Pipeline three-dimensional nonlinear model construction method and system based on real attitude angle

Abstract

The invention provides a pipeline three-dimensional nonlinear model construction method and system based on a real attitude angle, and the method comprises the steps of obtaining a set number of pipeline section data through a pipeline robot carrying an attitude sensor and / or an inertial measurement unit; for the section data of each pipeline, according to the section contour of the pipeline and / or the attitude angle acquired by the pipeline robot, calculating to obtain a three-dimensional coordinate set of the section contour of the pipeline under a set reference system; and according to a three-dimensional coordinate set of a pipeline section contour in each pipeline section data under a set reference system, establishing a nonlinear grid model as a pipeline three-dimensional nonlinear model. According to the invention, the influence of distortion and errors generated in the acquisition process on the accuracy of the three-dimensional model of the pipeline is avoided, the three-dimensional model of the pipeline better conforming to the actual situation can be constructed, and a good model basis is provided for pipeline detection, especially pipeline internal detection.

Description

technical field [0001] The invention relates to the technical field of pipeline modeling, in particular to a method and system for constructing a three-dimensional nonlinear model of a pipeline based on a real attitude angle. Background technique [0002] Urban underground pipelines are an important factor affecting the healthy and happy life of urban residents. The mileage of water supply and drainage pipelines is the largest among urban underground pipelines. At the same time, water supply and drainage pipelines are more prone to damage than other pipelines. The damage of water supply and drainage pipelines is the cause of the formation of urban underground cavities. Therefore, the regular maintenance of urban water supply and drainage pipelines is of great significance to improve the safety factor of urban residents, improve the quality of life of residents, and reduce the occurrence of secondary disasters. [0003] At present, the conventional detection methods for drain...

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Problems solved by technology

[0003] At present, the conventional drainage pipeline detection method is mainly CCTV closed-circuit television detection. The information obtained is the image of the inner surface of the pipeline. It is impossible to know the internal defects and damage of the pipeline wall and the loose and hollow soil around the pipeline.

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