Linear detection method and system of corrugated pipe, electronic equipment and storage medium

Abstract

The invention provides a linear detection method and system of a corrugated pipe, electronic equipment and a storage medium. The linear detection method comprises the following steps: acquiring actual image information of the corrugated pipe; fitting the actual image information into a three-dimensional model; acquiring an actual line shape of the corrugated pipe from the three-dimensional model; obtaining a theoretical line shape of the corrugated pipe from the theoretical drawing; comparing the actual line shape with the theoretical line shape to obtain a line shape deviation; and adjusting the actual line shape of the corrugated pipe based on the line shape deviation. According to the method, unmanned aerial vehicle oblique photography and total station detection are combined, the collected actual image information of the corrugated pipe is fitted into the three-dimensional model, the actual line shape of the corrugated pipe is compared with the theoretical line shape, and rapid and refined detection of the line shape of the corrugated pipe is achieved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of linear detection of corrugated pipes, and in particular to a linear detection method and system for corrugated pipes, an electronic device, and a storage medium. BACKGROUND

[0002] At present, bridge precast components are widely used in the field of infrastructure construction such as highways and urban expressways, and have become the mainstream due to their high efficiency, high quality, environmental protection and other characteristics. The quality of the precast components is the key to the safety of the bridge structure, especially in the precast box girder link, the positioning linear of the corrugated pipe is particularly important, which directly affects the smoothness of the box girder prestress tension and the safety of the bridge structure. The commonly used detection method uses visual inspection or tape measure to collect three-dimensional coordinate data of the corrugated pipe at key points, and then compares the three-dimensional coordinate data of several measurement points with the design drawing. This detection method is limited to local area and cannot detect the overall linear of the corrugated pipe, which may cause congestion in the subsequent pre-stressed tendon threading and seriously affect the quality of the finished box girder. SUMMARY

[0003] The technical problem to be solved by the present disclosure is to overcome the defect that the existing technology cannot detect the overall linear of the corrugated pipe by using visual inspection or tape measure to collect three-dimensional coordinate data of the corrugated pipe at key points, and to provide a linear detection method, system, electronic device and storage medium for corrugated pipes.

[0004] The present disclosure solves the above technical problems by the following technical solutions:

[0005] The first aspect of the present disclosure provides a linear detection method for a corrugated pipe, the linear detection method comprising:

[0006] collecting actual image information of the corrugated pipe;

[0007] fitting the actual image information into a three-dimensional model;

[0008] obtaining an actual linear of the corrugated pipe from the three-dimensional model;

[0009] obtaining a theoretical linear of the corrugated pipe from a theoretical drawing;

[0010] comparing the actual linear with the theoretical linear to obtain a linear deviation;

[0011] adjusting the actual linear of the corrugated pipe based on the linear deviation.

[0012] Preferably, the linear detection method further comprises:

[0013] fitting a linear deviation curve based on the linear deviation.

[0014] Preferably, the step of collecting the actual image information of the corrugated pipe comprises:

[0015] collecting three-dimensional coordinate information of the corrugated pipe;

[0016] adjusting the three-dimensional coordinate information to obtain adjusted three-dimensional coordinate information;

[0017] obtaining the actual image information of the corrugated pipe based on the adjusted three-dimensional coordinate information.

[0018] Preferably, the step of obtaining the actual line shape of the corrugated pipe from the three-dimensional model comprises:

[0019] fitting to obtain a three-dimensional line shape of the corrugated pipe based on the three-dimensional model;

[0020] obtaining the actual line shape of the corrugated pipe from the three-dimensional line shape.

[0021] Preferably, the step of fitting the actual image information into a three-dimensional model comprises:

[0022] performing aerial triangulation calculation on the actual image information to obtain aerial triangulation calculated actual image information;

[0023] performing coordinate system conversion on the aerial triangulation calculated actual image information to obtain coordinate system converted actual image information;

[0024] fitting into a three-dimensional model based on the coordinate system converted actual image information.

[0025] Preferably, the step of adjusting the three-dimensional coordinate information to obtain adjusted three-dimensional coordinate information comprises:

[0026] performing plane adjustment on the plane coordinates of the image control points on the corrugated pipe using free network adjustment and constraint adjustment to obtain plane adjusted plane coordinates of the image control points;

[0027] performing height network adjustment on the height values of the image control points on the corrugated pipe to obtain height network adjusted height values of the image control points;

[0028] obtaining adjusted three-dimensional coordinate information based on the plane adjusted plane coordinates of the image control points and the height network adjusted height values of the image control points.

[0029] The second aspect of the present disclosure provides a line shape detection system for a corrugated pipe, comprising:

[0030] a collecting module configured to collect actual image information of the corrugated pipe;

[0031] A first fitting module, configured to fit the actual image information into a three-dimensional model;

[0032] A first acquisition module is used to acquire the actual linear shape of the bellows from the three-dimensional model;

[0033] The second acquisition module is used to obtain the theoretical linear shape of the bellows from the theoretical drawing;

[0034] A comparison module, configured to compare the actual linear shape with the theoretical linear shape to obtain a linear deviation;

[0035] An adjustment module is used to adjust the actual linear shape of the bellows based on the linear deviation.

[0036] Preferably, the line shape detection system further includes:

[0037] The second fitting module is used to obtain a linear deviation curve graph based on the linear deviation fitting.

[0038] Preferably, the acquisition module includes:

[0039] An acquisition unit, used for acquiring three-dimensional coordinate information of the bellows;

[0040] An adjustment processing unit is used to perform adjustment processing on the three-dimensional coordinate information to obtain the three-dimensional coordinate information after adjustment processing;

[0041] The first acquisition unit is used to obtain actual image information of the corrugated pipe based on the three-dimensional coordinate information after the adjustment processing.

[0042] Preferably, the first acquisition module includes:

[0043] A second acquiring unit is configured to obtain a three-dimensional line graph of the bellows based on the three-dimensional stereo model;

[0044] The third acquiring unit is configured to acquire the actual linear shape of the bellows from the three-dimensional linear graph.

[0045] Preferably, the first fitting module includes:

[0046] an aerial triangulation solution unit, configured to perform aerial triangulation solution on the actual image information to obtain actual image information after aerial triangulation solution;

[0047] an aerial triangulation coordinate system conversion unit, configured to perform aerial triangulation coordinate system conversion on the actual image information obtained after the aerial triangulation solution, to obtain the actual image information after the coordinate system conversion;

[0048] A fitting unit is used to fit the actual image information after the coordinate system conversion into a three-dimensional stereo model.

[0049] Preferably, the adjustment processing unit includes:

[0050] The first processing subunit is used to perform plane adjustment processing on the plane coordinates of the image control points on the corrugated tube by using free network adjustment and constraint adjustment to obtain the plane coordinates of the image control points after plane adjustment processing;

[0051] The second processing subunit is used to perform elevation network adjustment processing on the elevation values ​​of the image control points on the corrugated pipe to obtain the elevation values ​​of the image control points after the elevation network adjustment processing;

[0052] The acquisition subunit is used to obtain the three-dimensional coordinate information after adjustment based on the plane coordinates of the image control points after the plane adjustment processing and the elevation values ​​of the image control points after the elevation network adjustment processing.

[0053] A third aspect of the present disclosure provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein when the processor executes the computer program, the linear shape detection method of the corrugated pipe described in the first aspect is implemented.

[0054] A fourth aspect of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the linear shape detection method of the corrugated pipe described in the first aspect.

[0055] A fifth aspect of the present disclosure provides a computer program product, comprising a computer program, which, when executed by a processor, implements the linear shape detection method of a corrugated pipe as described in the first aspect.

[0056] On the basis of conforming to the common sense in this field, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present disclosure.

[0057] The positive progress of this disclosure is:

[0058] The present invention combines drone oblique photography with total station detection, fits the actual image information of the collected bellows into a three-dimensional model, compares the actual line shape of the bellows with the theoretical line shape, and realizes rapid and refined detection of the bellows line shape. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a flow chart of the linear detection method for a corrugated pipe provided in Example 1 of the present disclosure.

[0060] Figure 2 A schematic diagram of the modules of the linear detection system for the corrugated pipe provided in Example 2 of the present disclosure.

[0061] Figure 3A structural schematic diagram of an electronic device for implementing a linear detection method of a corrugated pipe according to Embodiment 3 of the present disclosure. DETAILED DESCRIPTION

[0062] The present disclosure will be further described below by way of examples, but the present disclosure is not limited to the described examples.

[0063] In the embodiments of the present disclosure, the prefix words such as "first", "second" are merely used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as "first", "second" in the embodiments of the present disclosure does not constitute a limitation on the described objects, and the description of the described objects should be referred to the description in the context of the claims or embodiments, and should not constitute an unnecessary limitation because of the use of such prefix words. In addition, in the description of the embodiments, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0064] In the embodiments of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in accordance with the relevant laws and regulations, and do not violate public order and good customs.

[0065] Embodiment 1

[0066] Figure 1 A flowchart of a linear detection method of a corrugated pipe according to Embodiment 1 of the present disclosure is shown in Figure 1 The linear detection method comprises:

[0067] S1, collecting actual image information of the corrugated pipe;

[0068] In this embodiment, the actual image information of the corrugated pipe is collected by an image collection device;

[0069] It should be noted that the image collection device can be a drone or a camera.

[0070] Specifically, the tilt photography technology of the drone is used to collect multiple images of the corrugated pipe.

[0071] In addition, the actual image information has three-dimensional coordinate information.

[0072] S2, fitting the actual image information into a three-dimensional model;

[0073] S3, obtaining the actual linear of the corrugated pipe from the three-dimensional model;

[0074] S4, obtaining the theoretical linear of the corrugated pipe from the theoretical drawing;

[0075] S5, comparing the actual linear with the theoretical linear to obtain the linear deviation.

[0076] S6, adjusting the actual line shape of the corrugated pipe based on the line shape deviation.

[0077] In this embodiment, when the unmanned aerial vehicle collects the actual image information of the corrugated pipe, the flight route of the unmanned aerial vehicle for oblique shooting is planned, the flight height of the unmanned aerial vehicle from the corrugated pipe is determined, the flight height of the unmanned aerial vehicle is ensured to be basically unchanged during flight, and finally the photographing interval and overlap rate of the unmanned aerial vehicle are set.

[0078] In an optional embodiment, the line shape detection method further comprises:

[0079] The line shape deviation curve is fitted based on the line shape deviation.

[0080] In an optional embodiment, S1 comprises:

[0081] S11, collecting three-dimensional coordinate information of the corrugated pipe;

[0082] In this embodiment, the three-dimensional coordinate information of the corrugated pipe is collected by a total station.

[0083] S12, adjusting the three-dimensional coordinate information to obtain adjusted three-dimensional coordinate information;

[0084] S13, obtaining actual image information of the corrugated pipe based on the adjusted three-dimensional coordinate information.

[0085] In an optional embodiment, S3 comprises:

[0086] The three-dimensional line shape of the corrugated pipe is fitted based on the three-dimensional solid model;

[0087] The actual line shape of the corrugated pipe is obtained from the three-dimensional line shape.

[0088] In this embodiment, based on the three-dimensional solid model of the corrugated pipe of the bridge prefabricated component, the three-dimensional line shape of the relative position of the prestressed corrugated pipe relative to the bottom plate and web of the box girder is fitted, the actual line shape of the corrugated pipe is obtained from the three-dimensional line shape, the line shape deviation is obtained by comparing the actual line shape with the designed theoretical line shape, the line shape deviation curve is obtained according to the line shape deviation, and the line shape detection of the prestressed corrugated pipe based on the unmanned aerial vehicle oblique photography technology is completed.

[0089] The line shape detection method of the prestressed corrugated pipe based on the unmanned aerial vehicle oblique photography technology in this embodiment improves the positioning accuracy of the corrugated pipe and prevents the congestion of the prestressed tendon during the threading process from causing the prestressed tension to break.

[0090] In an optional embodiment, S2 comprises:

[0091] The actual image information is triangulated to obtain triangulated actual image information;

[0092] The actual image information after the aerial triangulation is converted in the aerial triangulation coordinate system to obtain actual image information after coordinate system conversion;

[0093] The actual image information after coordinate system conversion is fitted into a three-dimensional model.

[0094] In this embodiment, the actual image information of the corrugated pipe collected by the unmanned aerial vehicle is subjected to "aerial triangulation", the engineering three-dimensional coordinates of the image control points after previous adjustment processing are used to complete the software coordinate system conversion of the bridge prefabricated component model, and a three-dimensional model is generated based on the actual image information after coordinate system conversion.

[0095] In an optional embodiment, S12 comprises:

[0096] The planar coordinates of the image control points on the corrugated pipe are subjected to planar adjustment processing by using free network adjustment and constraint adjustment to obtain the planar coordinates of the image control points after planar adjustment processing;

[0097] The elevation values of the image control points on the corrugated pipe are subjected to elevation network adjustment processing to obtain the elevation values of the image control points after elevation network adjustment processing;

[0098] The three-dimensional coordinate information after adjustment processing is obtained based on the planar coordinates of the image control points after planar adjustment processing and the elevation values of the image control points after elevation network adjustment processing.

[0099] In this embodiment, at least 5 or more image control points are uniformly arranged around the bridge prefabricated component with the corrugated pipe, three-dimensional coordinate information of each image control point is collected, the planar coordinates of the image control points on the corrugated pipe are subjected to planar adjustment processing by using free network adjustment and constraint adjustment, and the elevation values of the image control points are subjected to elevation network adjustment, so that the adjustment processing of the three-dimensional coordinate information of the image control points on the corrugated pipe is completed.

[0100] In this embodiment, the unmanned aerial vehicle oblique photography and total station detection are combined, the collected actual image information of the corrugated pipe is fitted into a three-dimensional model, the actual linear form of the corrugated pipe is compared with the theoretical linear form, and the rapid and fine detection of the linear form of the corrugated pipe is realized.

[0101] Embodiment 2

[0102] Corresponding to the foregoing linear detection method embodiment of the corrugated pipe, the disclosure also provides an embodiment of a XX system.

[0103] Figure 2 A module schematic diagram of a linear detection system of a corrugated pipe provided in the embodiment 2 of the disclosure is shown in Figure 2 The linear detection system comprises:

[0104] The collecting module 21 is configured to collect actual image information of the corrugated pipe.

[0105] In this embodiment, the actual image information of the corrugated pipe is collected by the image collecting device.

[0106] It should be noted that the image collecting device can be a drone or a camera.

[0107] Specifically, the tilt photography technology of the drone is used to collect multiple images of the corrugated pipe.

[0108] In addition, the actual image information has three-dimensional coordinate information.

[0109] The first fitting module 22 is configured to fit the actual image information into a three-dimensional model.

[0110] The first obtaining module 23 is configured to obtain the actual line shape of the corrugated pipe from the three-dimensional model.

[0111] The second obtaining module 24 is configured to obtain the theoretical line shape of the corrugated pipe from the theoretical drawing.

[0112] The comparison module 25 is configured to compare the actual line shape with the theoretical line shape to obtain a line shape deviation.

[0113] The adjustment module 26 is configured to adjust the actual line shape of the corrugated pipe based on the line shape deviation.

[0114] In this embodiment, when the actual image information of the corrugated pipe is collected by the drone, the flight route of the tilt photography of the drone is planned, the flight height of the drone from the corrugated pipe is determined, the flight height of the drone is ensured to be basically unchanged during flight, and finally the photographing interval and the overlap rate of the drone are set.

[0115] In an optional embodiment, the line shape detection system further includes:

[0116] The second fitting module is configured to fit a line shape deviation curve based on the line shape deviation.

[0117] In an optional embodiment, the collecting module includes:

[0118] The collecting unit is configured to collect three-dimensional coordinate information of the corrugated pipe.

[0119] In this embodiment, the three-dimensional coordinate information of the corrugated pipe is collected by the total station.

[0120] The adjustment processing unit is configured to perform adjustment processing on the three-dimensional coordinate information to obtain adjusted three-dimensional coordinate information.

[0121] The first obtaining unit is configured to obtain the actual image information of the corrugated pipe based on the adjusted three-dimensional coordinate information.

[0122] In an optional embodiment, the first obtaining module comprises:

[0123] The second obtaining unit is configured to obtain a three-dimensional linear graph of the corrugated pipe based on the three-dimensional model fitting;

[0124] The third obtaining unit is configured to obtain the actual linear shape of the corrugated pipe from the three-dimensional linear graph.

[0125] In this embodiment, based on the three-dimensional model of the corrugated pipe of the bridge prefabricated component, a three-dimensional linear graph of the relative position of the prestressed corrugated pipe relative to the bottom plate and the web of the box girder is fitted, the actual linear shape of the corrugated pipe is obtained from the three-dimensional linear graph, the linear deviation is obtained by comparing the actual linear shape with the designed theoretical linear shape, and the linear deviation curve is obtained according to the linear deviation, so that the linear detection of the prestressed corrugated pipe based on the unmanned aerial vehicle oblique photography technology is completed.

[0126] The linear detection method of the prestressed corrugated pipe based on the unmanned aerial vehicle oblique photography technology in this embodiment improves the positioning accuracy of the corrugated pipe and prevents the prestressed tendon from being broken during the tensioning process.

[0127] In an optional embodiment, the first fitting module comprises:

[0128] The aerial triangulation solving unit is configured to perform aerial triangulation solving on the actual image information to obtain actual image information after aerial triangulation solving;

[0129] The aerial triangulation coordinate system conversion unit is configured to perform aerial triangulation coordinate system conversion on the actual image information after aerial triangulation solving to obtain actual image information after coordinate system conversion;

[0130] The fitting unit is configured to fit the actual image information after coordinate system conversion into a three-dimensional model.

[0131] In this embodiment, the actual image information of the corrugated pipe collected by the unmanned aerial vehicle is subjected to “aerial triangulation solving”, and the engineering three-dimensional coordinates of the image control points after previous adjustment processing are used to complete the software coordinate system conversion of the bridge prefabricated component model; and the three-dimensional model is generated based on the actual image information after coordinate system conversion.

[0132] In an optional embodiment, the adjustment processing unit comprises:

[0133] The first processing subunit is configured to perform plane adjustment processing on the plane coordinates of the image control points on the corrugated pipe by using free network adjustment and constraint adjustment to obtain the plane coordinates of the image control points after plane adjustment processing;

[0134] The second processing subunit is configured to perform height network adjustment processing on the height values of the image control points on the corrugated pipe to obtain height values of the image control points after the height network adjustment processing.

[0135] The acquisition subunit is configured to obtain the three-dimensional coordinate information after the adjustment processing based on the planar coordinates of the image control points after the planar adjustment processing and the height values of the image control points after the height network adjustment processing.

[0136] In this embodiment, at least 5 image control points are uniformly arranged around the bridge prefabricated member with the corrugated pipe, three-dimensional coordinate information of each image control point is collected, planar adjustment processing is performed on the planar coordinates of the image control points on the corrugated pipe by using free network adjustment and constraint adjustment, and then height network adjustment is performed on the height values of the image control points, so that the adjustment processing of the three-dimensional coordinate information of the image control points on the corrugated pipe is completed.

[0137] In this embodiment, the actual image information of the corrugated pipe collected is fitted into a three-dimensional model, and the actual line shape of the corrugated pipe is compared with the theoretical line shape, so that rapid and fine detection of the line shape of the corrugated pipe is realized.

[0138] For the system embodiment, since it basically corresponds to the method embodiment, the related parts are described in the part of the method embodiment. The system embodiment described above is only schematic, and the units described as separate components can or can not be physically separate, and the components of the unit can or can not be physical units, i.e. they can be located in one place or distributed on multiple network units. According to the actual needs, some or all of the modules can be selected to achieve the purpose of the present disclosure.

[0139] Embodiment 3

[0140] Figure 3 A structure schematic diagram of an electronic device is shown in the present embodiment 3 of the present disclosure, which includes a memory, a processor and a computer program stored in the memory and used for running on the processor, and the processor implements the line shape detection method of the corrugated pipe described in any of the above embodiments when executing the computer program. Figure 3 The electronic device 90 shown is only an example, and should not limit the functions and use range of the present embodiment.

[0141] As shown in Figure 3 The electronic device 90 can be in the form of a general computing device, for example, it can be a server device. The components of the electronic device 90 can include but are not limited to the above-mentioned at least one processor 91, the above-mentioned at least one memory 92, and the bus 93 connecting different system components including the memory 92 and the processor 91.

[0142] The bus 93 includes a data bus, an address bus, and a control bus.

[0143] The memory 92 may include a volatile memory, such as a random access memory (RAM) 921 and / or a cache memory 922 , and may further include a read-only memory (ROM) 923 .

[0144] The memory 92 may also include a program tool 925 (or utility) having a set (at least one) of program modules 924, such program modules 924 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0145] The processor 91 executes various functional applications and data processing by running the computer program stored in the memory 92, such as the linear shape detection method of the corrugated pipe provided in any of the above embodiments.

[0146] The electronic device 90 can also communicate with one or more external devices 94 (e.g., keyboards, pointing devices, etc.). Such communication can be performed through an input / output (I / O) interface 95. In addition, the electronic device 90 can also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 96. Figure 3 As shown, the network adapter 96 communicates with other modules of the electronic device 90 via the bus 93. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 90, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (RAID) systems, tape drives, and data backup storage systems.

[0147] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0148] Example 4

[0149] Embodiment 4 of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the linear shape detection method for a corrugated pipe provided in any of the above embodiments.

[0150] More specifically, the readable storage medium can include, but is not limited to, a portable disc, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0151] Embodiment 5

[0152] The embodiment 5 of the present disclosure further provides a computer program product comprising a computer program which, when executed by a processor, implements the above-mentioned any one of the corrugated pipe linear detection method.

[0153] The program code of the computer program product for executing the present disclosure can be written in any combination of one or more programming languages, and can be executed completely on a user device, partially on a user device, as a stand-alone software package, partially on a user device and partially on a remote device, or completely on a remote device.

[0154] Although the specific embodiments of the present disclosure are described above, those skilled in the art should understand that this is only an illustration, and the protection scope of the present disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, and these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. A method for detecting the linear shape of a bellows, characterized in that: The line shape detection method comprises: Collect actual image information of the bellows; Fitting the actual image information into a three-dimensional model; Obtain the actual line shape of the bellows from the three-dimensional model; Obtain the theoretical line shape of the bellows from the theoretical drawing; Comparing the actual linear shape with the theoretical linear shape to obtain a linear deviation; The actual linear shape of the bellows is adjusted based on the linear shape deviation.

2. The method for detecting the linear shape of a corrugated pipe according to claim 1, wherein: The line shape detection method further includes: A linear deviation curve graph is obtained based on the linear deviation fitting.

3. The method for detecting the linear shape of a corrugated pipe according to claim 1, wherein: The step of collecting actual image information of the bellows includes: Collect the three-dimensional coordinate information of the bellows; Performing adjustment processing on the three-dimensional coordinate information to obtain the adjusted three-dimensional coordinate information; The actual image information of the bellows is obtained based on the three-dimensional coordinate information after the adjustment processing.

4. The method for detecting the linear shape of a corrugated pipe according to claim 1, wherein: The step of obtaining the actual linear shape of the bellows from the three-dimensional model comprises: Obtaining a three-dimensional linear graph of the bellows based on the three-dimensional stereo model; The actual linear shape of the bellows is obtained from the three-dimensional linear graph.

5. The method for detecting the linear shape of a corrugated pipe according to claim 1, wherein: The step of fitting the actual image information into a three-dimensional model comprises: Performing aerial triangulation on the actual image information to obtain actual image information after aerial triangulation; Performing aerial triangulation coordinate system conversion on the actual image information after the aerial triangulation solution to obtain the actual image information after the coordinate system conversion; The actual image information converted based on the coordinate system is fitted into a three-dimensional stereo model.

6. The method for detecting the linear shape of a corrugated pipe according to claim 3, wherein: The step of performing adjustment processing on the three-dimensional coordinate information to obtain the three-dimensional coordinate information after the adjustment processing comprises: The plane coordinates of the image control points on the bellows are adjusted using free network adjustment and constrained adjustment to obtain the plane coordinates of the image control points after plane adjustment. Performing elevation network adjustment processing on the elevation values ​​of the image control points on the bellows to obtain the elevation values ​​of the image control points after elevation network adjustment processing; The three-dimensional coordinate information after adjustment is obtained based on the plane coordinates of the image control points after the plane adjustment processing and the elevation values ​​of the image control points after the elevation network adjustment processing.

7. A linear detection system for a corrugated pipe, characterized in that: The linear detection system comprises: An acquisition module, used to acquire actual image information of the bellows; A first fitting module, configured to fit the actual image information into a three-dimensional model; A first acquisition module is used to acquire the actual linear shape of the bellows from the three-dimensional model; The second acquisition module is used to obtain the theoretical linear shape of the bellows from the theoretical drawing; A comparison module, configured to compare the actual linear shape with the theoretical linear shape to obtain a linear deviation; An adjustment module is used to adjust the actual linear shape of the bellows based on the linear deviation.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and configured to run on the processor, wherein: When the processor executes the computer program, the method for detecting the linear shape of a corrugated pipe according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for detecting the linear shape of a corrugated pipe according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for detecting the linear shape of a corrugated pipe according to any one of claims 1 to 6 is implemented.

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