RU-2026106144-A - METHOD, TERMINAL DEVICE AND MEDIA FOR REMOVING DESIGN PARAMETERS OF EXTERNAL INDUSTRIAL PIPELINES

Inventors

• ТУ, Цзяци
• ЧУ, Сюэчжэн
• ГУН, Цзуни
• ПЭН, Ци

Assignees

• ВИСДРИ ИНЖИНИРИНГ энд РИСЕРЧ ИНКОРПОРЕЙШН ЛИМИТЕД

Dates

Publication Date

20260505

Application Date

20240325

Priority Date

20230811

Claims (20)

1. 1. A method for taking the design parameters of external industrial pipelines, characterized in that it includes the following steps:
2. S1: construction of a real model of the point cloud data of an industrial zone based on oblique photographs of the exterior of the area;
3. S2: Recognizing images of industrial pipelines from oblique photographs of exteriors and determining the boundary range of industrial pipelines based on the identified images;
4. S3: To obtain the characteristic matching points in each image, spatial triangulation is performed on the identified industrial pipeline images, then these characteristic matching points are matched with the boundary range of the industrial pipeline, the characteristic matching points within the boundary range are extracted and plotted on the real point cloud data model of the industrial area, the corresponding points in the real point cloud data model are designated as industrial pipeline-related data points;
5. S4: Obtain industrial pipeline point cloud data based on all data points related to the industrial pipeline;
6. S5: Based on the point cloud data of the industrial pipeline, approximation of the industrial pipeline is performed;
7. S6: Based on the approximation results, the calculated parameters of the industrial pipeline are taken.
8. 2. The method for taking the design parameters of external industrial pipelines according to paragraph 1, characterized in that: when obtaining oblique photographs of the exterior, spatial photography is used to plan the shooting trajectory and flight altitude, in which the main object is the network of external pipelines.
9. 3. The method for removing the calculated parameters of external industrial pipelines according to paragraph 1, characterized in that: the process of constructing a real model of the point cloud data in step S1 includes the following steps:
10. S101: Performing spatial triangulation and general correction calculations on oblique photographs of the exterior to obtain points of conformity with the characteristics and reconstruction of the real exterior of the industrial zone;
11. S102: Creating a triangulation network based on feature matching points;
12. S103: After matching the color values corresponding to each feature matching point on the exterior oblique photographs with each corner point in the triangulation network, the corner points of the matched triangulation network are extracted to create a real point cloud data model.
13. 4. The method for taking the calculated parameters of external industrial pipelines according to claim 1, characterized in that: step S102 also includes smoothing and encrypting the triangulation network to ensure that the length of the side of the encrypted triangulation network is less than a specified threshold value of the side length.
14. 5. The method for removing the calculated parameters of external industrial pipelines according to paragraph 1, characterized in that: in particular, step S4 includes: selecting all data points related to the industrial pipeline from the actual data model of the point cloud of the production zone, as well as obtaining data of the point cloud of the industrial pipeline after removing data points that are not related to the industrial pipeline within the range of height and horizontal plane.
15. 6. The method for removing the design parameters of external industrial pipelines according to paragraph 1, characterized in that: the approximation of industrial pipelines includes the approximation of straight sections of the pipe, the approximation process includes the following steps:
16. (1) select several points evenly distributed along the axis of the straight pipe as initial reference points;
17. (2) randomly sample three reference points from all the initial reference points, calculate the product of the normal vectors between any two of the three selected reference points to get three axis normal vectors; determine whether the angle between the three axis normal vectors is less than a given threshold, if so, add the three axis normal vectors together and use the resulting result as the initial axis direction of the straight pipe; if not, return to (1) and re-sample the initial reference points;
18. (3) project the normals of the three support points onto the zero plane, using the direction of the initial axis as the normal, use the projected coordinates of the three support points to construct a plane circle, the center of the constructed circle is taken as the initial center of the end surface of the straight pipe;
19. (4) Calculate the plane projection distance from the center of the initial end surface to each of the three reference points, determine whether the standard deviation 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 pipe; if not, return to (1) and re-select the initial reference points;
20. (5) based on the RANSAC algorithm, cuts are made along the directions of continuation of the two end axes with a given initial step, a flat circle is approximated to the cuts, and it is determined whether the center of the approximated circle is simultaneously in the direction of the initial axis of the straight pipe, and whether the selected radius coincides with the initial radius of the straight pipe; if yes, then the approximation range of the straight pipe of standard diameter is expanded to the position of the cut; if not, decrease the step and re-take the cut until the step is less than the given threshold value, and determine the coordinates of the centers and the radii of the end surfaces of the last two end surfaces of the straight pipe of standard diameter.