Pipe network topology identification method and device based on three-dimensional ring scanning of inspection well

Abstract

This invention relates to the field of drainage pipe network modeling technology, and discloses a method and apparatus for identifying pipe network topology based on 3D ring scanning of manholes. The method includes: acquiring a 3D mesh model and location information of multiple manholes in the drainage pipe network; determining multiple manhole combinations based on the location information of the multiple manholes; performing pairwise matching on the multiple pipe interfaces corresponding to the first manhole and the multiple pipe interfaces corresponding to the second manhole in each manhole combination based on the center elevation and diameter of the pipe inlets of multiple pipe interfaces to obtain multiple candidate connection pairs of pipe interfaces; judging whether the corresponding candidate connection pairs meet the preset spatial orientation constraints based on the center point coordinates of each pipe interface in each candidate connection pair and the horizontal azimuth angle of the pipe axis, and obtaining the judgment result; determining at least one target connection pair among the multiple candidate connection pairs based on the judgment result; and generating a topology connection diagram of the manholes in the drainage pipe network based on the target connection pair.

Description

Technical Field

[0001] This invention relates to the field of drainage network modeling technology, specifically to a method and apparatus for identifying network topology based on 3D ring scanning of inspection wells. Background Technology

[0002] The topology of drainage pipe networks is a major factor determining the transport paths of urban stormwater and sewage. Accurate and efficient identification of the network topology is fundamental to the scientific management of stormwater and sewage. In related technologies, spatial information from inspection wells is typically collected using sonar, laser scanning, and other detection methods. Technicians then determine the pipe network connections based on this information and their personal experience. However, manually comparing fragmented inspection videos, drawings, and measurement reports to identify three-dimensional connections is not only inefficient, subjective, and inconsistent, but also lacks automated verification and is prone to errors, becoming a key bottleneck restricting the digitalization of drainage pipe networks. Summary of the Invention

[0003] This invention provides a method and device for identifying pipeline topology based on three-dimensional ring scanning of inspection wells, in order to solve the problems of low efficiency, strong subjectivity, poor consistency, inability to perform automated verification, and high error rate in related technologies that rely on manual comparison of scattered inspection videos, drawings and measurement reports to identify pipeline interface connection relationships.

[0004] In a first aspect, the present invention provides a method for identifying the topology of a pipe network based on three-dimensional ring scanning of manholes. The method includes: acquiring a three-dimensional mesh model and location information of multiple manholes in a drainage pipe network; the three-dimensional mesh model includes feature vectors of multiple pipe interfaces within the manholes, the feature vectors including center point coordinates, horizontal azimuth angle of the pipe axis, center elevation of the pipe opening, and pipe diameter; determining multiple manhole combinations based on the location information of the multiple manholes, each manhole combination including a first manhole and a second manhole, the first and second manholes being adjacent; performing pairwise matching on the multiple pipe interfaces corresponding to the first manhole and the multiple pipe interfaces corresponding to the second manhole in each manhole combination based on the center elevation of the pipe opening and the pipe diameter, obtaining multiple candidate connection pairs of pipe interfaces; judging whether the corresponding candidate connection pair satisfies a preset spatial orientation constraint based on the center point coordinates of each pipe interface and the horizontal azimuth angle of the pipe axis in each candidate connection pair, obtaining a judgment result; determining at least one target connection pair among the multiple candidate connection pairs based on the judgment result; and generating a topology connection map of the manholes in the drainage pipe network based on the target connection pair.

[0005] The present invention provides a method for identifying pipeline topology based on 3D ring scanning of manholes. By acquiring a 3D mesh model of the manhole and feature vectors of pipe interfaces containing precise parameters, adjacent combinations are selected based on the manhole location information. Then, preliminary matching of pipe interfaces is completed based on pipe elevation and pipe diameter. Spatial orientation constraints are verified by combining the center point coordinates and the horizontal azimuth angle of the pipe axis. Finally, a topology connection map is automatically generated. The entire identification process does not rely on human experience judgment, realizing the automation and efficiency of pipeline topology identification. It not only ensures the accuracy and objectivity of pipeline connection relationship identification, but also completes automated verification through standardized spatial constraint rules. This provides a reliable technical foundation for the accurate determination of urban rainwater and sewage transport paths, the scientific management and digital construction of drainage networks, and significantly improves the overall quality and efficiency of pipeline topology identification.

[0006] In one optional implementation, the step of matching multiple pipe interfaces corresponding to the first manhole and multiple pipe interfaces corresponding to the second manhole in each manhole combination in pairs based on the center elevation and diameter of the pipe inlet of multiple pipe interfaces includes: combining multiple pipe interfaces of the first manhole and multiple pipe interfaces of the second manhole in each manhole combination in pairs to obtain multiple pipe interface combinations; calculating a first target value based on the pipe diameter of the first pipe interface and the pipe diameter of the second pipe interface in each pipe interface combination; calculating a second target value based on the center elevation of the pipe inlet of the first pipe interface and the pipe diameter of the second pipe interface in each pipe interface combination; and determining multiple candidate connection pairs in the multiple pipe interface combinations based on the first target value and the second target value of each pipe interface combination.

[0007] The method provided in this optional implementation combines the pipe interfaces of adjacent inspection wells in pairs and calculates target values ​​based on the pipe diameter and the center elevation of the pipe opening to screen candidate connection pairs. This can quickly eliminate interface combinations with obvious mismatches in elevation and pipe diameter in the early stage, reducing the amount of calculation for subsequent spatial orientation constraint verification. At the same time, it uses quantitative values ​​to replace manual experience in judging interface matching, further improving the objectivity and accuracy of pipeline interface matching.

[0008] In one optional implementation, the step of determining whether a candidate connection pair satisfies a preset spatial orientation constraint based on the center point coordinates of each pipe interface in each candidate connection pair and the horizontal azimuth angle of the pipe axis, and obtaining the determination result, includes: determining the theoretical connection line azimuth angle between the center points of the first and second pipe interfaces in each candidate connection pair based on the center point coordinates of the first and second pipe interfaces in each candidate connection pair; determining the comprehensive azimuth angle deviation of the corresponding candidate connection pair based on the horizontal azimuth angle of the pipe axis of the first pipe interface, the horizontal azimuth angle of the pipe axis of the second pipe interface, and the theoretical connection line azimuth angle in each candidate connection pair; and determining whether the corresponding candidate connection pair satisfies the preset spatial orientation constraint based on the comprehensive azimuth angle deviation of each candidate connection pair and a preset azimuth angle deviation threshold, and obtaining the determination result.

[0009] The method provided in this optional implementation calculates the azimuth angle of the theoretical connection line at the center point of the pipeline interface and combines it with the horizontal azimuth angle of the pipeline's own axis to obtain a comprehensive azimuth angle deviation. This deviation is then quantitatively compared with a preset threshold. This allows for precise verification of candidate connection pairs from a spatial orientation perspective, effectively compensating for potential matching errors that may exist when relying solely on pipe diameter and elevation for screening. It also eliminates erroneous connection combinations that do not conform to the actual pipeline laying direction, further improving the accuracy and rationality of pipeline connection pair judgment. This makes the topology recognition results more consistent with the actual pipeline spatial layout. At the same time, it achieves automated azimuth verification by relying on quantitative parameters, further enhancing the objectivity and reliability of the entire recognition process.

[0010] In one optional implementation, the three-dimensional mesh model of multiple manholes is constructed through the following steps: acquiring three-dimensional spatial data of multiple manholes, wherein the three-dimensional spatial data is constructed from the three-dimensional spatial data of the manholes and is acquired by a three-dimensional ring scanning device; preprocessing the three-dimensional spatial data to obtain target three-dimensional spatial data, wherein the target three-dimensional spatial data includes surface point cloud data and underwater point cloud data; and constructing a continuous surface and underwater three-dimensional mesh model of the corresponding manhole based on the surface point cloud data and underwater point cloud data of each manhole.

[0011] The method provided in this optional implementation uses a three-dimensional ring scanning device to automatically collect three-dimensional spatial data of the inspection well. After preprocessing, it integrates the point cloud data above and below water to construct a continuous and complete three-dimensional mesh model of the inspection well above and below water, which can accurately restore the real spatial structure of the inspection well.

[0012] In one optional implementation, based on the first target value and the second target value of each pipe interface combination, multiple candidate connection pairs are determined among multiple pipe interface combinations, including: comparing the first target value of each pipe interface combination with a preset threshold to obtain a first comparison result; comparing the second target value with a preset slope value range to obtain a second comparison result; and based on the first comparison result and the second comparison result of multiple pipe interface combinations, selecting pipe interface combinations whose first target value is less than or equal to the preset threshold and whose second target value is within a preset range as candidate connection pairs to obtain candidate connection pairs.

[0013] The method provided in this optional implementation method, by quantitatively comparing the target values ​​corresponding to pipe diameter and elevation slope, and using dual constraints to screen out pipe interface combinations that meet preset conditions, can more accurately eliminate incorrect matching items with excessively large pipe diameter differences and slopes that do not meet specifications, thereby improving the rigor of candidate connection screening.

[0014] In an optional implementation, the method further includes: generating a connection table of pipe interfaces based on the topology connection diagram; and sending the topology connection diagram, the connection table, and a three-dimensional mesh model of multiple inspection wells to a display terminal for display.

[0015] The method provided in this optional implementation generates a pipeline interface connection relationship table and simultaneously pushes the topology connection diagram, connection relationship table and inspection well 3D mesh model to the terminal for visualization display. This can present the pipeline network topology and spatial information in an intuitive and clear form, making it convenient for staff to quickly view, verify and manage. It realizes the digital and visual presentation of pipeline network data and further improves the convenience and efficiency of drainage pipeline network operation and maintenance management.

[0016] Secondly, the present invention provides a pipe network topology identification device based on three-dimensional ring scanning of manholes. The device includes: an acquisition module for acquiring a three-dimensional mesh model and location information of multiple manholes in a drainage pipe network; the three-dimensional mesh model includes feature vectors of multiple pipe interfaces in the manholes, and the feature vectors include center point coordinates, horizontal azimuth angle of the pipe axis, center elevation of the pipe opening, and pipe diameter; a first determination module for determining multiple manhole combinations based on the location information of the multiple manholes, wherein the manhole combination includes a first manhole and a second manhole, and the first and second manholes are adjacent; and a matching module for matching multiple pipe interfaces. The system uses the center elevation and diameter of the pipe inlet of the manhole to perform pairwise matching of multiple pipe inlets corresponding to the first manhole and multiple pipe inlets corresponding to the second manhole in each manhole combination, resulting in multiple candidate connection pairs of pipe inlets; a judgment module is used to judge whether the corresponding candidate connection pairs meet the preset spatial orientation constraints based on the center point coordinates of each pipe inlet and the horizontal azimuth angle of the pipe axis in each candidate connection pair, and obtain the judgment result; a second determination module is used to determine at least one target connection pair among the multiple candidate connection pairs based on the judgment result; and a generation module is used to generate a topology connection diagram of the manholes in the drainage network based on the target connection pair.

[0017] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the pipeline topology identification method based on three-dimensional ring scanning of inspection wells as described in the first aspect or any corresponding embodiment.

[0018] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the pipeline topology identification method based on three-dimensional ring scanning of inspection wells as described in the first aspect or any corresponding embodiment.

[0019] Fifthly, the present invention provides a computer program product, including computer instructions, which are used to cause a computer to execute the pipeline topology identification method based on three-dimensional ring scanning of inspection wells as described in the first aspect or any corresponding embodiment. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the first process of a pipeline topology identification method based on three-dimensional ring scanning of inspection wells according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the second process of the pipeline topology identification method based on three-dimensional ring scanning of inspection wells according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the third process of the pipeline topology identification method based on three-dimensional ring scanning of inspection wells according to an embodiment of the present invention; Figure 5 This is a structural block diagram of a pipeline topology identification device based on three-dimensional ring scanning of inspection wells according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] As an optional application scenario of this invention, the specific application environment architecture or specific hardware architecture on which the execution of the virtual power plant collaborative control method for extreme weather depends is described herein. For example... Figure 1 As shown, the architecture system may include at least one terminal device and at least one server. Figure 1The system is illustrated in the example, which includes a computer 101, a mobile terminal 102, and a server 103, and the terminal devices such as the computer 101 and the mobile terminal 102 are connected to the server 103 through a network 110.

[0026] Specifically, the terminal device can be a smartphone, tablet, laptop, PDA, desktop computer, game console, smart TV, smart wearable device, in-vehicle terminal, VR (Virtual Reality) device, AR (Augmented Reality) device, etc. Server 103 can be a standalone physical server, a server cluster, a distributed system, or a cloud server providing cloud services. Network 110 can be a wired or wireless network, examples of which include, but are not limited to, the Internet, corporate intranet, local area network, wide area network, mobile communication network, and combinations thereof.

[0027] In related technologies, spatial information in inspection wells is typically collected using detection methods such as sonar and laser scanning. Technicians then determine the pipe network connections based on this collected spatial information and their personal experience. However, manually comparing fragmented inspection videos, drawings, and measurement reports to identify three-dimensional connections is not only inefficient, subjective, and inconsistent, but also lacks automated verification and is prone to errors, becoming a key bottleneck restricting the digitalization of drainage pipe networks.

[0028] In view of this, the present invention provides a method for identifying the topology of a pipe network based on three-dimensional ring scanning of manholes. This method can be applied to a single server to identify the topology of a drainage pipe network. The method provided in this application acquires a three-dimensional mesh model of the manhole and a feature vector of the pipe interface containing precise parameters. It then filters adjacent combinations based on the manhole location information, performs preliminary matching of pipe interfaces based on pipe elevation and pipe diameter, verifies spatial orientation constraints by combining the center point coordinates and the horizontal azimuth angle of the pipe axis, and finally automatically generates a topology connection diagram. The entire identification process does not rely on manual experience judgment, achieving automation and efficiency in pipe network topology identification. This ensures the accuracy and objectivity of pipe network connection relationship identification and enables automated verification through standardized spatial constraint rules. It provides a reliable technical foundation for the accurate determination of urban stormwater and sewage transport paths, the scientific management of drainage pipe networks, and digital construction, significantly improving the overall quality and efficiency of pipe network topology identification.

[0029] According to an embodiment of the present invention, a method for identifying pipeline topology based on three-dimensional ring scanning of inspection wells is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] This embodiment provides a method for identifying pipeline topology based on 3D ring scanning of inspection wells, which can be used in the aforementioned server. Figure 2 This is a flowchart of a pipeline topology identification method based on three-dimensional ring scanning of inspection wells according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps: Step S201: Obtain the three-dimensional mesh model and location information of multiple inspection wells in the drainage network. The three-dimensional mesh model includes feature vectors of multiple pipe interfaces in the inspection well. The feature vectors include the center point coordinates, the horizontal azimuth angle of the pipe axis, the elevation of the pipe opening center, and the pipe diameter.

[0031] For example, a 3D mesh model refers to a complete 3D model of a manhole, including its chamber, walls, and pipe openings, reconstructed from a 3D point cloud. It consists of numerous triangular facets and can realistically reproduce the spatial shape and internal structure of the manhole. Location information can be the coordinates of the manhole in the urban geographic space. The feature vector is a set of parameters describing the key geometric attributes of each pipe interface, specifically including the center point coordinates, the horizontal azimuth of the pipe axis, the elevation of the pipe opening center, and the pipe diameter. The center point coordinates are the coordinates of the geometric center of the circular cross-section of the pipe interface in 3D space; the horizontal azimuth of the pipe axis is the angle between the projection direction of the pipe centerline onto the horizontal plane and the reference direction, reflecting the horizontal direction of the pipe; the pipe opening center elevation is the altitude corresponding to the center point of the pipe interface; and the pipe diameter may include, but is not limited to, the diameter of the pipe interface. In this embodiment, the feature vector F of each pipe interface in the manhole N is extracted from the 3D mesh model M. Ni =(C Ni FW Ni Z Ni D Ni C Ni ( x , y , z ) represents the three-dimensional coordinates of the center point, FW Ni Z is the horizontal azimuth angle of the pipeline axis. Ni D is the elevation of the center of the pipe opening. Ni This refers to the pipe diameter or cross-sectional dimensions.

[0032] Step S202: Based on the location information of multiple manholes, determine multiple manhole combinations, where each manhole combination includes a first manhole and a second manhole, and the first and second manholes are adjacent to each other.

[0033] For example, in the embodiments of this application, adjacent inspection wells are combined as inspection well groups to obtain multiple inspection well groups.

[0034] Step S203: Based on the center elevation and diameter of the pipe openings of multiple pipe interfaces, perform pairwise matching on the multiple pipe interfaces corresponding to the first manhole and the multiple pipe interfaces corresponding to the second manhole in each manhole combination to obtain multiple candidate connection pairs of pipe interfaces.

[0035] For example, in this embodiment of the application, for adjacent inspection wells A and B, all their pipe interfaces are combined in pairs to obtain multiple pipe interface combinations. For each pipe interface combination, the pipe diameter and pipe center elevation of the two pipe interfaces in the combination are matched. If the preset matching conditions are met, the pipe interface combination is determined as a candidate connection pair.

[0036] Step S204: Based on the center point coordinates of each pipe interface in each candidate connection pair and the horizontal azimuth angle of the pipe axis, determine whether the corresponding candidate connection pair meets the preset spatial orientation constraints, and obtain the judgment result.

[0037] For example, in this embodiment of the application, based on the spatial location of the two pipe openings and the pipe orientation angle, it is determined whether they can actually be smoothly connected into a single pipe in actual space, and the rationality of the candidate connection pair is verified by spatial orientation rules. The preset spatial orientation constraints can be determined based on experience, and this embodiment of the application does not impose specific limitations.

[0038] Step S205: Based on the judgment result, determine at least one target connection pair among multiple candidate connection pairs.

[0039] For example, in the embodiments of this application, candidate connection pairs that satisfy preset spatial orientation constraints are selected as target connection pairs.

[0040] Step S206: Generate a topology connection diagram of inspection wells in the drainage network based on the target connection pairs.

[0041] For example, each inspection well is taken as a node and the verified target connection pair is taken as the pipeline connection edge. The connection relationship between the nodes is sorted out, and the scattered inspection well and pipeline interface matching relationship is integrated into the overall pipeline network node and connection structure, and finally a topology connection diagram that intuitively reflects the rainwater and sewage transportation path is formed.

[0042] The pipeline topology identification method based on 3D ring scanning of manholes provided in this embodiment acquires a 3D mesh model of the manholes and feature vectors of pipe interfaces containing precise parameters. It then filters adjacent combinations based on manhole location information, performs preliminary matching of pipe interfaces based on pipe elevation and diameter, verifies spatial orientation constraints by combining center point coordinates and horizontal azimuth angle of the pipe axis, and finally automatically generates a topology connection map. The entire identification process does not rely on manual experience judgment, achieving automation and efficiency in pipeline topology identification. This ensures the accuracy and objectivity of pipeline connection relationship identification and enables automated verification through standardized spatial constraint rules. It provides a reliable technical foundation for the accurate determination of urban stormwater and sewage transport paths, scientific management of drainage networks, and digital construction, significantly improving the overall quality and efficiency of pipeline topology identification.

[0043] This embodiment provides a method for identifying pipeline topology based on 3D ring scanning of inspection wells, which can be used in the aforementioned server. Figure 3 This is a flowchart of a pipeline topology identification method based on three-dimensional ring scanning of inspection wells according to an embodiment of the present invention, as shown below. Figure 3 As shown, the process includes the following steps: Step S301: Obtain the 3D mesh model and location information of multiple inspection wells in the drainage network. The 3D mesh model includes feature vectors of multiple pipe interfaces within the inspection wells. These feature vectors include the center point coordinates, the horizontal azimuth angle of the pipe axis, the elevation of the pipe outlet center, and the pipe diameter. For details, please refer to [link to relevant documentation]. Figure 2 Step S201 of the illustrated embodiment will not be described again here.

[0044] In some alternative implementations, the three-dimensional mesh model of multiple inspection wells is constructed through the following steps: Step a1: Obtain three-dimensional spatial data of multiple inspection wells. The three-dimensional spatial data is constructed from the three-dimensional spatial data of the inspection wells and is acquired by a three-dimensional ring scanning device.

[0045] For example, the 3D ring scanning equipment is responsible for accurately, automatically, and safely acquiring 3D spatial data of the inspection well above and below water. Its core lies in achieving adaptive scanning through a rigid motion platform and intelligent sensing unit, and it possesses automatic bottom-touching protection and well depth measurement functions. The rigid motion platform uses a multi-stage rigid telescopic rod driven by a servo motor as the scanning head lifting mechanism. The motor is equipped with a high-precision absolute encoder, whose pulse signal directly corresponds to the absolute extension length L of the telescopic rod, providing a stable and reliable main reference for the vertical displacement of the scanning head. The scanning head is rigidly connected to the end of the telescopic rod to ensure attitude stability. The intelligent sensing unit (scanning head) integrates a lidar (for surface scanning), sonar (for underwater scanning), an inertial measurement unit (IMU, for attitude measurement), surface detection sensors (such as a macro laser rangefinder or contact probe), and a pressure sensor or microswitch for bottom-touching detection. An RTK / GNSS receiver is independently installed at the wellhead to provide the system's planar position and geodetic height H. ground The absolute benchmark.

[0046] After the equipment is installed, the control scanning head is lowered until its bottom mechanical reference point contacts the physical positioning surface of the mounting platform. This position is recorded as encoder zero position L. zero Meanwhile, the GNSS receiver obtains a fixed solution and records the antenna center plane coordinates (X0, Y0) and the ground height H_ground.

[0047] The scanning head is lowered at a constant speed. When the signal from the water surface detection sensor undergoes a sudden change (such as a sharp decrease in distance), it is determined that the water surface has been touched, and the encoder value L at that moment is immediately recorded. water And immediately control the scanning head to stop descending. Calculate the distance h from the wellhead to the water surface. air = L water - L zero This allows us to obtain the absolute elevation H of the water surface. water_surface = H ground - h air .

[0048] Complete water surface recognition and H water_surface After calculation, the scanning head is raised until its mechanical reference point contacts the physical positioning surface of the wellhead again, thus precisely resetting to the encoder zero position L. zero .

[0049] From encoder zero position L zero Initially, the scanning head is lowered at a preset speed while rotating synchronously. The scanning head elevation is calculated in real-time: Z. probe = H ground - (L - L zero Where L is the current encoder reading, based on the real-time calculated scan head elevation Z. probe With H water_surfaceThe comparison results indicate the automatic control sensor operating mode: when Z... probe >H water_surface The lidar is activated to perform a 360-degree circumferential scan to acquire point clouds above the water, while the sonar is turned off; when Z... probe ≤ H water_surface Turn off the lidar and start the sonar to perform a 360-degree circumferential scan to acquire underwater point clouds.

[0050] During the descent, the system continuously monitors the pressure sensor or microswitch signal at the bottom of the scanning head. When the bottom surface of the scanning head contacts the bottom of the well, a clear mechanical contact signal will be generated (pressure over-limit or switch trigger). Once the system determines a valid bottom-contact signal, it immediately issues an emergency stop command to halt the descent and protect the equipment. At the moment of emergency stop, the system locks and records the current encoder value L. bottom The measured depth of the inspection well is calculated using the following formula: Well depth = L bottom - L zero After recording the well depth, the control scanning head automatically rises and resets to the encoder zero position L. zero The single-well scanning task is complete.

[0051] Step a2 involves preprocessing the three-dimensional spatial data to obtain the target three-dimensional spatial data, which includes surface point cloud data and underwater point cloud data.

[0052] For example, in the embodiments of this application, the preprocessing includes spatiotemporal synchronization and coordinate system one, as well as point cloud coordinate calculation.

[0053] All sensor data (encoder position, IMU attitude, RTK coordinates, laser / sonar point cloud) are strictly synchronized via hardware triggering or high-precision time synchronization. Using the X0, Y0, and H coordinates provided by the RTK... ground It serves as the absolute origin for both plane and elevation, thereby achieving spatiotemporal synchronization and coordinate system unification of three-dimensional spatial data.

[0054] For each instant, the pose of the scanning head (LiDAR / Sonar center) in the absolute coordinate system is calculated based on the encoder value L, the attitude angles measured by the IMU (pitch θ, roll γ, yaw ψ), and the RTK plane coordinates. Each frame of local point cloud data acquired by the LiDAR and Sonar is transformed to a unified absolute geographic coordinate system using a coordinate transformation matrix. Specifically, the point cloud over water (Z coordinate > H...) water_surface ) and underwater point clouds (Z coordinate ≤ H water_surface According to H water_surface Automatic classification enables point cloud coordinate calculation.

[0055] Step a3: Based on the surface point cloud data and underwater point cloud data of each inspection well, construct a continuous three-dimensional mesh model of the corresponding inspection well.

[0056] For example, in this embodiment of the application, the classified surface and underwater point clouds are denoised and registered, and a surface reconstruction algorithm (such as Poisson reconstruction or triangulation) is used to generate a continuous real-world 3D mesh model M of the inspection well. This model fully includes elements such as the well wall, pipe opening, water surface line, and well bottom.

[0057] Step S302: Based on the location information of multiple manholes, determine multiple manhole combinations. Each manhole combination includes a first manhole and a second manhole, and the first and second manholes are adjacent to each other. For details, please refer to [link to details]. Figure 2 Step S202 of the illustrated embodiment will not be described again here.

[0058] Step S303: Based on the center elevation and diameter of the pipe openings of multiple pipe interfaces, perform pairwise matching on the multiple pipe interfaces corresponding to the first manhole and the multiple pipe interfaces corresponding to the second manhole in each manhole combination to obtain multiple candidate connection pairs of pipe interfaces.

[0059] Specifically, step S303 includes: Step S3031: Combine multiple pipe interfaces of the first inspection well and multiple pipe interfaces of the second inspection well in pairs to obtain multiple pipe interface combinations.

[0060] For example, in this embodiment of the application, for adjacent inspection wells A and B, all their pipe interfaces are combined in pairs to obtain multiple pipe interface combinations.

[0061] Step S3032: Calculate the first target value based on the pipe diameter of the first pipe interface and the pipe diameter of the second pipe interface in each pipe interface combination.

[0062] For example, in this embodiment of the application, the first target value K1 = |D Ai - D Bj | / min(D Ai D Bj ), where D Ai Let D be the diameter or cross-sectional dimension of the i-th pipe interface in inspection well A. Bj Let be the diameter or cross-sectional dimension of the j-th pipe interface in inspection well B.

[0063] Step S3033: Calculate the second target value based on the center elevation of the pipe opening of the first pipe interface and the center elevation of the pipe opening of the second pipe interface in each pipe interface combination.

[0064] For example, in this embodiment of the application, the second target value K2=S min ≤ |Z Ai - Z Bj | / LABh L ABh Z represents the horizontal projected distance between the i-th and j-th pipe interfaces in inspection wells A and B. Ai Z is the center elevation of the i-th pipe interface in inspection well A. Bj Let J be the center elevation of the j-th pipe interface in inspection well B.

[0065] Step S3034: Based on the first target value and the second target value of each pipe interface combination, determine multiple candidate connection pairs among multiple pipe interface combinations.

[0066] In some optional implementations, step S3034 above includes: Step b1: Compare the first target value of each pipe interface combination with the preset threshold to obtain the first comparison result.

[0067] For example, in this embodiment of the application, the preset threshold is δ, where δ is the tolerance, such as 10%. When K1≤δ, it means that the pipe interface combination meets the pipe diameter matching requirements.

[0068] Step b2: Compare the second target value with the preset slope value range to obtain the second comparison result.

[0069] For example, if S min ≤K2≤ S max This indicates that the pipe joint combination meets the slope feasibility requirement, S min and S max These are the minimum and maximum design slopes allowed by the system.

[0070] Step b3: Based on the first comparison result and the second comparison result of multiple pipe interface combinations, pipe interface combinations with a first target value less than or equal to a preset threshold and a second target value within a preset range are selected as candidate connection pairs to obtain candidate connection pairs.

[0071] Step S304: Based on the center point coordinates of each pipe interface in each candidate connection pair and the horizontal azimuth angle of the pipe axis, determine whether the corresponding candidate connection pair meets the preset spatial orientation constraints, and obtain the judgment result. For details, please refer to [link to relevant documentation]. Figure 2 Step S204 of the illustrated embodiment will not be described again here.

[0072] Step S305: Based on the judgment result, determine at least one target connection pair from multiple candidate connection pairs. See details below. Figure 2 Step S205 of the illustrated embodiment will not be described again here.

[0073] Step S306: Generate a topology connection diagram of the inspection wells in the drainage network based on the target connection pairs. See details below. Figure 2 Step S206 of the illustrated embodiment will not be described again here.

[0074] This embodiment provides a method for identifying pipeline topology based on 3D ring scanning of inspection wells, which can be used in the aforementioned server. Figure 4 This is a flowchart of a pipeline topology identification method based on three-dimensional ring scanning of inspection wells according to an embodiment of the present invention, as shown below. Figure 4 As shown, the process includes the following steps: Step S401: Obtain the 3D mesh model and location information of multiple inspection wells in the drainage network. The 3D mesh model includes feature vectors of multiple pipe interfaces within the inspection wells. These feature vectors include the center point coordinates, the horizontal azimuth angle of the pipe axis, the elevation of the pipe outlet center, and the pipe diameter. For details, please refer to [link to relevant documentation]. Figure 3 Step S301 of the illustrated embodiment will not be described again here.

[0075] Step S402: Based on the location information of multiple manholes, determine multiple manhole combinations. Each manhole combination includes a first manhole and a second manhole, and the first and second manholes are adjacent to each other. For details, please refer to [link to details]. Figure 3 Step S302 of the illustrated embodiment will not be described again here.

[0076] Step S403: Based on the center elevation and diameter of the pipe outlets of multiple pipe interfaces, perform pairwise matching of the multiple pipe interfaces corresponding to the first manhole and the multiple pipe interfaces corresponding to the second manhole in each manhole combination to obtain multiple candidate connection pairs of pipe interfaces. For details, please refer to [link to details]. Figure 3 Step S303 of the illustrated embodiment will not be described again here.

[0077] Step S404: Based on the center point coordinates of each pipe interface in each candidate connection pair and the horizontal azimuth angle of the pipe axis, determine whether the corresponding candidate connection pair meets the preset spatial orientation constraints, and obtain the judgment result.

[0078] Specifically, step S404 includes: Step S4041: Determine the theoretical azimuth angle of the connection line between the center points of the first and second pipe interfaces in each candidate connection pair based on the coordinates of the center points of the first and second pipe interfaces in each candidate connection pair.

[0079] For example, in this embodiment of the application, the theoretical azimuth angle β = arctan2( ) is calculated by pointing from the center point of the i-th pipe interface of inspection well A to the center point of the j-th pipe interface of inspection well B. y Ai -y Bj , x Ai -x Bj), where arctan2 is the arctangent function in the four quadrants, which can correctly handle all directional cases. x Ai , y Ai Let x and y coordinates be the center point of the i-th pipe interface in inspection well A. x Bj , y Bj Let x and y be the center points of the j-th pipe interface in inspection well B.

[0080] Step S4042: Determine the comprehensive azimuth deviation of the corresponding candidate connection pair based on the horizontal azimuth of the pipe axis of the first pipe interface, the horizontal azimuth of the pipe axis of the second pipe interface, and the azimuth of the theoretical connection line in each candidate connection pair.

[0081] For example, in this embodiment of the application, the comprehensive azimuth deviation is calculated: Δα total = |FW Ai -β| + |FW Bj -(β+180°)| (angle difference normalized to the 0-180° range), where |FW Ai -β| measures how close the actual orientation of the i-th nozzle of well A is to the ideal orientation of the j-th nozzle pointing to well B. |FW Bj -(β+180°)| measures how close the actual orientation of the j-th orifice of well B is to the ideal orientation of the i-th orifice of well A. Δα total It is the sum of two differences; the smaller the value, the higher the directional match between the pipe ends. Ideally, for directly connected pipes... Δα total =0°.

[0082] Step S4043: Based on the comprehensive azimuth deviation of each candidate connectivity degree and the preset azimuth deviation threshold, determine whether the corresponding candidate connectivity pair meets the preset spatial orientation constraint, and obtain the judgment result.

[0083] For example, in this embodiment of the application, the comprehensive azimuth deviation Δα is selected. total_min The smallest candidate connection pair, and Δα total The azimuth deviation threshold θ threshold By comparison, the pipe connection between well A and well B is determined. If Δα total_min ≤θ threshold The algorithm considers the match to have high confidence in its spatial orientation and automatically determines this candidate pair to be the actual pipeline connection between well A and well B; if Δα total_min >θ thresholdThis indicates that even the optimal candidate pairing has poor directional consistency. In this case, the algorithm does not automatically confirm the pairing, but instead marks it as "connection relationship uncertain" and records this result (including Δα). total_min Output the value and corresponding pipe information, and suggest or wait for manual review.

[0084] Step S405: Based on the judgment result, determine at least one target connection pair from among multiple candidate connection pairs. See details below. Figure 3 Step S305 of the illustrated embodiment will not be described again here.

[0085] Step S406: Generate a topology connection diagram of the inspection wells in the drainage network based on the target connection pairs. See details below. Figure 3 Step S305 of the illustrated embodiment will not be described again here.

[0086] In some optional implementations, the above method further includes: Step c1: Generate a connection relationship table for pipe interfaces based on the topology connection diagram.

[0087] For example, the intuitive topology connection diagram is transformed into a structured table of pipe interface connection relationships. Information such as manholes, corresponding pipe interfaces and their interconnections are organized into standardized tabular data that can be directly viewed and verified, thus realizing the transformation of pipe network connection relationships from graphical to data-driven.

[0088] Step c2: Send the topology connection diagram, connection relationship table, and 3D mesh model of multiple inspection wells to the display terminal for display.

[0089] For example, in this embodiment, the topology connection diagram is output as a common graphic or GIS format file (such as Shapefile, GeoJSON, etc.), containing nodes (manholes) and edges (pipelines) and their attributes (coordinates, elevation, pipe diameter, slope, etc.). The 3D model is output as a common 3D format (such as OBJ, LAS, PLY, etc.) and used as a 3D geographic feature, spatially and attribute-wise associated with node records in the GIS. This allows for both macroscopic browsing of the pipeline topology diagram within the GIS platform and one-click immersive viewing of the 3D model of any manhole. Visualization and measurement are supported. An inspection report is automatically generated, including the 3D model of the manhole, the pipeline topology diagram, the connection relationship table, anomaly prompts (such as connection conflicts, slope anomalies, etc.), and key statistical information. This information is sent to a display terminal for display. The display terminal has a visual display function. This embodiment does not limit the specific content of the display terminal; those skilled in the art can determine it according to their needs.

[0090] The following specific embodiment illustrates the pipeline topology identification method based on three-dimensional ring scanning of inspection wells provided in this application.

[0091] Example: A manhole (numbered NJ-05) in the old city area has been operating at a high water level for a long time, resulting in frequent sewage overflows during rainy days. To determine the cause of the problem, it is necessary to inspect the topological relationship of this manhole, which is adjacent to manholes NJ-06 and NJ-04. This article will use the determination of the pipeline connection relationship between NJ-05 and NJ-06 as an example.

[0092] Taking NJ-05 as an example, NJ-06 is the same. First, equipment deployment and initialization are performed. The lifting platform with the integrated scanning head is securely installed at the NJ-05 wellhead and leveled. The system is started, the GNSS receiver connects to the network RTK service, obtains a fixed solution, and records the antenna phase center plane coordinates (X0, Y0) = (500123.456 m, 3456789.123 m) and the ground height H. ground = 25.780 m. Control the scanning head to descend, causing the mechanical calibration boss at its bottom to physically contact the reference surface of the mounting platform. The system records this position as the encoder zero position, L. zero = 0.100 m.

[0093] Second, water surface identification and baseline setting are performed. The scanning head is lowered at a constant speed of 0.1 m / s. The miniature laser rangefinder integrated into the scanning head (vertically downward) monitors the distance in real time. When the distance has decreased to approximately 1.95 m, the sensor reading changes from 1.932 m to near 0 m and remains stable. The system determines that it has contacted the water surface, immediately stops the descent, and records the encoder value L at this moment. water = 2.055 m. Calculate the distance h from the wellhead to the water surface. air = L_ water - L zero = 2.055 - 0.100 = 1.955m. Absolute elevation of water surface H water_surface = H ground - h air = 25.780 - 1.955 = 23.825 m. Control the scanning head to rise until its mechanical calibration boss contacts the platform reference surface again, precisely resetting to L. zero = 0.100 m position. Ready to begin formal scanning. Starting from zero position, the scanning head is lowered at a speed of 0.1 m / s and then rotated at a constant speed of 8 revolutions / s to formally begin data acquisition. The system calculates the elevation of the scanning head reference point in real time: Z probe = H ground -(LL zero ) 25.780 -L-0.100. When Z probe>23.825 m, activate lidar, deactivate sonar; when Z probe If the distance is ≤ 23.82 m, turn off the lidar and activate the sonar.

[0094] Third, starting from zero position, the scanning head is lowered at a speed of 0.1 m / s and then rotates at a constant speed of 8 revolutions / s to officially begin data acquisition. The system calculates the elevation of the scanning head reference point in real time: Z. probe = H ground -(LL zero ) = 25.780 - L - 0.100. When Z probe >23.825 m, activate lidar, deactivate sonar; when Z probe ≤ 23.825 m, turn off the lidar and activate the sonar. The scanning head continues to descend. When the encoder reading L ≈ 5.220 m, the pressure sensor feedback value at the bottom of the scanning head jumps instantaneously from about 2N to 18N, indicating a valid bottoming signal. An emergency stop command is immediately sent, and the drive motor stops descending. Record the encoder value L at the moment of bottoming. bottom = 5.220 m. Therefore, the measured depth of well NJ-05 is L. bottom -L zero = 5.120 m. The scanning head then automatically rises and precisely resets to L. zero = 0.100 m position. Single well scan completed.

[0095] Fourth, the cloud processing platform automatically processes the measurement data. The platform synchronously receives encoder data L(t), IMU attitude (θ(t), γ(t), ψ(t)), RTK position, and laser / sonar point cloud frames measured from inspection wells NJ-05 and NJ-06. For the point cloud at each time t, according to Z... probe (t) and H water_surface Determine whether it is located on or underwater, and convert it to an absolute coordinate system.

[0096] Fifth, perform intelligent inference of pipeline network topology. From model M NJ05 Three pipe opening features are automatically extracted: F NJ05_1 : C1(500125.112, 3456790.456, 23.450), F W1 =45.2°, D1=800mm; F NJ05_2 : C2(500125.108, 3456790.441, 23.120), F W2 =225.5°, D2=600mm; F NJ05_3: C3(500125.145, 3456790.480, 24.010), F W3 =135.8°, D3=1000mm.

[0097] From the NJ-06 well model M NJ06 Extract two pipe opening features: F NJ06_1 : C1(500158.334, 3456812.789, 23.445), F W1 =225.0°, D1=800mm; F NJ06_2 : C2(500158.329, 3456812.775, 23.115), F W2 =45.8°, D2=600mm.

[0098] Two-stage topology matching was performed, with a relevant threshold set at δ=10%, S min =0.1%, S max =10%, θ threshold =5.0°, the first stage is hard constraint screening, which generates a total of 6 combinations. After calculation, combination F... NJ05_1 and F NJ06_1 The pipe diameter is matched (800mm), and the slope = |23.450-23.445| / 33.25≈0.015%, which is retained. Combination F NJ05_2 and F NJ06_2 The pipe diameter matching (600mm) and slope = |23.120-23.115| / 33.25≈0.015% are retained. The remaining 4 groups are eliminated due to pipe diameter mismatch.

[0099] For candidate F NJ05_1 and F NJ06_1 The azimuth angle β of the theoretical connecting line is calculated. NJ05_1 = arctan2(3456812.789) 3456790.456, 500158.334 500125.112) ≈ 44.9° and the combined azimuth deviation Δα total =Δα NJ05_1 +Δα NJ06_1 = 0.4° (where Δα) NJ05_1 = 45.2° 44.9° = 0.3°, Δα NJ06_1 = 225.0° (44.9° + 180°) = 0.1°.

[0100] For candidate F NJ05_2 and F NJ06_2 The azimuth angle β of the theoretical connecting line is calculated. NJ05_2 = arctan2(3456812.775-3456790.441, 500158.329-500125.108)≈ 44.9° and the combined azimuth deviation Δα total =Δα NJ05_2 +Δα NJ06_2 = 1.5°, where Δα NJ05_2 = 225.5° (44.9°+180°) = 0.6°, Δα NJ06_2 = 45.8° - (224.9° + 180°) = -359.1° = 0.9° (take supplementary angle).

[0101] Based on the above analysis, the minimum comprehensive deviation Δα total_min = 0.4°, corresponding to candidate pair F NJ05_1 and F NJ06_1 Based on the threshold: Δα total_min ≤ θ threshold The algorithm will automatically confirm F NJ05_1 and F NJ06_1 This is a true connection. The same method is used to identify the pipe connection between inspection wells NJ-05 and NJ-04.

[0102] Sixth, based on the above results, a standardized pipeline topology map is generated, specifically in GeoJSON format, containing two types of core geographic elements: Point element: Represents a manhole node. Its geometric information is the three-dimensional coordinates [X, Y, Z] of the wellhead center; its attribute information includes the node's unique identifier (NodeID), wellhead ground elevation (Ground_Elev), water surface elevation at the time of measurement (Water_Surface), measured well depth (Shaft_Depth), and number of inverts (Invert_Count), etc.

[0103] Line String: Represents a pipe connection. Its geometric information is a line segment defined by the three-dimensional coordinates of the starting and ending pipe center points. The attribute information comprehensively describes the connection relationship and pipe physical parameters, including: unique connection identifier (LinkID), starting and ending node numbers (FromNode, ToNode), three-dimensional coordinates of the starting and ending points (From_X / Y / Z, To_X / Y / Z), azimuth of the starting and ending pipe points (From_Azimuth, To_Azimuth), pipe diameter (Diameter), pipe length (Length), slope (Slope), and topology matching score (Match_Score), among other key fields.

[0104] The standardization results can be directly imported into GIS software and hydraulic simulation systems for the visualization and analysis of pipeline network topology.

[0105] Finally, the 3D model of the manhole is used as a 3D geographic feature and spatially and attribute-wise associated with node records in the GIS. This allows for both macroscopic browsing of the pipeline network topology map within the GIS platform and one-click immersive viewing of the 3D model of any manhole. An inspection report is automatically generated, including the 3D model of the manhole, the pipeline network topology map, the connection relationship table, anomaly alerts (such as connection anomalies for NJ-05 and NJ-04), and key statistical information.

[0106] This embodiment also provides a pipeline topology identification device based on three-dimensional ring scanning of inspection wells. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0107] This embodiment provides a pipeline topology identification device based on three-dimensional ring scanning of inspection wells, such as... Figure 5 As shown, it includes: The acquisition module 501 is used to acquire the three-dimensional mesh model and location information of multiple inspection wells in the drainage pipe network. The three-dimensional mesh model includes the feature vectors of multiple pipe interfaces in the inspection well. The feature vectors include the center point coordinates, the horizontal azimuth angle of the pipe axis, the elevation of the pipe opening center, and the pipe diameter. The first determining module 502 is used to determine multiple manhole combinations based on the location information of multiple manholes. The manhole combination includes a first manhole and a second manhole, and the first manhole and the second manhole are adjacent to each other. The matching module 503 is used to perform pairwise matching of multiple pipe interfaces corresponding to the first manhole and multiple pipe interfaces corresponding to the second manhole in each manhole combination based on the center elevation of the pipe outlet and the pipe diameter of multiple pipe interfaces, so as to obtain multiple candidate connection pairs of pipe interfaces. The judgment module 504 is used to judge whether the corresponding candidate connection pair meets the preset spatial orientation constraint based on the center point coordinates of each pipe interface in each candidate connection pair and the horizontal azimuth angle of the pipe axis, and to obtain the judgment result. The second determining module 505 is used to determine at least one target connection pair among multiple candidate connection pairs based on the judgment result; The first generation module 506 is used to generate a topology connection diagram of inspection wells in the drainage network based on the target connection pairs.

[0108] In some alternative implementations, the matching module 503 includes: The combination submodule is used to combine multiple pipe interfaces of the first inspection well and multiple pipe interfaces of the second inspection well in pairs to obtain multiple pipe interface combinations. The first calculation submodule is used to calculate the first target value based on the pipe diameter of the first pipe interface and the pipe diameter of the second pipe interface in each pipe interface combination. The second calculation submodule is used to calculate the second target value based on the center elevation of the pipe opening of the first pipe interface and the center elevation of the pipe opening of the second pipe interface in each pipe interface combination. The first determination submodule is used to determine multiple candidate connection pairs among multiple pipe interface combinations based on the first target value and the second target value of each pipe interface combination.

[0109] In some optional implementations, the determination module 504 includes: The second determining submodule is used to determine the theoretical connection line azimuth angle between the center points of the first and second pipe interfaces in each candidate connection pair based on the coordinates of the center points of the first and second pipe interfaces in each candidate connection pair. The third determining submodule is used to determine the comprehensive azimuth deviation of the corresponding candidate connection pair based on the horizontal azimuth of the pipe axis of the first pipe interface, the horizontal azimuth of the pipe axis of the second pipe interface, and the azimuth of the theoretical connection line in each candidate connection pair. The judgment submodule is used to determine whether the corresponding candidate connection pairs meet the preset spatial orientation constraints based on the comprehensive azimuth deviation of each candidate connection degree and the preset azimuth deviation threshold, and to obtain the judgment result.

[0110] In some alternative implementations, the three-dimensional mesh model of multiple inspection wells is constructed through the following steps: The three-dimensional spatial data of multiple inspection wells is obtained. The three-dimensional spatial data is constructed from the three-dimensional spatial data of the inspection wells and is acquired by a three-dimensional ring scanning device. The three-dimensional spatial data is preprocessed to obtain the target three-dimensional spatial data, which includes surface point cloud data and underwater point cloud data. Based on the surface point cloud data and underwater point cloud data of each inspection well, a continuous three-dimensional mesh model of the corresponding inspection well is constructed.

[0111] In some alternative implementations, the first determining submodule includes: The first comparison unit is used to compare the first target value of each pipe interface combination with a preset threshold to obtain the first comparison result; The second comparison unit is used to compare the second target value with the preset slope value range to obtain the second comparison result; The determining unit is used to determine, based on the first comparison result and the second comparison result of multiple pipe interface combinations, the pipe interface combinations whose first target value is less than or equal to a preset threshold and whose second target value is within a preset range as candidate connection pairs, thereby obtaining candidate connection pairs.

[0112] In some alternative embodiments, the above-described apparatus further includes: The generation module is used to generate a connection relationship table of pipe interfaces based on the topology connection diagram. The topology connection diagram, connection relationship table, and three-dimensional mesh models of multiple inspection wells are sent to the display terminal for display.

[0113] The pipeline topology identification device based on three-dimensional ring scanning of manholes provided in this invention can execute the pipeline topology identification method based on three-dimensional ring scanning of manholes provided in any embodiment of this invention, and has the corresponding functional modules and beneficial effects of the method. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0114] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0115] The following is a detailed reference. Figure 6This diagram illustrates a suitable structural design for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 601, which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) 602 or a program loaded from memory 608 into random access memory (RAM) 603. RAM 603 also stores various programs and data required for the operation of the electronic device. The processor 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0116] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 6 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0117] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 609, or installed from a memory 608, or installed from a ROM 602. When the computer program is executed by the processor 601, it performs the functions defined in the pipeline topology identification method based on three-dimensional ring scanning of inspection wells according to embodiments of the present invention.

[0118] Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0119] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the pipeline topology identification method based on three-dimensional ring scanning of inspection wells shown in the above embodiments is implemented.

[0120] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0121] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for identifying a pipe network topology based on a three-dimensional ring scan of a manhole, characterized in that The method includes: A three-dimensional mesh model and location information of multiple inspection wells in the drainage pipe network are obtained. The three-dimensional mesh model includes feature vectors of multiple pipe interfaces in the inspection well. The feature vectors include the center point coordinates, the horizontal azimuth angle of the pipe axis, the center elevation of the pipe opening, and the pipe diameter. Based on the location information of multiple manholes, multiple manhole combinations are determined, and the manhole combination includes a first manhole and a second manhole, wherein the first manhole and the second manhole are adjacent to each other. Based on the center elevation and diameter of the pipe openings of multiple pipe interfaces, the first manhole and the second manhole in each manhole combination are matched in pairs to obtain multiple candidate connection pairs of pipe interfaces. Based on the center point coordinates of each pipe interface in each candidate connection pair and the horizontal azimuth angle of the pipe axis, it is determined whether the corresponding candidate connection pair meets the preset spatial orientation constraint, and the judgment result is obtained. Based on the judgment result, at least one target connection pair is determined from the plurality of candidate connection pairs; Based on the target connection pair, a topology connection diagram of the inspection wells in the drainage network is generated.

2. The method of claim 1, wherein, Based on the center elevation and diameter of the pipe openings of multiple pipe interfaces, the step of pairwise matching of multiple pipe interfaces corresponding to the first manhole and multiple pipe interfaces corresponding to the second manhole in each manhole combination to obtain multiple candidate connection pairs of pipe interfaces includes: Multiple pipe interfaces of the first manhole and multiple pipe interfaces of the second manhole in each manhole combination are combined in pairs to obtain multiple pipe interface combinations. The first target value is calculated based on the pipe diameter of the first pipe interface and the pipe diameter of the second pipe interface in each pipe interface combination; The second target value is calculated based on the center elevation of the pipe opening of the first pipe interface and the center elevation of the pipe opening of the second pipe interface in each pipe interface combination. Based on the first and second target values ​​of each pipe interface combination, multiple candidate connection pairs are determined among multiple pipe interface combinations.

3. The method according to claim 1 or 2, characterized in that, The step of determining whether a candidate connection pair satisfies a preset spatial orientation constraint based on the center point coordinates of each pipe interface in each candidate connection pair and the horizontal azimuth angle of the pipe axis, and obtaining the determination result, includes: The theoretical connection line azimuth angle between the center points of the first and second pipe interfaces in each candidate connection pair is determined based on the coordinates of the center points of the first and second pipe interfaces in each candidate connection pair. The comprehensive azimuth deviation of the corresponding candidate connection pair is determined based on the horizontal azimuth angle of the pipe axis of the first pipe interface, the horizontal azimuth angle of the pipe axis of the second pipe interface, and the azimuth angle of the theoretical connection line in each candidate connection pair. Based on the comprehensive azimuth deviation of each candidate connectivity degree and the preset azimuth deviation threshold, the corresponding candidate connectivity pair is judged to determine whether it meets the preset spatial orientation constraint, and the judgment result is obtained.

4. The method according to claim 1 or 2, characterized in that, The three-dimensional mesh model of the multiple inspection wells was constructed through the following steps: The three-dimensional spatial data of multiple inspection wells is acquired. The three-dimensional spatial data is constructed from the three-dimensional spatial data of the inspection wells and is acquired by a three-dimensional ring scanning device. The three-dimensional spatial data is preprocessed to obtain target three-dimensional spatial data, which includes surface point cloud data and underwater point cloud data. Based on the surface point cloud data and underwater point cloud data of each inspection well, a continuous three-dimensional mesh model of the corresponding inspection well is constructed.

5. The method according to claim 2, characterized in that, The process of determining multiple candidate connection pairs among multiple pipe interface combinations based on the first and second target values ​​of each pipe interface combination includes: The first target value of each pipe interface combination is compared with a preset threshold to obtain the first comparison result; The second target value is compared with the preset slope value range to obtain the second comparison result; Based on the first comparison result and the second comparison result of multiple pipe interface combinations, pipe interface combinations with a first target value less than or equal to a preset threshold and a second target value within a preset range are selected as candidate connection pairs to obtain candidate connection pairs.

6. The method according to claim 4, characterized in that, The method further includes: Generate a connection relationship table for pipe interfaces based on the topology connection diagram; The topology connection diagram, connection relationship table, and three-dimensional mesh models of multiple inspection wells are sent to the display terminal for display.

7. A pipeline topology identification device based on three-dimensional ring scanning of inspection wells, characterized in that, The device includes: The acquisition module is used to acquire a three-dimensional mesh model and location information of multiple inspection wells in the drainage pipe network. The three-dimensional mesh model includes feature vectors of multiple pipe interfaces in the inspection well. The feature vectors include the center point coordinates, the horizontal azimuth angle of the pipe axis, the elevation of the pipe opening center, and the pipe diameter. The first determining module is used to determine multiple manhole combinations based on the location information of the multiple manholes, wherein the manhole combination includes a first manhole and a second manhole, and the first manhole and the second manhole are adjacent to each other. The matching module is used to perform pairwise matching of multiple pipe interfaces corresponding to the first manhole and multiple pipe interfaces corresponding to the second manhole in each manhole combination based on the center elevation and diameter of the pipe openings of the multiple pipe interfaces, so as to obtain multiple candidate connection pairs of pipe interfaces. The judgment module is used to determine whether the corresponding candidate connection pair meets the preset spatial orientation constraint based on the center point coordinates of each pipe interface in each candidate connection pair and the horizontal azimuth angle of the pipe axis, and to obtain the judgment result. The second determining module is used to determine at least one target connection pair among the plurality of candidate connection pairs based on the determination result; The first generation module is used to generate a topological connection diagram of the inspection wells in the drainage network based on the target connection.

8. An electronic device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the pipeline topology identification method based on three-dimensional ring scanning of inspection wells as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the pipeline topology identification method based on three-dimensional ring scanning of inspection wells as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The method includes computer instructions for causing a computer to execute the pipeline topology identification method based on three-dimensional ring scanning of inspection wells as described in any one of claims 1 to 6.

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