Outdoor industrial pipeline design parameter extraction method, terminal device and medium

Abstract

The present invention relates to an outdoor industrial pipeline design parameter extraction method, a terminal device and a medium. The method comprises: on the basis of outdoor oblique photographic images of a factory area, constructing a real scene point cloud data model of the factory area; performing image recognition on industrial pipelines in the images, so as to obtain a boundary range of the industrial pipelines; performing aerial triangulation calculation on the images in which the industrial pipelines are recognized, so as to obtain feature matching points in the images, comparing the feature matching points in the images with the boundary range, so as to extract the feature matching points within the boundary range and map same into the real scene point cloud data model, and setting corresponding data points in the real scene point cloud data model as data points belonging to the industrial pipelines, so as to obtain point cloud data of the industrial pipelines; and, on the basis of the point cloud data of the industrial pipelines, fitting the industrial pipelines, and extracting design parameters. The present invention can quickly capture and accurately reproduce the actual outdoor conditions of factories, and extract spatial positioning and geometric feature information of outdoor pipelines.

Description

A method for extracting design parameters of outdoor industrial pipelines, terminal equipment and medium Technical Field

[0001] The present invention relates to the field of industrial building surveying and mapping, and in particular to a method for extracting design parameters of outdoor industrial pipelines, terminal equipment, and a medium. Background Art

[0002] Industrial plants with complex production processes often have compact sites, buildings, and facilities, and complex road and rail transit routes. As new plant construction decreases in the future, renovations and upgrades of existing plants will increase. Maintaining and reusing existing industrial pipelines within these plants can significantly reduce renovation costs and accelerate renovation schedules.

[0003] For industrial plants that have been in operation for many years, outdoor industrial pipelines may have their routes changed, and some may have changed pipe diameters and models. When planning the overall renovation, accurately obtaining the actual conditions of outdoor industrial pipelines, including information such as pipe diameters, center coordinates, and elbow angles, will facilitate the smooth implementation of the renovation design. Conventional surveying tools, such as total stations, theodolites, and laser rangefinders, are unable to quickly complete the surveying of large industrial plant areas. Labor costs are high, and subsequent on-site field surveys by all involved personnel are still required. Rapid and accurate surveying of outdoor plant scenes and extraction of pipeline-related design parameter information are urgent technical challenges that need to be addressed.

[0004] Summary of the Invention

[0005] In order to solve the above problems, the present invention proposes a method for extracting design parameters of outdoor industrial pipelines, terminal equipment and medium.

[0006] The specific plan is as follows:

[0007] A method for extracting design parameters of outdoor industrial pipelines comprises the following steps:

[0008] S1: Based on the outdoor oblique photography images of the factory area, a real-time point cloud data model of the factory area is constructed;

[0009] S2: Perform image recognition on the industrial pipeline in the outdoor oblique photography image, and obtain the boundary range of the industrial pipeline based on the image of the recognized industrial pipeline;

[0010] S3: Perform aerial triangulation calculations on the images in which the industrial pipelines are identified to obtain feature matching points in each image. The feature matching points in each image are compared with the boundary range of the industrial pipelines, and the feature matching points within the boundary range are extracted. These feature matching points are mapped to the real-world point cloud data model of the factory area, and the corresponding data points in the real-world point cloud data model are set as data points on the industrial pipelines.

[0011] S4: Based on all data points belonging to the industrial pipeline, obtain point cloud data of the industrial pipeline;

[0012] S5: Fitting of industrial pipelines based on point cloud data of industrial pipelines;

[0013] S6: Based on the fitting results, the design parameters of the industrial pipeline are extracted.

[0014] Furthermore, in the shooting of outdoor oblique photography images, aerial photography is used to plan the shooting route and flight altitude with the outdoor pipe network as the main shooting object.

[0015] Furthermore, the construction process of the on-site point cloud data model in step S1 includes the following steps:

[0016] S101: Performing aerial triangulation calculation and overall adjustment calculation on the outdoor oblique photography image to obtain feature matching points for reconstructing the outdoor real scene of the factory area;

[0017] S102: generating a triangulated network based on feature matching points;

[0018] S103: After mapping the color values ​​corresponding to the feature matching points in the outdoor oblique photography image to the corner points in the triangulated network, extract the mapped corner points of the triangulated network to generate a real-world point cloud data model.

[0019] Furthermore, step S102 further includes performing smoothing encryption processing on the triangular network so that the side length of the encrypted triangular network is less than a preset side length threshold.

[0020] Furthermore, step S4 specifically includes: isolating all data points belonging to the industrial pipeline from the real-world point cloud data model of the factory area, and eliminating data points that do not belong to the industrial pipeline within the height and horizontal plane range to obtain the point cloud data of the industrial pipeline.

[0021] Furthermore, the fitting of industrial pipelines includes fitting of straight pipe sections, and the fitting process includes the following steps:

[0022] (1) Select multiple points evenly distributed along the axis of the straight pipe as initial seed points;

[0023] (2) Randomly select three seed points from all the initial seed points, calculate the cross product of the normal vectors between each two of the three selected seed points, and obtain three axis normal vectors; determine whether the angle between the three axis normal vectors is less than a preset angle threshold; if so, add the three axis normal vectors and use the addition result as the initial axis direction of the straight tube; otherwise, return to (1) and reselect the initial seed point;

[0024] (3) Project the normals of the three seed points onto the zero plane with the initial axis direction as the normal, use the projection coordinates of the three seed points to perform plane circle fitting, and use the center of the fitted circle as the initial end face center of the straight tube;

[0025] (4) Calculate the plane projection distance from the center of the initial end face to each of the three seed points, and determine whether the mean square error of the three plane projection distances is within the error tolerance range. If so, take the average value of the three plane projection distances as the initial radius of the straight tube; otherwise, return to (1) and reselect the initial seed point;

[0026] (5) Based on the RANSAC algorithm, slices are taken in the extension direction of the axis of both ends with a preset initial step size, and the slices are fitted with a plane circle to determine whether the center of the fitted circle is in the initial axis direction of the straight tube and the fitted radius is consistent with the initial radius of the straight tube. If so, the fitting range of the straight tube is extended to the slice position; otherwise, the slice is obtained again after reducing the step size until the step size is less than the preset step size threshold, and the center coordinates and end face radius of the final end faces of the straight tube are determined.

[0027] Furthermore, the fitting of industrial pipelines includes the fitting of variable diameter straight pipe sections, which is performed in the following two cases:

[0028] (1) For a reducing straight pipe connecting two straight pipes:

[0029] The straight line connecting the centers of the opposite end faces of the two straight pipes with full diameter is used as the axis of the variable diameter straight pipe, and the coordinates of the centers of the opposite end faces are used as the coordinates of the center of the end face of the variable diameter straight pipe. The diameters of the two ends of the variable diameter straight pipe are set to be consistent with the diameters of the opposite end faces of the two straight pipes with full diameter.

[0030] (2) For a straight pipe with a reduced diameter that is connected to a straight pipe at only one end:

[0031] The endpoint, radius and axis of the straight pipe are used as the initial parameters of the end section of the variable diameter straight pipe connected to the straight pipe. Based on the RANSAC algorithm, slices are taken in the direction of the axis extending to the variable diameter straight pipe section with a certain step size, and a plane circular fitting is performed on the slice. If the center of the fitted circle is in the axial direction, the variable diameter straight pipe is extended to the slice position, and the center position and diameter value of the slice are recorded. Otherwise, the step size is reduced and the slice is obtained again. When the step size is less than the preset step size threshold, the terminal end of the variable diameter straight pipe is determined.

[0032] Furthermore, the fitting of industrial pipelines includes fitting of bend sections, and the fitting process includes the following steps:

[0033] (1) Calculate the spatial angle θ between the two end faces of the elbow and divide the spatial angle θ into n parts, and calculate the distance l from the center of one end face to the intersection line of the two end faces;

[0034] (2) Take the axis of one end face, offset it with θ / n as the normal direction offset and lθ / n as the circle center offset, and perform plane circular fitting on the plane slice after offset;

[0035] For through-type elbows, determine whether the fitted diameter is consistent with the diameter of the elbow end face. If so, extend the fitting range of the elbow to the slice position; otherwise, adjust the normal direction offset and the center offset and re-acquire the slice for fitting.

[0036] For variable diameter elbows, determine whether the fitted diameter is between the two diameters at both end faces of the elbow. If so, extend the fitting range of the elbow to the slice position; otherwise, adjust the normal direction offset and center offset and then re-acquire the slice for fitting.

[0037] A terminal device for extracting design parameters of outdoor industrial pipelines includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method described above are implemented in an embodiment of the present invention.

[0038] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described above in an embodiment of the present invention.

[0039] The present invention adopts the above technical solution, which can quickly capture and accurately restore the actual situation outside the factory, extract the spatial positioning and geometric feature information of outdoor pipelines, and provide basic data for regular maintenance and transformation and upgrading of outdoor pipeline networks in industrial plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] FIG1 is a flow chart showing a first embodiment of the present invention. DETAILED DESCRIPTION

[0041] To further illustrate various embodiments, the present invention provides accompanying drawings. These drawings form part of the present disclosure and are primarily used to illustrate the embodiments and, in conjunction with the relevant description in the specification, to explain the operating principles of the embodiments. By referring to these drawings, those skilled in the art will be able to understand other possible implementations and the advantages of the present invention.

[0042] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0043] Example 1:

[0044] An embodiment of the present invention provides a method for extracting design parameters of outdoor industrial pipelines, as shown in FIG1 . The method includes the following steps:

[0045] S1: Based on the outdoor oblique photography images of the factory area, a real-time point cloud data model of the factory area is constructed.

[0046] In this embodiment, when shooting outdoor oblique photography images, aerial photography is used to plan the shooting route and flight altitude with the outdoor pipe network as the main shooting object. The heading overlap rate of the route should not be less than 80%, and the lateral overlap rate should not be less than 75%. Under the premise of ensuring the safety of the flight equipment, the flight altitude should not be higher than 150 meters above the average height of the outdoor pipe network. The network RTK connection is maintained throughout the flight, and ground image control points can be collected when necessary. After the shooting is completed, the outdoor oblique photography images are pre-processed and images that do not meet the quality requirements are deleted, such as images with improper exposure or large fog coverage.

[0047] The construction process of the field site cloud data model in this embodiment includes the following steps:

[0048] S101: Performing aerial triangulation calculation and overall adjustment calculation on the outdoor oblique photography image to obtain feature matching points for reconstructing the outdoor real scene of the factory area;

[0049] S102: generating a triangulated network based on feature matching points;

[0050] S103: After mapping the color values ​​corresponding to the feature matching points in the outdoor oblique photography image to the corner points in the triangulated network, extract the mapped corner points of the triangulated network to generate a real-world point cloud data model with true color.

[0051] Furthermore, this embodiment also includes smooth encryption of the triangular network according to the accuracy requirement to ensure that the side length of the encrypted triangular network is less than a preset side length threshold (such as 1 cm).

[0052] S2: Perform image recognition on the industrial pipeline in the outdoor oblique photography image, and obtain the boundary range of the industrial pipeline based on the image of the recognized industrial pipeline.

[0053] In this embodiment, image recognition uses an existing convolutional neural network to construct an image recognition model, and the model is pre-trained before being used for image recognition in step S2.

[0054] During pre-training, the model is pre-trained using outdoor oblique photography images of standard industrial plants. The training images all contain segmentation labels for the pixels of outdoor industrial pipelines. All pipelines can use the same type of segmentation label, that is, the global segmentation label categories should be no less than two. After training, the recognition accuracy is tested using some oblique photography images of the outdoor industrial pipelines to be extracted as a test set, and the ratio of the number of correctly classified pixels to the total number of pixels is calculated. Once the pixel segmentation accuracy of the test set reaches above 85%, all images to be identified can be input into this convolutional neural network to obtain complete pipeline recognition results within the plant area. If the segmentation accuracy of the test set does not meet the requirement of above 85%, new training materials are added to the training set, or image enhancement and other methods are used to improve the segmentation accuracy of the test set.

[0055] S3: Perform aerial triangulation calculations on the images in which the industrial pipelines are identified to obtain feature matching points in each image. Compare the feature matching points in each image with the boundary range of the industrial pipeline, extract the feature matching points within the boundary range, and map them to the real-world point cloud data model of the factory area. Set the data points in the real-world point cloud data model corresponding to the feature matching points within the boundary range as data points belonging to the industrial pipeline.

[0056] If the feature matching points in the image are within the boundary range, then these feature matching points are on the industrial pipeline, and the corresponding data points (corner points) in the triangulated network should also belong to the data points on the industrial pipeline.

[0057] S4: Based on all data points belonging to the industrial pipeline, point cloud data of the industrial pipeline is obtained.

[0058] All data points belonging to industrial pipelines are isolated from the complete real-world point cloud data model of the factory area, and data points that can be clearly distinguished as not belonging to industrial pipelines within the height and horizontal plane range are further eliminated to obtain the point cloud data of the industrial pipelines.

[0059] S5: Fitting of industrial pipelines based on point cloud data of industrial pipelines.

[0060] The fitting of industrial pipelines includes the fitting of straight pipe sections, the fitting of straight pipe sections with varying diameters, and the fitting of curved pipe sections.

[0061] (1) Fitting of straight pipe sections

[0062] In the fitting of industrial pipelines, all straight pipe sections with different diameters need to be fitted first. The fitting process includes the following steps:

[0063] (1) Select multiple points evenly distributed along the axis of the straight pipe as initial seed points.

[0064] The number of initial seed points should be between 4 and 6. Too many initial seed points will not significantly improve the accuracy of the fitting results. The distance between initial seed points should not be too large.

[0065] (2) Randomly select three seed points T1, T2, and T3 from all the initial seed points, calculate the cross product of the normal vectors between every two seed points in the three selected seed points, and obtain the three axis normal vectors, namely a 12 =n1×n2, a 13 =n1×n3, a 23 =n2×n3. Determine whether the angle between the three axis normal vectors is less than a preset angle threshold (such as 5°). If so, add the three axis normal vectors, that is, a=a 12 +a 13 +a 23 , and use the added result as the initial axis direction of the straight tube; otherwise, return to (1) and reselect the initial seed point.

[0066] (3) Project the normal lines L1, L2, and L3 of the three seed points onto the zero plane with the initial axis direction as the normal line, and use the projection coordinate values ​​c1, c2, and c3 of the three seed points to perform plane circle fitting. The center of the fitted circle is used as the center of the initial end face of the straight tube.

[0067] (4) Calculate the plane projection distance from the center of the initial end face to each of the three seed points, and determine whether the mean square error of the three plane projection distances is within the allowable error range. If so, take the average value of the three plane projection distances as the initial radius of the straight tube; otherwise, return to (1) and reselect the initial seed point.

[0068] (5) Based on the RANSAC algorithm, slices are taken in the extension direction of the axis of both ends with a preset initial step size, and the slices are fitted with a plane circle. It is determined whether the center of the fitted circle is in the initial axis direction of the straight tube and the fitted radius is consistent with the initial radius of the straight tube. If so, the fitting range of the straight tube is extended to the slice position; otherwise, the step size is reduced (for example, by half) and the slice is obtained again until the step size is less than the preset step size threshold (for example, 3 cm), and the center coordinates and end face radius of the final end faces of the straight tube are determined.

[0069] (2) Fitting of variable diameter straight pipe sections

[0070] After completing the fitting of all straight pipes with full diameter, use the center point, radius, and axis direction of the end face of the straight pipe with full diameter to fit the straight pipe section with variable diameter. The fitting of the straight pipe section with variable diameter includes the following two situations:

[0071] (1) For a reducing straight pipe connecting two straight pipes:

[0072] The straight line connecting the centers of the opposite end faces of the two straight pipes with full diameter is used as the axis of the variable diameter straight pipe, and the coordinates of the centers of the opposite end faces are used as the coordinates of the center of the end faces of the variable diameter straight pipe. The diameters of the two ends of the variable diameter straight pipe are set to be consistent with the diameters of the opposite end faces of the two straight pipes with full diameter.

[0073] (2) For a straight pipe with a reduced diameter that is connected to a straight pipe at only one end:

[0074] The endpoint, radius and axis of the straight pipe are used as the initial parameters of the end section of the variable diameter straight pipe connected to the straight pipe. Based on the RANSAC algorithm, slices are taken in the direction of the axis extending to the variable diameter straight pipe section with a certain step size, and a plane circular fitting is performed on the slice. If the center of the fitted circle is in the axial direction, the variable diameter straight pipe is extended to the slice position, and the center position and diameter value of the slice are recorded. Otherwise, the step size is reduced and the slice is obtained again. When the step size is less than the preset step size threshold, the terminal end of the variable diameter straight pipe is determined.

[0075] (3) Bend section fitting

[0076] After all straight pipes are fitted, use the straight pipes connected at both ends of the elbow to determine the end face center, end face axis direction, and end face radius at both ends of the elbow. The specific steps are as follows:

[0077] (1) Calculate the spatial angle θ between the two end faces of the elbow and divide the spatial angle θ into n parts, and calculate the distance l from the center of one end face to the intersection line of the two end faces;

[0078] (2) Take the axis of one end face, offset it with θ / n as the normal direction offset and lθ / n as the circle center offset, and perform plane circular fitting on the plane slice after offset;

[0079] For through-type elbows, determine whether the fitted diameter is consistent with the diameter of the elbow end face. If so, extend the fitting range of the elbow to the slice position; otherwise, adjust the normal direction offset and the center offset and re-acquire the slice for fitting.

[0080] For variable diameter elbows, determine whether the fitted diameter is between the two diameters at both end faces of the elbow. If so, extend the fitting range of the elbow to the slice position; otherwise, adjust the normal direction offset and center offset and then re-acquire the slice for fitting.

[0081] The total number of slices is n. To ensure the fitting accuracy of the elbow, θ / n should not be greater than 5°.

[0082] S6: Based on the fitting results, the design parameters of the industrial pipeline are extracted.

[0083] Design parameters include the center coordinates, central axis, radius, and bend angle of each segment. Based on the straight pipe fitting results, the center coordinates and radius of the two end faces of the straight pipe are extracted, and the axis direction is determined by connecting the center coordinates of the two end faces. Based on the curved pipe fitting results, the center coordinates and radius of the two end faces of the curved pipe are extracted. The coordinates of the two end faces and the center coordinates of each slice are used to perform cubic Bezier curve fitting. The fitting result is the axis of the curved pipe segment, and the spatial angle between the two end faces is the bending angle of the curved pipe.

[0084] This embodiment of the present invention can provide intuitive, complete, and accurate facility status information for plant operations and maintenance. The extracted pipeline design parameters can be used to quickly build pipeline models in 3D design software, providing a reliable reference for the repair, removal, and replacement of complex pipeline networks. This approach has broad application prospects in industrial building surveying and mapping. Compared to previous surveying and mapping solutions, this embodiment can complete the measurement and design parameter extraction of large-scale pipeline networks in a shorter timeframe, while ensuring the accuracy of the resulting data.

[0085] Example 2:

[0086] The present invention also provides an outdoor industrial pipeline design parameter extraction terminal device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, the steps in the above-mentioned method embodiment of embodiment 1 of the present invention are implemented.

[0087] Furthermore, as an executable solution, the outdoor industrial pipeline design parameter extraction terminal device can be a computing device such as a desktop computer, laptop, PDA, or cloud server. The outdoor industrial pipeline design parameter extraction terminal device can include, but is not limited to, a processor and a memory. Those skilled in the art will understand that the above-mentioned component structure of the outdoor industrial pipeline design parameter extraction terminal device is merely an example of an outdoor industrial pipeline design parameter extraction terminal device and does not constitute a limitation on the outdoor industrial pipeline design parameter extraction terminal device. The outdoor industrial pipeline design parameter extraction terminal device can include more or fewer components than those described above, or a combination of certain components, or different components. For example, the outdoor industrial pipeline design parameter extraction terminal device can also include input and output devices, network access devices, buses, etc., which are not limited in this embodiment of the present invention.

[0088] Furthermore, as an executable solution, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices. The general-purpose processor may be a microprocessor or any conventional processor. The processor serves as the control center of the outdoor industrial pipeline design parameter extraction terminal device, and utilizes various interfaces and lines to connect various parts of the entire outdoor industrial pipeline design parameter extraction terminal device.

[0089] The memory can be used to store the computer programs and / or modules. The processor implements the various functions of the outdoor industrial pipeline design parameter extraction terminal device by running or executing the computer programs and / or modules stored in the memory and accessing the data stored in the memory. The memory can primarily include a program storage area and a data storage area. The program storage area can store an operating system and at least one application required for a function; the data storage area can store data generated based on the use of the mobile phone. Furthermore, the memory can include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0090] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in the embodiment of the present invention are implemented.

[0091] If the module / unit integrated in the outdoor industrial pipeline design parameter extraction terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM) and software distribution medium, etc.

[0092] Although the present invention has been particularly shown and described in conjunction with preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined in the appended claims, and all such changes are within the scope of protection of the present invention.

Claims

1. A method for extracting design parameters of outdoor industrial pipelines, characterized in that: The following steps are involved: S1: Based on the outdoor oblique photography images of the factory area, a real-time point cloud data model of the factory area is constructed; S2: performing image recognition on the industrial pipeline in the outdoor oblique photography image, and obtaining the boundary range of the industrial pipeline based on the image of the industrial pipeline recognized; S3: Perform aerial triangulation calculation on the images with industrial pipelines identified to obtain feature matching points in each image, compare the feature matching points in each image with the boundary range of the industrial pipeline, extract the feature matching points within the boundary range, and map them to the real-world point cloud data model of the factory area, and set the corresponding data points in the real-world point cloud data model as data points belonging to the industrial pipeline; S4: Based on all data points belonging to the industrial pipeline, point cloud data of the industrial pipeline is obtained; S5: Fitting of industrial pipelines based on point cloud data of industrial pipelines; S6: Based on the fitting results, the design parameters of the industrial pipeline are extracted.

2. The method for extracting design parameters of outdoor industrial pipelines according to claim 1, characterized in that: In the shooting of outdoor oblique photography images, aerial photography is used to plan the shooting route and flight altitude with the outdoor pipeline network as the main shooting object.

3. The method for extracting design parameters of outdoor industrial pipelines according to claim 1, characterized in that: The construction process of the site point cloud data model in step S1 includes the following steps: S101: performing aerial triangulation calculation and overall adjustment calculation on the outdoor oblique photography image to obtain feature matching points for outdoor real scene reconstruction of the factory area; S102: generating a triangulated network based on feature matching points; S103: After mapping the color values ​​corresponding to the feature matching points in the outdoor oblique photography image to the corner points in the triangular network, extract the mapped corner points of the triangular network to generate a real-life point cloud data model.

4. The method for extracting design parameters of outdoor industrial pipelines according to claim 1, characterized in that: Step S102 also includes performing smooth encryption processing on the triangular network so that the side length of the encrypted triangular network is less than a preset side length threshold.

5. The method for extracting design parameters of outdoor industrial pipelines according to claim 1, characterized in that: Step S4 specifically includes: isolating all data points belonging to the industrial pipeline from the real-world point cloud data model of the plant area, and removing data points that do not belong to the industrial pipeline within the height and horizontal plane range, to obtain the point cloud data of the industrial pipeline.

6. The method for extracting design parameters of outdoor industrial pipelines according to claim 1, characterized in that: The fitting of industrial pipelines includes the fitting of straight pipe sections. The fitting process includes the following steps: (1) Select multiple points evenly distributed along the axis of the straight tube as initial seed points; (2) Randomly select three seed points from all the initial seed points, calculate the cross product of the normal vectors between every two of the three selected seed points, and obtain three axis normal vectors; determine whether the angle between the three axis normal vectors is less than a preset angle threshold; if so, add the three axis normal vectors and use the addition result as the initial axis direction of the straight tube; otherwise, return to (1) and reselect the initial seed point; (3) Project the normal lines of the three seed points onto the zero plane with the initial axis direction as the normal line, use the projection coordinate values ​​of the three seed points to perform plane circle fitting, and use the center of the fitted circle as the center of the initial end face of the straight tube; (4) Calculate the plane projection distance from the center of the initial end face to each of the three seed points, and determine whether the mean square error of the three plane projection distances is within the allowable error range. If yes, take the average value of the three plane projection distances as the initial radius of the straight tube; otherwise, return to (1) and reselect the initial seed point; (5) Based on the RANSAC algorithm, the tangent line in the extension direction of the two end axes is taken with a preset initial step size. A slice is obtained and a plane circle is fitted to the slice to determine whether the center of the fitted circle is in the initial axis direction of the straight tube and the fitted radius is consistent with the initial radius of the straight tube. If so, the fitting range of the straight tube is extended to the slice position; otherwise, the slice is re-acquired after the step size is reduced until the step size is less than the preset step size threshold, and the center coordinates and end face radius of the final two end faces of the straight tube are determined.

7. The method for extracting design parameters of outdoor industrial pipelines according to claim 1, characterized in that: The fitting of industrial pipelines includes the fitting of variable diameter straight pipe sections, which can be performed in the following two situations: (1) For a reducing straight pipe connecting two straight pipes: The straight line connecting the centers of the opposite end faces of the two straight pipes is used as the axis of the variable diameter straight pipe, the coordinates of the centers of the opposite end faces are used as the coordinates of the center of the end faces of the variable diameter straight pipe, and the diameters of the two ends of the variable diameter straight pipe are set to be consistent with the diameters of the opposite end faces of the two straight pipes; (2) For a reducing straight pipe with only one end connected to a straight pipe: The endpoint, radius and axis of the straight pipe are used as the initial parameters of the end section of the variable diameter straight pipe at one end connected to the straight pipe. Based on the RANSAC algorithm, slices are taken in the extension direction of the axis to the variable diameter straight pipe section with a certain step length, and the slices are fitted with a plane circle. If the center of the fitted circle is in the axial direction, the variable diameter straight pipe is extended to the slice position, and the center position and diameter value of the slice are recorded. Otherwise, the slice is obtained again after reducing the step length until the step length is less than the preset step length threshold, and the terminal end of the variable diameter straight pipe is determined.

8. The method for extracting design parameters of outdoor industrial pipelines according to claim 1, characterized in that: The fitting of industrial pipelines includes the fitting of elbow sections. The fitting process includes the following steps: (1) Calculate the spatial angle θ of the two end faces of the bent pipe and divide the spatial angle θ into n parts, and calculate the distance l from the center of one end face to the intersection line of the two end faces; (2) Take the axis of one end face, offset it with θ / n as the normal direction offset and lθ / n as the circle center offset, and perform plane circular fitting on the plane slice after offset; For the through-type elbow, determine whether the fitted diameter is consistent with the diameter of the elbow end face. If so, extend the fitting range of the elbow to the slice position; otherwise, adjust the normal direction offset and the center offset and re-acquire the slice for fitting. For the variable diameter elbow, determine whether the fitted diameter is between the two diameters at the two end faces of the elbow. If so, extend the fitting range of the elbow to the slice position; otherwise, adjust the normal direction offset and the center offset and re-acquire the slice for fitting.

9. An outdoor industrial pipeline design parameter extraction terminal device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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