Method, device and equipment for measuring inner diameter based on 3D modeling and storage medium

Abstract

The invention discloses an inner diameter measuring method, device and equipment based on 3D modeling and a storage medium, belongs to the technical field of industrial detection, and aims at solving the technical problems that when the inner diameter of a pipe hole is manually detected, the labor intensity is large, errors are likely to be generated, and results are difficult to trace. The method mainly comprises the following steps: acquiring the distance from a probe to a pipe wall, a rotating angle and a moving distance which are acquired in real time in the process that an inner diameter measuring sensor rotatably exits from a pipe hole; converting the data into a three-dimensional point cloud data set; calculating an axis coordinate set corresponding to the three-dimensional circular tube model based on the point cloud data; calculating the vertical distance from each point in the point cloud to the axis to obtain the radius in the pipe, and judging whether the inner diameter is normal or not according to preset standard parameters. The invention further discloses a corresponding device for implementing the method, electronic equipment and a computer readable storage medium. According to the technical scheme, automatic, high-precision and high-efficiency measurement of the inner diameter of the pipe hole can be achieved, and a traditional manual detection mode is effectively replaced.

Description

Technical Field

[0001] This invention relates to the field of industrial testing technology, and in particular to a method, apparatus, electronic device, and computer-readable storage medium for measuring the inner diameter of tube sheets based on three-dimensional reconstruction technology. Background Technology

[0002] In aerospace, automotive manufacturing, and energy pipeline industries, tube sheets are common critical components, and accurate measurement of their bore inner diameter is crucial for ensuring equipment safety and reliability. Currently, the measurement of tube sheet bore inner diameter mainly relies on manual operation, such as using micrometers, inside gauges, borehole probes, and other tools for contact or non-contact measurements.

[0003] Existing technologies have significant drawbacks: First, for tube sheets with a large number of densely distributed tubes, manual inspection is extremely inefficient, labor-intensive, and time-consuming. Second, the inspection results heavily rely on the operator's experience and skill level, easily introducing subjective errors and making it difficult to guarantee the consistency and accuracy of the inspections, thus posing a risk of missed and false detections. Furthermore, manual inspection makes it difficult to achieve digital recording and traceability of inspection data, which is detrimental to refined quality control management.

[0004] With the improvement of industrial automation, there is an urgent need for a technical solution that can automatically, quickly, and accurately measure the inner diameter of pipe holes and make intelligent judgments. Summary of the Invention

[0005] To address the technical problems of high labor intensity, easy error generation, and difficulty in traceability of results when manually inspecting the inner diameter of pipe holes, this invention provides a method, apparatus, equipment, and storage medium for measuring inner diameter based on 3D modeling.

[0006] In a first aspect, the present invention provides a method for measuring inner diameter based on 3D modeling, comprising:

[0007] The distance from the probe to the pipe wall, the rotation angle, and the moving distance are collected in real time by the inner diameter measuring sensor during the process of rotating out of the pipe hole;

[0008] The collected distances, rotation angles, and movement distances are converted into a three-dimensional point cloud data set;

[0009] Based on the three-dimensional point cloud data set, the set of axis coordinates of the three-dimensional circular pipe model corresponding to the pipe hole is obtained by calculation.

[0010] The vertical distance from the points in the three-dimensional point cloud data set to the axis coordinate set is calculated to obtain the inner radius of the tube. Based on preset standard parameters, the inner radius of the tube is judged to obtain the judgment result of whether the inner diameter of the tube is normal.

[0011] Preferably, the step of converting the collected distance, rotation angle, and movement distance into a three-dimensional point cloud dataset includes:

[0012] The real-time collected radial distance, rotation angle, and axial movement distance data are timestamped and transformed to obtain the original point cloud data in a polar coordinate system with the central axis of the pipe hole as the reference.

[0013] Preferably, the step of calculating the set of axial coordinates of the three-dimensional circular pipe model corresponding to the pipe hole based on the three-dimensional point cloud data set includes:

[0014] The three-dimensional point cloud data set is segmented along the axial direction of the pipe hole to obtain multiple local point sets;

[0015] For each set of local points, a circular cross-section is fitted to obtain the coordinates of the center of the corresponding cross-section.

[0016] Based on the center coordinates of the cross sections obtained from all segmented fittings, the coordinates are optimized using a curve smoothing algorithm to form a set of axis coordinates describing the spatial orientation of the three-dimensional circular tube model.

[0017] Preferably, an outlier removal mechanism is introduced during the circular cross-section fitting process.

[0018] Preferably, calculating the perpendicular distance from a point in the three-dimensional point cloud data set to the axis coordinate set to obtain the inner radius of the tube includes:

[0019] For each sampling point in the three-dimensional point cloud data set, calculate its shortest distance to the set of axis coordinates, and use it as the local radius value of that point;

[0020] The local radius values ​​of all sampling points are statistically analyzed to form a dataset of orifice radius distribution.

[0021] Preferably, the inner radius of the pipe is determined based on preset standard parameters, including:

[0022] The measured local radius or the statistically derived radius data is compared with the preset standard radius and allowable deviation range. If it is within the allowable deviation range, it is judged as normal; otherwise, it is judged as abnormal.

[0023] Secondly, the present invention provides a device for measuring inner diameter based on 3D modeling, comprising:

[0024] The acquisition module is used to acquire the distance from the probe to the pipe wall, the rotation angle, and the moving distance in real time as the inner diameter measuring sensor rotates out of the pipe hole.

[0025] The 3D reconstruction module is used to convert the acquired distance, rotation angle, and movement distance into a 3D point cloud data set;

[0026] The calculation module is used to perform calculations based on the three-dimensional point cloud data set to obtain the set of axial coordinates of the three-dimensional circular pipe model corresponding to the pipe hole, and to obtain the inner radius of the pipe by calculating the perpendicular distance from the points in the three-dimensional point cloud data set to the set of axial coordinates;

[0027] The judgment module is used to determine the inner radius of the pipe based on preset standard parameters, and to obtain a judgment result on whether the inner diameter of the pipe is normal.

[0028] Thirdly, the present invention provides an electronic device, comprising:

[0029] Inner diameter measuring sensor;

[0030] At least one processor; and

[0031] A memory that is communicatively connected to the at least one processor;

[0032] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to perform the method as described above.

[0033] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a processor to execute and implement the method for measuring inner diameter based on 3D modeling as described in the present invention.

[0034] The beneficial effects of this invention are as follows: By enabling the sensor to simultaneously acquire radial distance, rotation angle, and axial displacement during the rotational withdrawal of the pipe borehole, this invention essentially completes an automated, high-density spiral scan of the three-dimensional morphology of the borehole's inner wall. Fusing these three sets of parameters and converting them into three-dimensional point cloud data lays the foundation for the transition from discrete measurement to three-dimensional model reconstruction. Compared to traditional manual single-point or localized measurements, this method achieves, for the first time, a holographic and digital capture of the spatial morphology of the borehole's inner wall, fundamentally avoiding the problem of missed detections caused by sampling inspection.

[0035] Based on this high-precision point cloud data, this invention does not perform simple diameter estimation, but intelligently reconstructs the actual three-dimensional spatial axis of the pipe hole through a strategy combining piecewise fitting and overall optimization. This axis extraction method is the core of achieving high-precision measurement because it adaptively corrects systematic errors caused by pipe hole processing bending or sensor feed trajectory deviations, ensuring that the baseline for subsequent radius calculations conforms to the physical reality of the pipe hole. Subsequently, the radius value is obtained by calculating the perpendicular distance from each point in the point cloud to this real axis. This is a precise calculation based on spatial geometry, and its results are far more reliable and globally representative than those based on an assumed ideal centerline or local measurements.

[0036] Finally, the obtained full-hole radius distribution data is automatically compared and judged with standard parameters. This not only provides a conclusion on whether the inner diameter is qualified, but also accurately locates the specific axial and radial positions of local deformation, wear, or defects. Therefore, the beneficial effects of this invention are an organic whole: it achieves automation and full coverage from the source of data acquisition, ensures high measurement accuracy and anti-interference capability at the data processing level through three-dimensional reconstruction and precise geometric calculation, and realizes intelligent judgment and defect location at the result output level, ultimately achieving a technological leap that significantly improves detection efficiency, consistency, reliability, and digital management level. Attached Figure Description

[0037] Figure 1 This is a flowchart of a method for measuring inner diameter based on 3D modeling, as described in this invention;

[0038] Figure 2 This is a structural block diagram of an inner diameter measurement method based on 3D modeling as described in this invention;

[0039] Figure 3 This is a schematic diagram of the internal diameter measuring device based on 3D modeling as described in this invention;

[0040] Figure 4 This is a schematic diagram of the structure of an electronic device according to the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] The core innovation of this invention lies in breaking through the limitations of traditional single-point or local measurement and proposing a new mechanism for fully automatic measurement of pipe inner diameter based on synchronous perception of motion trajectory and accurate reconstruction of three-dimensional space.

[0043] Specifically, this invention does not simply involve placing a sensor into a pipe hole for static measurement. Instead, it creatively uses the sensor's rotational and axial retraction motions as the coordinate basis for constructing a three-dimensional model. By acquiring three parameters with strict spatiotemporal correspondence—the radial distance from the probe to the pipe wall, the sensor's rotation angle, and the axial movement distance—in real-time and synchronously, and fusing and transforming them, it achieves for the first time the direct generation of a point cloud model that fully reflects the three-dimensional morphology of the pipe hole's inner wall during a single spiral retraction of the sensor. This method of modeling while in motion is the primary innovation of this invention, fundamentally elevating the measurement dimension from two-dimensional to three-dimensional, laying the foundation for high-precision measurement.

[0044] Secondly, in the processing of 3D point cloud data, this invention abandons the traditional approach of assuming the pipe hole is an ideal straight cylinder and proposes a dynamic axis extraction method from local to global perspectives. This method obtains a continuous spatial axis by fitting the center of a circle piecewise along the axial direction and then optimizing the curve, which can accurately restore the actual shape of the pipe hole, such as bending or tilting. The radius is calculated based on this real axis, ensuring that the measurement results are faithful to the physical reality of the pipe hole, significantly improving the accuracy and robustness of the measurement. This is the second key innovation of this invention.

[0045] Ultimately, this invention deeply integrates advanced visual measurement, 3D reconstruction, and spatial geometric calculation technologies into a highly efficient automated process, achieving full automation from data acquisition, model reconstruction, axis extraction, radius calculation to intelligent judgment. This results in efficient, high-precision, and comprehensive measurement of pipe inner diameter, representing an integrated innovation in the overall technical concept of this invention.

[0046] Figure 1 This is a flowchart illustrating a 3D modeling-based method for measuring inner diameter, as provided in this embodiment of the invention. This method can be executed by a 3D modeling-based inner diameter measuring device, which can be implemented in both hardware and software. The device can be configured in measuring equipment or electronic devices such as computers. The method can be applied to tube sheet inner diameter measurement scenarios. The following sections will describe these aspects in detail.

[0047] Example 1:

[0048] like Figure 1 As shown, this embodiment provides a method for measuring inner diameter based on 3D modeling, including the following steps:

[0049] S110: Acquire sensor data. Specifically, control the rod-shaped sensor integrated with a laser triangulation system to exit the pipe hole along a spiral path via a rotating feed mechanism. During this process, the sensor continuously acquires three key parameters in real time: the radial distance from the probe to the pipe wall, the rotation angle of the sensor around its axis, and the distance traveled along the axial direction of the pipe hole.

[0050] In this embodiment of the invention, for each tube hole in the tube sheet, the rotational precession of the rod-shaped sensor can be controlled by the rotary feed structure integrated in the inner diameter measuring sensor. See [link to relevant documentation]. Figure 3 As shown, the sensor is inserted into the pipe hole at a specified depth. The sensor rotates at a specified speed to exit the control system and continuously collects data in real time, including the distance from the probe to the pipe wall, the rotation angle, and the moving distance. The collected measurement data is then sent to the control host until the sensor is completely removed from the pipe hole, at which point the data transmission ends.

[0051] The beneficial effect of step S110 in this embodiment is that by controlling the sensor to rotate synchronously and continuously collect data during the withdrawal process, the motion trajectory and measurement behavior are deeply integrated, realizing a spiral, full-coverage scan of the inner wall morphology of the pipe hole. This method acquires all the spatial information required to construct the three-dimensional model at once, laying a solid data foundation for subsequent automated processing and fundamentally replacing the inefficient and incomplete manual point-by-point inspection mode.

[0052] S120: 3D Point Cloud Reconstruction. Multiple sets of data (distance, angle, displacement) collected in S110 are synchronized (e.g., timestamp alignment) and transformed using coordinate transformation (e.g., converting polar coordinate data to 3D Cartesian coordinates) to generate a 3D point cloud dataset representing the inner wall surface of the pipe. To improve processing efficiency, the point cloud can be segmented and then fused.

[0053] The beneficial effect of step S120 in this embodiment is that it fuses the seemingly independent three sets of parameters—distance, angle, and displacement—into a unified three-dimensional point cloud through coordinate transformation, realizing an upgraded expression of measurement data from a one-dimensional sequence to three-dimensional space. This transformation is a prerequisite for all subsequent precise calculations, enabling the visualization and quantitative analysis of the internal structure of the pipe orifice, thus providing the possibility for high-precision measurement.

[0054] S130: Axis Extraction. Based on the axial displacement information recorded by the sensor movement, local point cloud data is extracted along the axial direction at set step intervals, using a sliding window method, according to the reconstructed 3D point cloud data. The data is then segmented along the pipe's axial direction at certain step intervals. For each sampled local point set, a circle is fitted using the least squares method to obtain the coordinates of the circle's center. Then, the sequence of circle center points obtained from all segmented fittings is optimized using curve fitting or a smoothing algorithm (such as spline interpolation) to obtain a smooth, continuous spatial curve, which represents the set of axial coordinates of the 3D circular pipe model and the fitting error index. For the multiple fitted circle center points, a curve smoothing algorithm is used for overall optimization to reduce the accumulation of local errors from a single fitting, ensuring the continuity and physical rationality of the extracted axis. Finally, an ordered set of 3D coordinate points is formed, which describes the actual axial direction of the circular pipe model in space. Preferably, to improve processing robustness, an outlier removal mechanism can be introduced during the section fitting process to reduce fitting errors caused by local damage, foreign objects, noise, etc.

[0055] The beneficial effect of step S130 in this embodiment is that by adopting a dynamic axis extraction strategy from local to global, the true orientation of the tube hole in space can be adaptively restored, rather than relying on the assumption that it is an ideal straight cylinder. This method effectively compensates for systematic errors introduced by processing deformation or sensor trajectory deviation, making the subsequent radius calculation benchmark more accurate and reliable, and significantly improving the anti-interference capability and accuracy of the entire measurement system.

[0056] S140: Radius Calculation and Judgment. For each sampling point in the 3D reconstructed point cloud dataset, calculate the shortest distance from it to the nearest point (or fitted axis) in the axis coordinate set, and record it as the local radius value of that point. Using spatial geometry methods, determine the perpendicular projection point from the sampling point to the axis, and then calculate the Euclidean distance between the two points as the actual local radius value. Statistically analyze the radius values ​​calculated for all sampling points to form the corresponding pipe radius distribution dataset. Next, based on the measured radius data, determine the inner diameter: according to the preset standard pipe diameter parameters and allowable tolerance range, set the standard radius and allowable deviation value corresponding to the normal inner diameter; compare each measured local radius with the standard radius. If it is within the set deviation range, the corresponding point is judged as normal; otherwise, it is judged as abnormal. Preferably, to enhance the robustness of the detection results, isolated noise points can be removed during the radius calculation process, and local abnormal sections can be marked for subsequent detailed analysis and maintenance decisions.

[0057] The beneficial effect of step S140 in this embodiment is that: radius calculation based on the real spatial axis ensures that each radius value is the shortest distance from that point to the actual center of the borehole, making the measurement results geometrically accurate. Through statistical analysis of the radius of the entire borehole segment and automated comparison with standards, not only can a qualified conclusion be quickly obtained, but the specific location and shape of defects can also be accurately located, achieving a leap from simple judgment to refined diagnosis, and providing in-depth data support for quality control.

[0058] Using the above method, the present invention can achieve high-precision measurement and rapid determination of the inner diameter of pipe holes, effectively replacing traditional manual measurement methods and improving detection efficiency and consistency.

[0059] Example 2:

[0060] like Figure 2 As shown, this embodiment provides an apparatus for implementing the above method. This apparatus can be integrated into a measuring device or a host computer as a software module or a hardware module. The apparatus includes:

[0061] Acquisition module 210: used to acquire the distance from the probe to the pipe wall, the rotation angle, and the moving distance in real time during the rotation and exit of the pipe hole by the inner diameter measuring sensor; responsible for receiving and preprocessing the raw data (distance, angle, displacement) transmitted from the sensor.

[0062] 3D Reconstruction Module 220: Used to convert the acquired distance, rotation angle and movement distance into a 3D point cloud data set; responsible for converting the original data into a 3D point cloud.

[0063] The calculation module 230 is used to perform calculations based on the three-dimensional point cloud data set to obtain the set of axis coordinates of the three-dimensional circular pipe model corresponding to the pipe hole, and to obtain the inner radius of the pipe by calculating the vertical distance from the points in the three-dimensional point cloud data set to the set of axis coordinates; it is responsible for extracting the axis from the point cloud and calculating the distance (radius) from each point to the axis.

[0064] Judgment module 240: used to determine the inner radius of the pipe based on preset standard parameters, and obtain the judgment result of whether the inner diameter of the pipe is normal; responsible for making a qualification judgment according to the preset standard and outputting the result.

[0065] The apparatus provided in the embodiments of the present invention can execute the methods provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the methods.

[0066] The beneficial effects of this embodiment are as follows: through modular design, the complex measurement process is clearly decomposed into four core stages: data acquisition, 3D reconstruction, geometric calculation, and intelligent judgment. This architecture makes the system functions clear, easy to implement, maintain, and upgrade. Each module performs its own function while working collaboratively to ensure automated, pipelined processing from raw data to the final judgment result, greatly improving the system's reliability and engineering application potential.

[0067] Example 3:

[0068] Figure 3 A schematic diagram of a measuring device that can be used to implement this method is shown. The device mainly includes a slender rod-shaped sensor body and a rotary feed mechanism that drives its movement. A laser ranging element is integrated into the front sidewall of the sensor, which can scan the tube wall in all directions during the rotational withdrawal process.

[0069] like Figure 3 As shown, the internal diameter measuring device mainly includes a sensor and a rotary feed mechanism. The sensor body is designed as a slender rod-like structure with a diameter of approximately 9mm, facilitating insertion into the bore to be measured. A laser emitter and an image receiver are integrated into the front sidewall of the sensor rod, forming a laser triangulation system capable of acquiring precise distance data between the sensor and the pipe wall in real time. The rotary feed mechanism is located at the rear end of the sensor rod and functions to drive the sensor rod to rotate synchronously and advance axially within the bore. Specifically, as the sensor moves along a helical path with the rotary feed mechanism, the laser sensor synchronously and continuously samples, thereby achieving full coverage point cloud data acquisition of the bore's inner surface, forming high-density, high-precision three-dimensional point cloud data. This provides a reliable data foundation for subsequent axis reconstruction, radius calculation, and internal diameter determination.

[0070] Through the above design, the embodiments of the present invention achieve high-precision, fully automated data acquisition of the internal surface of the pipe hole, effectively avoiding the low efficiency and missed detection problems of manual inspection, and greatly improving the accuracy and consistency of inspection.

[0071] The beneficial effects of this embodiment are as follows: the measuring device serves as the physical carrier for the method's implementation, and its structural design directly supports the technical solution. The slender rod-shaped sensor ensures deep penetration into narrow pipes; the integrated laser triangulation system provides high-precision radial distance data; and the precise rotary feed mechanism guarantees the stability and accuracy of the helical scanning trajectory. The organic combination of these three elements transforms the innovative methodological concept into stable and reliable physical measurement actions, forming the hardware foundation for achieving automated, high-precision measurement.

[0072] Example 4:

[0073] Figure 4A hardware structure diagram of an electronic device 10 for implementing the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0074] like Figure 4 As shown, the electronic device 10 includes a processor 11, a memory (ROM 12, RAM 13), a storage unit 18, a communication unit 19, an I / O interface 15, an input unit 16, and an output unit 17. The memory stores computer programs executable by at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0075] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0076] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for measuring inner diameter based on 3D modeling.

[0077] In some embodiments, the 3D modeling-based method for measuring inner diameter can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or mounted on electronic device 20 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the 3D modeling-based method for measuring inner diameter described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the 3D modeling-based method for measuring inner diameter by any other suitable means (e.g., by means of firmware).

[0078] The beneficial effects of this embodiment are as follows: by programming the method of the present invention into a computer program and running it on a general-purpose or special-purpose electronic device containing a processor and memory, this technological innovation possesses high flexibility and scalability. It can be integrated into dedicated detection equipment as a control core, or deployed on a host computer or in the cloud for data analysis. This implementation method significantly lowers the application threshold of the technology, facilitates its promotion and integration into existing industrial automation systems, and achieves software and hardware decoupling and widespread reuse of advanced detection algorithms.

[0079] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A method for measuring inner diameter based on 3D modeling, characterized in that, include: The distance from the probe to the pipe wall, the rotation angle, and the moving distance are collected in real time by the inner diameter measuring sensor during the process of rotating out of the pipe hole; The collected distances, rotation angles, and movement distances are converted into a three-dimensional point cloud data set; Based on the three-dimensional point cloud data set, the set of axis coordinates of the three-dimensional circular pipe model corresponding to the pipe hole is obtained by calculation. The vertical distance from the points in the three-dimensional point cloud data set to the axis coordinate set is calculated to obtain the inner radius of the tube. Based on preset standard parameters, the inner radius of the tube is judged to obtain the judgment result of whether the inner diameter of the tube is normal.

2. The method for measuring inner diameter based on 3D modeling according to claim 1, characterized in that, The process of converting the collected distance, rotation angle, and movement distance into a 3D point cloud data set includes: The real-time collected radial distance, rotation angle, and axial movement distance data are timestamped and transformed to obtain the original point cloud data in a polar coordinate system with the central axis of the pipe hole as the reference.

3. The method for measuring inner diameter based on 3D modeling according to claim 2, characterized in that, The calculation based on the three-dimensional point cloud data set to obtain the set of axis coordinates of the three-dimensional circular pipe model corresponding to the pipe hole includes: The three-dimensional point cloud data set is segmented along the axial direction of the pipe hole to obtain multiple local point sets; For each set of local points, a circular cross-section is fitted to obtain the coordinates of the center of the corresponding cross-section. Based on the center coordinates of the cross sections obtained from all segmented fittings, the coordinates are optimized using a curve smoothing algorithm to form a set of axis coordinates describing the spatial orientation of the three-dimensional circular tube model.

4. The method for measuring inner diameter based on 3D modeling according to claim 3, characterized in that, An outlier removal mechanism is introduced during the circular cross-section fitting process.

5. The method for measuring inner diameter based on 3D modeling according to claim 1, characterized in that, Calculate the perpendicular distance from a point in the 3D point cloud dataset to the axis coordinate set to obtain the inner radius of the tube, including: For each sampling point in the three-dimensional point cloud data set, calculate its shortest distance to the set of axis coordinates, and use it as the local radius value of that point; The local radius values ​​of all sampling points are statistically analyzed to form a dataset of orifice radius distribution.

6. The method for measuring inner diameter based on 3D modeling according to claim 1 or 5, characterized in that, The inner radius of the tube is determined based on preset standard parameters, including: The measured local radius or the statistically derived radius data is compared with the preset standard radius and allowable deviation range. If it is within the allowable deviation range, it is judged as normal; otherwise, it is judged as abnormal.

7. A device for measuring inner diameter based on 3D modeling, characterized in that, include: The acquisition module is used to acquire the distance from the probe to the pipe wall, the rotation angle, and the moving distance in real time as the inner diameter measuring sensor rotates out of the pipe hole. The 3D reconstruction module is used to convert the acquired distance, rotation angle, and movement distance into a 3D point cloud data set; The calculation module is used to perform calculations based on the three-dimensional point cloud data set to obtain the set of axial coordinates of the three-dimensional circular pipe model corresponding to the pipe hole, and to obtain the inner radius of the pipe by calculating the perpendicular distance from the points in the three-dimensional point cloud data set to the set of axial coordinates; The judgment module is used to determine the inner radius of the pipe based on preset standard parameters, and to obtain a judgment result on whether the inner diameter of the pipe is normal.

8. An electronic device, characterized in that, include: Inner diameter measuring sensor; At least one processor; as well as A memory that is communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the method as described in any one of claims 1 to 6.

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