Research On 3D Visualization Simulation Of Urban Underground Pipe Network

Using the robot to carry the detection device into the pipeline for testing,it's the most important way to test the way that the pipeline is currently undamaged,and the multi-robot collaborative testing will increase the efficiency,because the city's underground pipeline is so dense,and in the design of the robotic system,it requires a lot of experimental tests to ensure the effectiveness of the collaboration.Validation need of network scale,and need a variety of different network structure,if build entity pipe or in a real experiment in the pipeline,the amount of resources is huge,to establish urban underground pipeline 3D visualization simulation platform,is the realization of the simulation of the pipeline detection.Based on the simulation of pipeline simulation for gas pipeline robot queue,this paper studies the generation strategy of tree pipe network structure,and proposes a pipeline random generation strategy which can set the number of key types of nodes according to the demands of users on the complexity of pipe network,and this random generation strategy satisfies the experimental needs of controlled generation and diverse network structure.At the same time,the construction method of three-dimensional pipe network is studied,and the three-dimensional pipe network is formed by using the coordinate transformation of the straight three-dimensional pipe and the random generated pipe network structure.This paper studies the processing mode of cross pipe,bend pipe,T pipe and bend pipe,which realizes the natural connection of pipe and does not affect the total length of pipe network.Based on the real-time consideration of large-scale three-dimensional pipe network,the technology of visibility elimination was used to draw the pipe network,and the algorithm was improved.At the same time,using GPU parallel computing power,the Phong illumination model is processed in parallel to accelerate the light processing speed.Taking into account the parameter interaction requirements of the platform,the paper introduces the data import and processing flow of the text format pipe network map data and the processing of the input and output parameters.Finally to build simulation platform,has realized the pipeline 3 d visualization simulation,the simulation of the metal and two kinds of common PE material pipe three-dimensional effect,and to join in the system of automatic roaming and manual roaming function.The automatic roaming is designed to simulate the internal roaming view of the robot pipeline,display the internal environment in real time,and can switch different robot perspectives by setting.Manual roaming through the keyboard and mouse to control the visual Angle,able to observe the network structure,and can adjust the perspective to do local observation.Aiming at the three-dimensional construction of the pipe network platform,the system can meet the requirements of the following simulation.