Autonomous Sweep Modeling and Collision Detection of Underground Pipelines in 3D Environment

Highly automated fine 3D modeling and fast space collision detection technology play a core role in the modern digital cable engineering field. This paper proposes an improved Sweep modeling algorithm to directly treat underground pipelines as continuous surfaces according to the whole network topological relationships without the needs for complex segmentation and re-splicing process. A new frame in the algorithm is proposed to solve subsequent correcting issues and handle using limitation at inflection points, thereby optimizing the control stability of the modeling surface especially when the space curves are intricate; In the 3D underground pipeline virtual environment generated by our algorithm, a 3D collision detection algorithm combining a fast pre-processing detection phase using AABB bounding box method and a precise detection phase using optimized triangle facets intersection algorithm is proposed, which meets the application requirements of cable reality scenarios. Compared with the typical intersection algorithm, our method ensures the detecting accuracy unchanged and increases the rate of the detection considerably.