Pipeline straightness detection device and method based on laser ranging and monocular vision

Abstract

The invention discloses a pipeline straightness detection device and method based on laser ranging and monocular vision, and the device comprises a crawler which is used for carrying out the mobile measurement in a pipeline; the semi-transparent plane glass plate and the monocular spot positioning camera form a deviation measurement module which is used for acquiring a deviation value of a measurement section relative to a measurement base line and is rigidly connected with the crawler, and the relative position is determined; the attitude sensor is used for acquiring attitude change of the crawler; and the laser distance measuring device is used for acquiring the axial displacement of the crawler. According to the invention, the laser rays emitted by the laser ranging device do not need to coincide with or be parallel to the axis of the pipeline, and the rapid and high-precision field measurement of the pipeline straightness error can be realized only by simply requiring that the laser rays can pass through the pipeline and do not intersect with the pipe wall.

Description

technical field [0001] The invention relates to the field of photoelectric detection technology and image processing, in particular to a pipeline straightness detection device and method based on laser ranging and monocular vision. Background technique [0002] With the rapid improvement of my country's economic and technological level, various types of pipelines are widely used in many fields, such as military, petroleum, chemical and metallurgical industries. Straightness is one of the main indicators to measure the quality of pipelines. In some applications, there are high requirements for the straightness of pipelines. For example, when using pipelines for liquid transportation, the straightness error of the pipeline should be guaranteed to be 0, otherwise the bending of the pipeline will cause belts on the pipe wall. Additional shocks will seriously affect the service life of the pipeline or cause the pipe wall to rupture and cause safety accidents. Therefore, the stra...

AI Technical Summary

Problems solved by technology

Although this method takes into account the correction of attitude deviation and can achieve high-precision 3D restoration of the inner wall of the pipeline and straightness measurement, the vibration caused by the rotating motor itself cannot be eliminated, which introduces system errors; the laser lines projected by the laser group must be strictly controlled. Parallel to the pipeline axis to ensure accurate attitude measurement, the actual operation is more difficult; at the same time, the wire sensor has limited accuracy and cannot meet the higher accuracy requirements

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