combination with computer graphics, and the pipeline reference circular plane is approximated by the inscribed regular polygon of the circle. As Figure 2 shown, on the standard XY plane, the circle is evenly discretized into n points, and the parametric equation of each point is shown in Equation (2). At this time, the direction vector of the reference plane is

[0065]

[0066] In the formula, R is the pipe radius, and n is the number of edges of the fitting polygon. The greater the value of n, the better the fitting effect, and the closer the pipe model to a cylinder.

[0067] As shown in Figure 3 , it is necessary to translate the pipe reference surface calculated on the standard XY plane to the corresponding pipe centerline node C, and rotate the reference surface from the direction vector to the direction vector of the pipe centerline node i

[0068] The normalized direction vector of node i is calculated, as shown in formula (3):

[0069]

[0070] The quaternion q is calculated for the rotation of the reference surface from the direction vector to the direction vector of the pipe centerline node i , as shown in formula (4):

[0071]

[0072] The actual position coordinates of each node of the reference circular surface are calculated by combining the direction vector at the centerline node and using the quaternion q, as shown in formula (5):

[0073] P = q · P' + i (5)

[0074] 3. Straight pipe segment construction

[0075] 1) Set the vertex array (vertices) generation

[0076] As shown in Figure 4 , let L represent the number of pipe reference surfaces, and C represent the number of vertices on each reference surface, whose index position Index(i,j) in the vertex array is calculated by the following formula:

[0077] Index(i,j) = i × L + j (6)

[0078] Assign the vertex coordinates to the vertex array vertices, and calculate as follows:

[0079] vertices[Index(i,j)] = V i，j (7)

[0080] V i,j represents the coordinates of the jth vertex on the ith section, where the vertices of section 1 are V 1,j = (x 1,j , y 1,j , z 1,j ), and the vertices of section 2 are V 2,j = (x2,j y 2,j z 2,j ).

[0081] 2) Triangles index array generation

[0082] The mesh surface is formed by connecting the vertices of adjacent sections to form triangular facets: the i-th point of the current section is connected with the i+1-th point of the adjacent section, while the j-th point of the current section is connected with the j+1-th point of the adjacent section, to form two triangular meshes. The specific vertex index configuration is shown in Figure 4 .

[0083] The first triangle ACD, T1:

[0084] A point index: Index(i,j) = i x C + j

[0085] C point index: Index(i+1,j) = (i+1) x C + j

[0086] D point index: Index(i+1,(j+1) mod C) = (i+1) x C + (j+1) mod C

[0087] T1(i,j) = {Index(i,j), Index(i+1,(j+1) mod C), Index(i+1,j)}

[0088] The second triangle ABD, T2:

[0089] A point index: Index(i,j) = i x C + j

[0090] B point index: Index(i,(j+1) mod C) = i x C + (j+1) mod C

[0091] D point index: Index(i+1,(j+1) mod C) = (i+1) x C + (j+1) mod C

[0092] T2(i,j) = {Index(i,j), Index(i,(j+1) mod C), Index(i+1,(j+1) mod C)}

[0093] Where mod C is a modulo operation on C, which limits the result to the range of 0 to C-1.

[0094] 4. Elbow construction

[0095] As Figure 5As shown, for part of the pipeline detection equipment such as ground penetrating radar, which cannot provide complete pipeline elbow center line coordinates, the elbow fitting can be carried out in the form of two straight pipe section inscribed circle arc according to the elbow entering straight pipe section pipe center line coordinate points A, B, elbow exiting straight pipe center line coordinate points C, D, to realize the integrated construction of the pipeline.

[0096] First, the vector from the system origin to point A is denoted as vector (i.e. the coordinate of point A), and the vector from the system origin to point C is denoted as (i.e. the coordinate of point C), and the vector and the vector are calculated.

[0097] The direction vector of the entering elbow straight pipe section center line AB is calculated as The direction vector of the exiting elbow straight pipe section CD center line is calculated as The cross product vector c = d1 x d2 is calculated.

[0098] In three-dimensional space, the parametric equation of the straight line AB with A as the starting point is seen in equation (8), and the parametric equation of the straight line CD with C as the starting point is seen in equation (9). Wherein, P1 is the coordinate of point A, and P2 is the coordinate of point C.

[0099] P1(t) = P1 + t d1 (8)

[0100] P2(s) = P2 + s d2 (9)

[0101] By solving equations (8) and (9) together, the calculation method of parameter t is seen in equation (10)

[0102]

[0103] Thus, the coordinates of the intersection point P of the entering elbow straight pipe section center line AB and the exiting elbow section center line CD are calculated as seen in equation (11).

[0104] P = P1 + t d1 (11)

[0105] The vector from the intersection point P to the vector entering elbow straight pipe section center line node B is calculated as The vector from the intersection point P to the vector exiting elbow straight pipe section center line node C is calculated as And according to equation (12), the direction vectors of and and the direction vector of the vector (i.e. the direction vector of the vector pointing to the center O of the inscribed circle) are calculated as:

[0106]

[0107] According to equation (13), the direction vectors of and Angle θ:

[0108]

[0109] Calculate the distance d from the intersection point P to the center of the circle (i.e., the vector) according to equation (14). length ):

[0110]

[0111] Based on equation (15) Direction vector Calculate the coordinates of the center of the arc at the bend:

[0112]

[0113] Calculate the coordinate distance from the center O of the circle to the center point B of the pipe at the bend, and use it as the radius of the inscribed arc r = ||OB||.

[0114] Calculate vectors with vector

[0115] Calculate the vector according to equation (16)

[0116]

[0117] Calculate the vector according to equation (17)

[0118]

[0119] Calculate the vector according to equation (18)

[0120]

[0121] Calculate the coordinates of point U according to equation (19):

[0122]

[0123] Calculate the coordinates of point V according to equation (20):

[0124]

[0125] Calculate the coordinates of point W according to equation (21):

[0126]

[0127] Take the coordinates of U, V, W three points on the arc as the arc modeling path points, and realize the path construction of the pipe elbow through B→U→V→W→C. The straight pipe section processing is performed between the adjacent two points, and the grid construction is performed to realize the automatic modeling of the elbow. In addition, if it is necessary to improve the smoothness of the pipe elbow, the interpolation points can be added between B, U, V, W and C through the above method for construction.

[0128] Embodiment

[0129] This embodiment takes a certain natural gas pipeline as an example, the pipeline material is X80 pipeline, the pipeline outer diameter is 1219mm, and the pipeline wall thickness is 18.4mm.

[0130] 1. Integrated modeling data

[0131] The IMU-based pipeline internal detector is used to detect the latitude and longitude coordinates of the pipeline center line. The geodetic space coordinate conversion and the northeast sky coordinate conversion are used to obtain the northeast sky (XYZ) relative coordinates of the pipeline center line with the starting point of the pipeline as the coordinate origin. The pipeline data table is generated in the order of the pipeline center line coordinates. The direction vector of each pipeline center line node is calculated by programming.

[0132] For data length is length:

[0133] When the data point i

[0134] When the data point i = lengh-1, the pipeline center line direction vector of the point is:

[0135] And when the data point i = lengh-2, the vector between any two points of the center line and the vector between the last two points are calculated:

[0136] Vector3 prevDir = createPoints[i] - createPoints[i-1];

[0137] Vector3 nextDir = createPoints[i+2] - createPoints[i+1];

[0138] Determine the included angle between prevDir and nextDir. If it is greater than 10°, the code determines that there is an elbow between Points[i] and Points[i+1]. Points[i-1] is Figure 5 point A, Points[i] is Figure 5 point B, and Points[i+1] is Figure 5Points[i + 2] = Center + Vector3.Cross(Points[i + 1] - Center, direction) Figure 5 Points[i + 2] = Center + Vector3.Cross(Points[i + 1] - Center, direction)

[0139] Points[i + 2] = Center + Vector3.Cross(Points[i + 1] - Center, direction) Points[i + 2] = Center + Vector3.Cross(Points[i + 1] - Center, direction)

[0140] 2. Reference circle surface drawing

[0141] Quaternion rotation = Quaternion.LookRotation(direction);

[0142] float angleStep = 360f / count;

[0143] float angle = i * angleStep * Mathf.Deg2Rad;

[0144] Vector3 point = new Vector3(Mathf.Cos(angle), Mathf.Sin(angle), 0) * radius; Figure 2 Vector3 point = new Vector3(Mathf.Cos(angle), Mathf.Sin(angle), 0) * radius;

[0145] 3. Straight pipe segment construction

[0146] Draw a grid between the reference circle surfaces of the adjacent two pipe center lines through code programming:

[0147] int current = i * circularCount + j;

[0148] int next = (i + 1) * circularCount + j;

[0149] int nextLoop = (j + 1) % circularCount;

[0150] int nextNextLoop = (i + 1) * circularCount + nextLoop;

[0151] int nextNextLoop = (i + 1) * circularCount + nextLoop;

[0152] int nextNextLoop = (i + 1) * circularCount + nextLoop;triangles[triangleIndex++] = current;

[0153] triangles[triangleIndex++] = nextNextLoop;

[0154] triangles[triangleIndex++] = next;

[0155] triangles[triangleIndex++] = current;

[0156] triangles[triangleIndex++] = nextLoop + i * circularCount;

[0157] triangles[triangleIndex++] = nextNextLoop;

[0158] 4. Elbow construction

[0159] Calculate the path points at the elbow by code programming.

[0160] Calculate the cross product of the center line direction vectors of the straight pipe segments entering and exiting the elbow: Vector3 cross = Vector3.Cross(dir1, dir2);

[0161] Calculate the length of the cross product vector: float denominator = cross.sqrMagnitude;

[0162] Calculate the node vectors of the two center lines entering and exiting the elbow: Vector3 delta = p2 - p1;

[0163] Calculate the parameter t1: float t1 = Vector3.Dot(Vector3.Cross(delta, dir2), cross) / denominator;

[0164] Return the coordinates of the intersection point P of the center lines of the straight pipe segments entering and exiting the elbow: return p1 + t1 * dir1;

[0165] Subsequently, according to the invention, code is written according to the steps to obtain the coordinates of the U, V, and W points at the elbow.

[0166] As shown in Figure 6, when importing the four points (0, 0, 0), (2, 0, 0), (6, 0, 1), and (6, 0, 10), a 90° elbow can be automatically calculated and generated.

[0167] As shown in Fig. 7, when importing four points (-3.464, 0, 2), (-1.732, 0, 1), (1.732, 0, 1), (3.464, 0, 2), a 120° elbow can be automatically calculated and generated.

[0168] As shown in Fig. 8, when importing four points (0, 0, 0), (5, 0, 0), (8.732, 0, 1), (12.196, 0, 3), a 150° elbow can be automatically calculated and generated.

[0169] In addition, when the complete pipeline center line coordinates are obtained, the integrated automatic generation of the elbow section can be realized. The following table is a river pipeline of about 100m containing 4708 groups of pipeline center line nodes. By generating an Excel pipeline data table with the pipeline center line coordinates and the pipe diameter parameters as shown in Table 1, the pipeline automatic modeling effect can be realized by importing the pipeline automatic three-dimensional modeling visualization program developed based on the content of the application. Figure 9 .

[0170] Table 1

[0171] East (X) / m North (Y) / m North (Z) / m Pipe diameter (D) / m -1.92378E-10 1.4999999 -6.94853E-10 1.219 0.016864264 1.5067984 -3.61604E-10 1.219 0.033728529 -1.513994 3.08329E-06 1.219 0.050592795 1.5203872 3.08271E-06 1.219 0.067457058 1.5275762 3.08309E-07 1.219 0.08432132 1.5339639 3.08314E-06 1.219 0.101185583 1.5407481 3.08365E-06 1.219 0.118049853 1.5471303 3.95657E-10 1.219 0.134914115 1.5543077 3.08915E-07 1.219 0.151778385 1.5610831 3.08465E-06 1.219 0.16864264 1.5678556 3.08513E-06 1.219 0.18550691 1.5746253 6.47752E-06 1.219 0.202371165 -1.581392 3.10739E-07 1.219 0.219235435 1.5881557 6.47828E-06 1.219 0.23609969 1.5949168 -3.08181E-06 1.219 0.25296396 -1.601675 3.08729E-06 1.219 0.26982823 1.6084301 3.08784E-06 1.219 0.2866925 1.6151824 5.22256E-09 1.219 0.30355674 1.6219318 6.48107E-06 1.219 0.32042101 1.6286783 6.48156E-06 1.219 0.33728528 1.6358187 3.15745E-07 1.219 0.35414955 1.6421628 8.09143E-09 1.219 0.37101382 1.6489007 8.68995E-09 1.219 0.38787806 1.6556356 6.48457E-06 1.219 ...... ...... ...... ...... 79.36322784 1.499693155 0.00041547 1.219

[0172] In summary, in the pipeline repair and operation and maintenance, the three-dimensional model containing the straight pipe section and the elbow section can be quickly generated according to the center line coordinates, the spatial position relationship of the pipeline trend and the adjacent pipeline is accurately displayed, so as to reduce the operation and maintenance cost and the repair risk, improve the response speed, shorten the construction period, prevent secondary disasters, and ensure the safe operation of the pipeline. The pipeline can be automatically constructed by only the pipeline center line coordinates, so the application has a wide application prospect in the field of oil and gas pipeline operation and maintenance.

[0173] It should be emphasized that: the above is only a preferred embodiment of the present application, and does not limit the present application in any form, any simple modification of the above embodiment according to the technical essence of the present application also belongs to the protection scope of the present application, other equivalent changes and modifications still belong to the scope of the technical scheme of the present application.

Claims

1. A centerline coordinate-based integrated automatic modeling method for a pipeline, characterized in that, The method comprises the following steps: Step 1, integrate modeling data, unify pipeline data of different sources and different formats into structured and standardized data sets for subsequent model construction; the pipeline data includes pipeline centerline three-dimensional coordinates and pipe diameter parameters; Step 2, draw a reference circle surface, calculate the pipeline reference circle surface by using the angle differential method through the circle's inscribed regular polygon; translate the pipeline reference circle surface to the corresponding pipeline centerline node and calculate the quaternion of the pipeline reference circle surface rotating to the pipeline centerline node direction vector; calculate the actual position coordinates of each node of the pipeline reference circle surface by using the quaternion; Step 3, construct a straight pipe section, draw a grid between two adjacent pipeline centerline reference circle surfaces to generate a triangular index array of the cylindrical grid; Step 4, construct an elbow, for the case where complete pipeline elbow centerline coordinates cannot be provided, fit the elbow by using the tangent circular arc of the two straight pipe sections according to the in-elbow straight pipe centerline coordinate point and the out-elbow straight pipe centerline coordinate point, calculate the path point at the elbow to realize integrated construction of the pipeline; Step 4 comprises the following steps: Step 4-1, calculate the vector cross product of the in-elbow straight pipe centerline direction vector and the out-elbow straight pipe centerline direction vector; Step 4-2, calculate the module length of the vector cross product obtained in step 4-1; Step 4-3, calculate the in-elbow straight pipe centerline node vector and the out-elbow straight pipe centerline node vector; Step 4-4, calculate the intersection point P coordinates of the in-elbow straight pipe centerline and the out-elbow straight pipe centerline; Step 4-5, calculate the center O coordinates of the circular arc at the elbow and the tangent circular arc radius r; Step 4-6, calculate the circular arc modeling path point coordinates, sequentially pass through the path point coordinates to realize pipeline elbow path construction, make a straight pipe section between two adjacent path points, and perform grid construction to realize elbow modeling; In step 4-4, the intersection point P coordinates are: P = P1 + t·d1 (11) In formula (11), p1 represents the vector from the system origin to the in-elbow straight pipe centerline coordinate point, d1 represents the in-elbow straight pipe centerline direction vector, and t is: In formula (10), Δ represents the difference vector of the vector from the system origin to the in-elbow straight pipe centerline coordinate point and the vector from the system origin to the out-elbow straight pipe centerline coordinate point, d2 represents the out-elbow straight pipe centerline direction vector, and c = d1×d2 represents the vector cross product of the two vectors; In step 4-5, the center coordinates are: In formula (15), denotes the direction vector of the sum vector of the intersection point P to the vector into the straight pipe section center line node vector at the bend and the intersection point P to the vector out of the straight pipe section center line node vector at the bend, and d denotes the distance from the intersection point P to the center of the circle, denotes the coordinate vector of the intersection point P.

2. The method of claim 1, wherein, In step 1, the pipeline centerline three-dimensional coordinates are XYZ three-axis relative coordinates, and the pipeline centerline three-dimensional coordinates are arranged in the order of pipeline trend.

3. The method of claim 2, wherein, In step 1, the pipeline centerline trend direction is: In formula (1), (X n,j ,Y n,j ,Z n,j ) represents the relative coordinates of the former node of two adjacent nodes, and (X n，j+1 , Y n，j+1 , Z n，j+1 ) represents the relative coordinates of the latter node of two adjacent nodes.

4. The method of claim 1, wherein, In step 2, the actual position coordinates P of each node of the pipeline reference circle surface are: In formula (5), q represents the quaternion, P' represents the parametric equation of the circular uniform discrete points, and i represents the pipeline centerline node; wherein q is: In formula (4), denotes the normalized directional vector of node i, r x , r y , r z denote the x, y, z directional component vectors of node i after normalization, respectively.

5. The method of claim 1, wherein, Step 3 comprises the following steps: Step 3-1, set the vertex array generation, let L represent the number of pipeline reference surfaces, C represent the number of vertices on each reference surface, and the index position Index(i,j) in the vertex array is: Index(i, j) = i x L + j (6) Assign the vertex coordinates to the vertex array as follows: vertices [Index (i, j)] = V i，j (7) In formula (6), formula (7), V i,j represents the coordinate of the jth vertex on the ith cross section; Step 3-2, triangle index array generation, the mesh surface is formed by connecting the vertices of adjacent sections to form triangular patches, the i-th point of the current section is connected with the i+1-th point of the adjacent section, and the j-th point of the current section is connected with the j+1-th point of the adjacent section, to form two triangular meshes.

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