Three-dimensional measuring instrument and measuring method

Abstract

The invention discloses a three-dimensional measuring instrument and a measuring method. The three-dimensional measuring instrument comprises: a frame, which is used to cover the submarine pipeline; a horizontal moving component, which is arranged on the frame; a rotating component, which is arranged on the horizontal moving component; a probe, which is arranged on the rotating component, and is used to sense the data of the point to be measured on the circumference of the submarine pipeline; a horizontal displacement sensor, which is arranged on the horizontal moving component, and is used to measure the horizontal movement distance data of the probe along the axial direction of the submarine pipeline; a vertical displacement sensor, which is arranged on the rotating component, and is used to measure the vertical movement distance data of the probe along the radial direction of the submarine pipeline; an angle sensor, which is arranged on the rotating component, and is used to measure the circumferential angle data of the probe along the circumferential direction of the submarine pipeline; and an imaging device, which obtains the three-dimensional figure of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data. The invention improves the measurement accuracy and reliability of submarine pipeline measurement.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine pipeline measuring equipment, and in particular to a three-dimensional measuring instrument and a measuring method. Background Art

[0002] Submarine pipelines are important tools for the development and transportation of marine resources, but various marine phenomena are difficult to predict, which may pose a certain threat to the safe burial of submarine pipelines. Once a submarine pipeline is damaged, accurate measurements are required to provide a reliable basis for later pipeline repair.

[0003] At present, there are usually three ways to measure submarine pipelines: 1. Laser imaging measurement, which uses the principle of laser ranging to record the three-dimensional coordinates, reflectivity, texture and other information of a large number of dense points on the surface of the measured object, and can quickly rebuild the three-dimensional model of the measured target and various map data such as lines, surfaces, and bodies. It is non-contact and can collect a large amount of spatial point information with high density and high precision. However, it has high requirements for the environment and requires clean air or water, otherwise it will affect the reflection of light and cannot measure accurately or even cannot measure at all; 2. Ultrasonic imaging measurement, three-dimensional ultrasound is to process continuous two-dimensional images of different planes by computer to obtain a The reconstructed three-dimensional graphics are contactless and can collect spatial point information at a high density and in large quantities. However, the error of sonar imaging in underwater environments is large and cannot meet the requirements of accurate measurement. 3. Off-mode measurement: a sealed mold is made to wrap the pipe to be measured, and then injection molding materials are added to the mold. After the material is hardened and formed, the mold is cut and disassembled. Off-mode measurement can completely measure the shape of the pipe, but when measuring longer pipes, the mold may not be filled with injection molding materials (especially in underwater environments), and there is no reliable underwater injection molding material. When the injection molding model is disassembled, the model may be damaged. Therefore, the existing submarine pipeline measurement method has low reliability and poor measurement accuracy.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a three-dimensional measuring instrument and a measuring method to improve the measurement accuracy and reliability of submarine pipeline measurement.

[0006] The technical solution of the present invention is as follows:

[0007] The present invention provides a three-dimensional measuring instrument, which is used to measure submarine pipelines. The three-dimensional measuring instrument includes:

[0008] A frame, the frame being used to cover the submarine pipeline;

[0009] A horizontal moving assembly, wherein the horizontal moving assembly is arranged on the frame;

[0010] A rotating assembly, wherein the rotating assembly is arranged on the horizontal moving assembly;

[0011] A probe, which is arranged on the rotating assembly and is used to sense data of a point to be measured on the circumference of the submarine pipeline;

[0012] A horizontal displacement sensor, which is arranged on the horizontal movement assembly and is used to measure the horizontal movement distance data of the probe along the axial direction of the submarine pipeline;

[0013] A vertical displacement sensor, which is arranged on the rotating assembly and is used to measure the vertical movement distance data of the probe along the radial direction of the submarine pipeline;

[0014] An angle sensor, which is arranged on the rotating assembly and is used to measure the circumferential angle data of the probe along the circumferential direction of the submarine pipeline;

[0015] An imaging device is electrically connected to the horizontal displacement sensor, the vertical displacement sensor, the angle sensor, and the probe, respectively, and obtains a three-dimensional image of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data, and the circular angle data.

[0016] According to a further configuration of the present invention, the horizontal moving assembly comprises:

[0017] A slide rail, wherein the slide rail is arranged on the frame;

[0018] A mounting seat, the mounting seat being slidably connected to the slide rail;

[0019] The rotating assembly is connected to the mounting seat;

[0020] The horizontal movement sensor is installed on the slide rail.

[0021] In a further embodiment of the present invention, the rotating assembly comprises:

[0022] A gear ring, wherein the gear ring is arranged on the mounting seat;

[0023] a first gear, the first gear being rotatably connected to the ring gear;

[0024] a second gear, the second gear being disposed on the gear ring and meshing with the first gear, and being used to drive the first gear to rotate;

[0025] A mounting bracket, the mounting bracket is arranged on the first gear and rotates around the submarine pipeline along with the first gear;

[0026] Wherein, the angle sensor is mounted on the second gear, the probe is arranged at the bottom of the mounting bracket, and the vertical displacement sensor is arranged at the top of the mounting bracket.

[0027] According to a further configuration of the present invention, the bottom of the frame has a first opening, and the gear ring has a second opening at a position corresponding to the first opening.

[0028] According to a further configuration of the present invention, a first accommodating groove is provided on the gear ring, and the first gear is arranged in the first accommodating groove; a plurality of third openings are provided on the gear ring at intervals, and the second gear meshes with the first gear through the third openings.

[0029] According to a further configuration of the present invention, the three-dimensional measuring instrument further comprises a stylus, which is arranged on the mounting bracket and located at one side of the probe and is used to determine the position of the probe.

[0030] According to a further configuration of the present invention, the three-dimensional measuring instrument further includes a posture sensor, which is arranged on the slide rail and electrically connected to the imaging device, and is used to obtain three-dimensional posture data of the frame.

[0031] According to a further configuration of the present invention, the three-dimensional measuring instrument further comprises a plurality of radial clamping devices, which are arranged at intervals along the circumference of the frame and are used to adjust the three-dimensional posture of the frame using the three-dimensional posture data acquired by the posture sensor.

[0032] According to a further configuration of the present invention, the three-dimensional measuring instrument further includes a counter, which is disposed on the gear ring and electrically connected to the imaging device, and is used to record the number of rotations of the probe.

[0033] According to a further configuration of the present invention, the three-dimensional measuring instrument further comprises a plurality of anti-sinking devices, and the plurality of anti-sinking devices are arranged at intervals at the bottom of the frame.

[0034] Based on the same inventive concept, the present invention also provides a measuring method of a three-dimensional measuring instrument, which is applied to the above-mentioned three-dimensional measuring instrument, and the method comprises the steps of:

[0035] The rotating assembly is driven to rotate so as to drive the probe to rotate along the circumference of the submarine pipeline, and the data of each point to be measured is sensed by the probe, and the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor, the vertical displacement sensor, and the angle sensor are transmitted to the imaging device; wherein, when the probe is measuring, a total of 10-30 points are measured starting from the zero point;

[0036] When the probe rotates one circle, the horizontal moving component is driven to drive the rotating component to move horizontally for a certain distance, and then the rotating component is driven to rotate in the reverse direction to drive the probe to rotate along the circumference of the submarine pipeline, and the data of each point to be measured is sensed by the probe, and the horizontal moving distance data, the vertical moving distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor, the vertical displacement sensor, and the angle sensor are transmitted to the imaging device;

[0037] The imaging device generates a three-dimensional image of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data.

[0038] The present invention provides a three-dimensional measuring instrument and a measuring method, wherein the three-dimensional measuring instrument is used to measure a submarine pipeline, and the three-dimensional measuring instrument comprises: a frame, wherein the frame is used to cover the submarine pipeline; a horizontal moving component, wherein the horizontal moving component is arranged on the frame; a rotating component, wherein the rotating component is arranged on the horizontal moving component; a probe, wherein the probe is arranged on the rotating component and is used to sense the data of the point to be measured on the circumference of the submarine pipeline; a horizontal displacement sensor, wherein the horizontal sensor is arranged on the horizontal moving component and is used to measure the horizontal movement distance data of the probe along the axial direction of the submarine pipeline; a vertical displacement sensor, wherein the vertical displacement sensor is arranged on the rotating component and is used to measure the vertical movement distance data of the probe along the radial direction of the submarine pipeline; an angle sensor, wherein the angle sensor is arranged on the rotating component and is used to measure the circumferential angle data of the probe along the circumferential direction of the submarine pipeline; and an imaging device, wherein the imaging device is electrically connected to the horizontal displacement sensor, the vertical displacement sensor, the angle sensor and the probe respectively, and obtains the three-dimensional figure of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data and the circumferential angle data. The present invention improves the measurement accuracy and reliability of submarine pipeline measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary personnel in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0040] Figure 1 It is a schematic diagram of the overall structure of the three-dimensional measuring instrument in the present invention.

[0041] Figure 2 It is a schematic diagram of the overall structure of the three-dimensional measuring instrument of the present invention from another angle.

[0042] Figure 3 It is a flow chart of the measuring method of the three-dimensional measuring instrument in the present invention.

[0043] The marks in the accompanying drawings are: 1. frame; 2. horizontal moving component; 21. slide rail; 22. mounting seat; 3. rotating component; 31. gear ring; 32. first gear; 33. second gear; 34. mounting bracket; 4. probe; 5. horizontal displacement sensor; 6. vertical displacement sensor; 7. angle sensor; 8. imaging device; 9. stylus; 10. posture sensor; 11. radial clamping device; 12. counter; 13. anti-sinking device; 14. first opening; 15. submarine pipeline. DETAILED DESCRIPTION

[0044] The present invention provides a three-dimensional measuring instrument and a measuring method. The three-dimensional measuring instrument provided by the present invention adopts a mechanical dot-marking measuring method. The three-dimensional measuring instrument measures the three dimensions of horizontal straight line, circular angle and vertical straight line to achieve three-dimensional imaging measurement of the pipeline. It is mainly used to accurately measure the pipeline when it is damaged in the submarine pipeline, so as to provide a reliable basis for later repair. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] In the embodiments and patent claims, unless otherwise specified, "a", "an" and "the" may refer to a single or a plurality of items.

[0046] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] Please also see Figure 1 to Figure 2 The present invention provides a preferred embodiment of a three-dimensional measuring instrument.

[0048] like Figure 1 and Figure 2 As shown, a three-dimensional measuring instrument provided by the present invention is used to measure a submarine pipeline 15, wherein the three-dimensional measuring instrument comprises: a frame 1, a horizontal moving component 2, a rotating component 3, a probe 4, a horizontal displacement sensor 5, a vertical displacement sensor 6, an angle sensor 7, and an imaging device 8, wherein the frame 1 is used to be covered on the submarine pipeline 15, the horizontal moving component 2 is arranged on the frame 1, the rotating component 3 is arranged on the horizontal moving component 2, the probe 4 is arranged on the rotating component 3, and is used to sense the data of the circumferential point to be measured of the submarine pipeline 15, the horizontal sensor is arranged on the horizontal moving component 2, and is used to measure the horizontal movement distance data of the probe 4 along the axial direction of the submarine pipeline 15, and the vertical displacement sensor 6 is arranged on the rotating component 3. The horizontal displacement sensor 6 is arranged on the rotating component 3, and is used to measure the vertical movement distance data of the probe 4 along the radial direction of the submarine pipeline 15. The angle sensor 7 is arranged on the rotating component 3, and is used to measure the circumferential angle data of the probe 4 along the circumferential direction of the submarine pipeline 15. The imaging device 8 is electrically connected to the horizontal displacement sensor 5, the vertical displacement sensor 6, the angle sensor 7, and the probe 4, respectively, and obtains the three-dimensional graphics of the submarine pipeline 15 according to the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor 5, the vertical displacement sensor 6, and the angle sensor 7, so as to obtain the deformation of the submarine pipeline 15.

[0049] Specifically, during data measurement, it is necessary to make point measurements in the three-dimensional space of the submarine pipeline 15. For each point, the imaging device 8 will record a relative spatial position according to the horizontal movement distance data, the vertical movement distance data, and the circular angle data respectively measured by the horizontal displacement sensor 5, the vertical displacement sensor 6, and the angle sensor 7. After all the required points are measured, the imaging device 8 will display a three-dimensional graph based on all the measured three-dimensional data.

[0050] Generally speaking, when performing three-dimensional measurement on the submarine pipeline 15, 10-30 points need to be measured for each circle, which is determined by the outer diameter of the submarine pipeline 15. For example, for a submarine pipeline 15 with a circumference of 4000mm, 21 points can be measured in the circumferential direction of the submarine pipeline 15, wherein one point is measured every 300mm from 0 to 900mm, measuring 4 points, one point is measured every 150mm from 900mm to 3000mm, measuring 14 points, and one point is measured every 300mm from 3000mm to 4000mm, measuring 3 points, for a total of 21 points. The measured length of the submarine pipeline 15 can generally be measured at 2-4 meters. Of course, the longer the measured length, the higher the measurement accuracy.

[0051] Then, in the specific implementation, after the underwater staff is ready and the imaging device 8 on the water is started normally, the staff needs to dive underwater to drive the rotating component 3 to rotate, so as to drive the probe 4 to rotate circumferentially along the submarine pipeline 15, and sense the data of each measuring point through the probe 4, so as to transmit the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor 5, the vertical displacement sensor 6, and the angle sensor 7 to the imaging device 8. When the rotating component 3 rotates one circle, that is, the probe 4 rotates one circle, 21 points are measured in the circumferential direction of the submarine pipeline 15. Thereafter, the horizontal moving component 2 is driven to drive the rotating component 3 to move horizontally for a certain distance, for example, 150 mm or 300 mm, and then the rotating component 3 is driven in reverse to rotate, so as to drive the probe 4 to rotate circumferentially along the submarine pipeline 15, wherein the purpose of driving the rotating component 3 in reverse to rotate is to avoid the data line from being entangled, and the probe 4 senses the data of each measuring point, and transmits the horizontal moving distance data, the vertical moving distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor 5, the vertical displacement sensor 6, and the angle sensor 7 to the imaging device 8. Similarly, the second circle measurement of the probe 4 also measures 21 points. Thereafter, the probe 4 is driven by the horizontal moving component 2 to move a certain distance in the horizontal direction again, and then the dot measurement is performed, and this process is repeated until the 2-4 meter dot measurement is completed on the submarine pipeline 15.

[0052] When all the positions that need to be marked are measured, the imaging device 8 stores and compares the horizontal movement distance data, the vertical movement distance data, and the circular angle data, wherein all the measured data are three-dimensional positions relative to the zero position of the three-dimensional measuring instrument. Therefore, the imaging device 8 processes the horizontal movement distance data, the vertical movement distance data, and the circular angle data to obtain a three-dimensional graph, that is, the generated three-dimensional graph is a three-dimensional image of the submarine pipeline 15, so the deformation of the submarine pipeline 15 can be observed intuitively, and the specific deformation amount and deformation point can be observed according to the measured data, that is, the damaged point of the submarine pipeline 15 can be found by observing the three-dimensional graph and the data record table. If there is any doubt about the measurement of a certain point, the measurement point can be measured again until the doubt is resolved.

[0053] It can be seen that compared with the prior art, the three-dimensional measuring instrument provided by the present invention is a contact measurement, has low environmental requirements, can accurately measure the points that need to be measured, and has high measurement reliability, which provides effective and accurate data support for the later repair of the submarine pipeline 15 and the production and installation of pipe clamps.

[0054] Please continue reading Figure 1 and Figure 2 In a further implementation of an embodiment, the horizontal movement assembly 2 includes a slide rail 21 and a mounting seat 22, wherein the slide rail 21 is arranged on the frame 1, and the mounting seat 22 is slidably connected to the slide rail 21. The rotating assembly 3 is connected to the mounting seat 22, and the horizontal movement sensor is mounted on the slide rail 21. After the submarine pipeline 15 has completed one circle of measurement, the mounting seat 22 is pushed to slide on the slide rail 21 to drive the rotating assembly 3 to move axially along the submarine pipeline 15, and the horizontal movement sensor can measure the distance moved by the rotating assembly 3, that is, the distance moved horizontally by the probe 4.

[0055] Please continue reading Figure 1 and Figure 2In a further implementation of an embodiment, the rotating assembly 3 includes: a ring gear 31, a first gear 32, a second gear 33 and a mounting bracket 34, the ring gear 31 is arranged on the mounting seat 22, the first gear 32 is rotatably connected to the ring gear 31, the second gear 33 is arranged on the ring gear 31 and meshes with the first gear 32, and is used to drive the first gear 32 to rotate, and the mounting bracket 34 is arranged on the first gear 32 and rotates around the submarine pipeline 15 with the first gear 32. Among them, the angle sensor 7 is installed on the second gear 33, the probe 4 is arranged at the bottom of the mounting bracket 34, and the vertical displacement sensor 6 is arranged at the top of the mounting bracket 34. When the second gear 33 drives the first gear 32 to rotate, the probe 4 moves circumferentially along the submarine pipeline 15, and at the same time, the angle sensor 7 and the vertical displacement sensor 6 rotate with the first gear 32 to measure the vertical movement distance and rotation angle of the probe 4.

[0056] It should be noted that the angle sensor 7 is also called an encoder. The encoder has a photoelectric code disk with an axis in the center, on which there are circular open and dark engraved lines, which have the function of reading by photoelectric transmitting and receiving devices, and can obtain four groups of sinusoidal wave signals to form A, B, C, and D. Among them, the forward and reverse rotation of the encoder can be judged by comparing whether the A phase is in front or the B phase is in front, and the zero position reference position of the encoder can be obtained through the zero position pulse. Generally speaking, the measurement accuracy of the encoder can reach ±0.022 degrees. In addition, in one embodiment, the displacement sensor can be selected as an AMT brand magnetostrictive displacement sensor. As a new type of non-contact, high-precision and high-reliability sensor, the magnetostrictive displacement sensor has irreplaceable advantages in the field of high-end position measurement. The working principle of the displacement sensor is not complicated. During measurement, the excitation module in the electronic compartment applies an excitation current pulse at both ends of the magnetostrictive waveguide material, and the pulse forms a circumferential Ampere annular pulse magnetic field around the waveguide material at the speed of light. When the annular magnetic field is coupled with the bias permanent magnetic field of the vernier magnetic ring, a Widman effect torsional stress wave is formed on the surface of the waveguide material, which propagates from the generation point to both ends of the waveguide wire. The torsional wave transmitted to the end is absorbed by the damping device, and the signal transmitted to the excitation end is received by the detector. The control module in the electronic compartment calculates the time difference between the query pulse and the received signal, and then multiplies it by its intrinsic rate to calculate the distance between the torsional wave generation position and the measurement reference point, that is, the absolute distance between the vernier magnetic ring at that moment and the measurement reference point, thereby realizing real-time and accurate measurement of the vernier magnetic ring position. Generally speaking, the measurement accuracy of the displacement sensor can reach ±50μm.

[0057] Please continue reading Figure 1 and Figure 2In a further implementation of an embodiment, the frame 1 has a first opening 14 at the bottom, and the gear ring 31 is provided with a second opening at a position corresponding to the first opening 14. Specifically, when measuring the submarine pipeline 15, because the submarine pipeline 15 is cylindrical, when installing the three-dimensional measuring instrument to the submarine pipeline 15, it is necessary to open the first opening 14 at the bottom of the frame 1 so that the frame 1 can be sleeved on the submarine pipeline 15. Similarly, the gear ring 31 should also be provided with a second opening to ensure that the three-dimensional measuring instrument is installed. It should be noted that the gear ring 31 in this embodiment is two semicircular gear rings 31. During installation, half of the gear ring 31 is put into the water with the three-dimensional measuring instrument, and the other half of the gear ring 31 is assembled by a diver after the three-dimensional measuring instrument is fixed.

[0058] Furthermore, the gear ring 31 is provided with a first accommodating groove, the first gear 32 is arranged in the first accommodating groove, the gear ring 31 is provided with a plurality of third openings at intervals, and the second gear 33 meshes with the first gear 32 through the third openings. Specifically, the shape of the first gear 32 is similar to that of the gear ring 31, wherein the outer diameter of the first gear 32 is larger than the size of the first opening 14, so as to ensure that when the first gear 32 rotates on the gear ring 31, it can pass through the first opening 14, so that the probe 4 can rotate around the submarine pipeline 15. More specifically, a plurality of second gears 33 are provided, and are arranged at intervals on the outer wall of the gear ring 31. Accordingly, the third opening is arranged on the gear ring 31 at a position corresponding to the second gear 33. During measurement, the second gear 33 can be driven to drive the first gear 32 to rotate, thereby completing the measurement operation of each point to be measured on the circumference of the submarine pipeline 15.

[0059] Please continue reading Figure 1 and Figure 2 In a further implementation of an embodiment, the three-dimensional measuring instrument also includes a stylus 9, which is arranged on the mounting bracket 34 and located on one side of the probe 4, and is used to determine the position of the probe 4 to ensure the accuracy of the data read by the probe 4 and to protect the probe 4.

[0060] Please continue reading Figure 1 and Figure 2In a further implementation of an embodiment, the three-dimensional measuring instrument also includes a posture sensor 10, which is arranged on the slide rail 21 and electrically connected to the imaging device 8, and is used to obtain the three-dimensional posture data of the frame 1. Furthermore, the three-dimensional measuring instrument also includes a plurality of radial clamping devices 11, which are arranged at intervals along the circumference of the frame 1 and are used to adjust the three-dimensional posture of the frame 1 through the three-dimensional posture data obtained by the posture sensor 10. During the measurement process, the display of the posture sensor 10 can guide the diver to adjust the radial clamping device 11 to adjust the posture of the three-dimensional measuring instrument to ensure that the equipment is in a horizontal position during measurement. It should be noted that the radial clamping device 11 is a prior art and will not be described in detail here.

[0061] Among them, the attitude sensor 10 is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. The attitude sensor 10 includes motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. The temperature-compensated three-dimensional attitude and orientation data are obtained through the embedded low-power ARM processor. Using the quaternion-based three-dimensional algorithm and special data fusion technology, the zero-drift three-dimensional attitude and orientation data represented by quaternions and Euler angles are output in real time. The LPMS series and iAHRS-M0 attitude sensors 10 can be widely embedded in aircraft model drones, robots, mechanical gimbals, vehicles and ships, ground and underwater equipment, virtual reality, human motion analysis and other products and equipment that require autonomous measurement of three-dimensional attitude and orientation.

[0062] Please continue reading Figure 1 and Figure 2 In a further implementation of an embodiment, the three-dimensional measuring instrument further includes a counter 12, which is arranged on the gear ring 31 and electrically connected to the imaging device 8, and is used to record the number of revolutions of the probe 4, so as to ensure that each point to be measured can be detected when the probe rotates 4360°, thereby achieving accurate readings. It should be noted that the counter 12 is a prior art and will not be described in detail here.

[0063] In a further implementation of an embodiment, the three-dimensional measuring instrument further includes a plurality of anti-sinking devices 13, which are arranged at intervals at the bottom of the frame 1. Specifically, the dust-proof device can be a support rod, which is installed around the bottom of the frame 1 to support the frame 1 and prevent the three-dimensional measuring instrument from sinking.

[0064] See also Figure 3 For a better understanding of the present invention, the present invention further provides a measurement method of a three-dimensional measuring instrument, which is applied to the above-mentioned three-dimensional measuring instrument, and the method comprises the steps of:

[0065] S100, driving the rotating assembly to rotate under the action of an external force to drive the probe to rotate along the circumference of the submarine pipeline, and sensing the data of each point to be measured through the probe, and transmitting the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor, the vertical displacement sensor, and the angle sensor to the imaging device; wherein, when the probe is measuring, a total of 10-30 points are measured starting from the zero point; the details are as described above and will not be repeated here.

[0066] S200, after the probe rotates one circle, the horizontal moving component is driven under the action of external force to drive the rotating component to move horizontally for a certain distance, and then the rotating component is driven to rotate in the reverse direction under the action of external force to drive the probe to rotate along the circumference of the submarine pipeline, and the data of each point to be measured is sensed by the probe, and the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor, the vertical displacement sensor, and the angle sensor are transmitted to the imaging device; the details are as described above and will not be repeated here.

[0067] S300: The imaging device generates a three-dimensional image of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data. The details are as described above and will not be repeated here.

[0068] In summary, the present invention provides a three-dimensional measuring instrument and a measuring method, wherein the three-dimensional measuring instrument is used to measure a submarine pipeline, and the three-dimensional measuring instrument comprises: a frame, wherein the frame is used to cover the submarine pipeline; a horizontal moving component, wherein the horizontal moving component is arranged on the frame; a rotating component, wherein the rotating component is arranged on the horizontal moving component; a probe, wherein the probe is arranged on the rotating component and is used to sense data of a point to be measured on the circumference of the submarine pipeline; a horizontal displacement sensor, wherein the horizontal sensor is arranged on the horizontal moving component and is used to measure horizontal movement distance data of the probe along the axial direction of the submarine pipeline; a vertical displacement sensor, wherein the vertical displacement sensor is arranged on the rotating component and is used to measure vertical movement distance data of the probe along the radial direction of the submarine pipeline; an angle sensor, wherein the angle sensor is arranged on the rotating component and is used to measure circumferential angle data of the probe along the circumferential direction of the submarine pipeline; and an imaging device, wherein the imaging device is electrically connected to the horizontal displacement sensor, the vertical displacement sensor, the angle sensor, and the probe, respectively, and obtains a three-dimensional image of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data. The present invention improves the measurement accuracy and reliability of submarine pipeline measurement.

[0069] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A three-dimensional measuring instrument for measuring submarine pipelines, characterized in that: include: A frame body, used for covering the submarine pipeline; A horizontal moving component is arranged on the frame; A rotating assembly, arranged on the horizontal moving assembly; A probe, arranged on the rotating assembly, for sensing data of a point to be measured on the circumference of the submarine pipeline; A horizontal displacement sensor, arranged on the horizontal movement assembly, for measuring horizontal movement distance data of the probe along the axial direction of the submarine pipeline; A vertical displacement sensor, arranged on the rotating assembly, for measuring vertical movement distance data of the probe along the radial direction of the submarine pipeline; An angle sensor, arranged on the rotating assembly, for measuring the circumferential angle data of the probe along the circumferential direction of the submarine pipeline; An imaging device is electrically connected to the horizontal displacement sensor, the vertical displacement sensor, the angle sensor, and the probe, and obtains a three-dimensional image of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data; The horizontal movement component comprises: A slide rail, wherein the slide rail is arranged on the frame; A mounting seat, the mounting seat being slidably connected to the slide rail; The rotating assembly is connected to the mounting seat; The horizontal displacement sensor is installed on the slide rail; The rotating assembly comprises: A gear ring, wherein the gear ring is arranged on the mounting seat; a first gear, the first gear being rotatably connected to the ring gear; a second gear, the second gear being disposed on the gear ring and meshing with the first gear, and being used to drive the first gear to rotate; A mounting bracket, the mounting bracket is arranged on the first gear and rotates around the submarine pipeline along with the first gear; Wherein, the angle sensor is arranged on the second gear, the probe is arranged at the bottom of the mounting bracket, and the vertical displacement sensor is arranged at the top of the mounting bracket; When the three-dimensional measuring instrument is working, the rotating component is driven to rotate so that the probe rotates along the circumference of the submarine pipeline. After the rotating component rotates one circle, the horizontal moving component is driven to drive the rotating component to move. After the rotating component moves a certain distance, the rotating component is driven in the reverse direction so that the probe rotates along the circumference of the submarine pipeline.

2. The three-dimensional measuring instrument according to claim 1, characterized in that: The bottom of the frame has a first opening, and the gear ring is provided with a second opening at a position corresponding to the first opening.

3. The three-dimensional measuring instrument according to claim 2, characterized in that: The gear ring is provided with a first accommodating groove, and the first gear is arranged in the first accommodating groove; the gear ring is provided with a plurality of third openings at intervals, and the second gear is meshed with the first gear through the third openings.

4. The three-dimensional measuring instrument according to claim 1, characterized in that: The three-dimensional measuring instrument further comprises a stylus, which is arranged on the mounting bracket and located at one side of the probe and is used to determine the position of the probe.

5. The three-dimensional measuring instrument according to claim 1, characterized in that: The three-dimensional measuring instrument also includes a posture sensor, which is arranged on the slide rail and electrically connected to the imaging device to obtain three-dimensional posture data of the frame.

6. The three-dimensional measuring instrument according to claim 5, characterized in that: The three-dimensional measuring instrument also includes a plurality of radial clamping devices, which are arranged at intervals along the circumference of the frame and are used to adjust the three-dimensional posture of the frame through the three-dimensional posture data obtained by the posture sensor.

7. The three-dimensional measuring instrument according to claim 1, characterized in that: The three-dimensional measuring instrument further comprises a counter, which is arranged on the gear ring and electrically connected to the imaging device, and is used to record the number of revolutions of the probe; The three-dimensional measuring instrument further comprises a plurality of anti-sinking devices, and the plurality of anti-sinking devices are arranged at intervals at the bottom of the frame.

8. A measuring method of a three-dimensional measuring instrument, applied to the three-dimensional measuring instrument according to any one of claims 1 to 7, characterized in that: The method comprises the steps of: The rotating assembly is driven to rotate so as to drive the probe to rotate along the circumference of the submarine pipeline, and the data of each point to be measured is sensed by the probe, and the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor, the vertical displacement sensor, and the angle sensor are transmitted to the imaging device; wherein, when the probe is measuring, a total of 10-30 points are measured starting from the zero point; When the probe rotates one circle, the horizontal moving component is driven to drive the rotating component to move horizontally for a certain distance, and then the rotating component is driven to rotate in the reverse direction to drive the probe to rotate along the circumference of the submarine pipeline, and the data of each point to be measured is sensed by the probe, and the horizontal moving distance data, the vertical moving distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor, the vertical displacement sensor, and the angle sensor are transmitted to the imaging device; The imaging device generates a three-dimensional image of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data.

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