A method and device for detecting the socket type of ductile iron pipe

Abstract

The present invention provides a method for detecting the type of the socket of a ductile iron pipe, comprising the following steps: A. First, detecting whether the ductile iron pipe enters the detection station; B. When the ductile iron pipe is in place, the PLC controller controls the pipe diameter detector and the end position detector to perform data detection to obtain pipe diameter information and pipe end position information; C. The PLC controller uses a driving device to make the profiler reach a preset position based on the measured pipe diameter and pipe end information; D. When the profiler reaches the preset position, the PLC controller issues an information acquisition command, and the profiler reads the photographic information for the first and second times, and the photographic information is uploaded to an industrial computer and data is processed to calculate the type of the socket of the ductile iron pipe. The present invention can automatically detect the pipe diameter and the end position of the socket of the target to be measured, and adjust and detect according to the obtained data to obtain the socket type of the target to be measured, providing a strong guarantee for the stable and automatic operation of the ductile iron pipe production line.

Description

Technical Field

[0001] The invention belongs to the technical field of ductile iron pipe production, and specifically relates to a method and a device capable of detecting the type of the socket of the ductile iron pipe, so as to realize the judgment of the type of the socket of the ductile iron pipe. Background Art

[0002] The pipe made by high-speed centrifugal casting of cast iron water with a centrifugal ductile iron machine after adding spheroidizing agent to cast iron water with a size of 18 or above is called "ductile iron pipe", abbreviated as ball pipe, ductile iron pipe and ductile cast pipe. Ductile iron pipe is a kind of metal pipe, which is an alloy of iron, carbon and silicon. Graphite in ductile iron exists in spherical form, and the size of graphite is generally 6-7. The quality requires that the spheroidization level of cast iron pipe be controlled to 1-3 (spheroidization rate is greater than 80%), so the mechanical properties of the material itself are well improved, with the essence of iron and the performance of steel. The metallographic structure of ductile iron pipe after annealing is ferrite plus a small amount of pearlite, with good mechanical properties, excellent anti-corrosion performance, good ductility, good sealing effect, and easy installation. It is mainly used in water supply, gas transmission, oil transmission and other fields of municipal, industrial and mining enterprises. It is the first choice for water supply pipes and has a high cost performance.

[0003] At present, in the production process of ductile iron pipes, there is no effective method and device for detecting the socket type of ductile iron pipes. With the improvement of equipment level, the ductile iron pipe production line can now stably realize the mixed flow production of products with different specifications of a single interface. When multi-interface mixed flow production is required, there are often two methods: 1. Manually determine the interface type and select the corresponding model through the on-site human-machine interface; 2. Issue the task type through the background MES system. The disadvantages of the above method are: 1. Manual intervention is required to interrupt the rhythm of automated production, and due to the fast production rhythm, manual errors are prone to occur; 2. Production lines without a background MES system cannot issue tasks, and setting up a background MES system is time-consuming and labor-intensive, while production lines with an MES system are prone to errors in long-distance task transmission, which leads to production problems. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and provide a reliable method and device for detecting the socket type of a ductile iron pipe. The method and device can judge the socket type for different ductile iron pipe production lines.

[0005] The technical solution adopted by the present invention is: a method for detecting the type of the socket of a ductile iron pipe, comprising the steps of:

[0006] A. First, check whether the ductile iron pipe has entered the inspection station;

[0007] B. When the ductile iron pipe is in place, the PLC controller controls the pipe diameter detector and the end position detector to perform data detection, obtain the pipe diameter information and pipe end position information, and retrieve the data stored in the industrial computer according to the measured pipe diameter information: the surface width range of the d2, d3, d5, d6 surfaces in the socket of the ductile iron pipe to be measured and the radius of the d2, d3, d5, d6 surfaces; the surface width range of the d2, d3, d5, d6 surfaces corresponds to the coordinate range of the profiler measurement value;

[0008] C. The PLC controller uses the driving device to make the profiler reach the preset position according to the measured pipe diameter and pipe end information;

[0009] D. When the profiler reaches the preset position, the PLC controller issues an information collection command. The profiler reads the photographic information for the first time, and rotates under the control of the rotary servo motor. After rotating to the specified position, the profiler reads the photographic information for the second time. The above actions are repeated several times. The read photographic information is uploaded to the industrial computer for data processing, and the socket type of the ductile iron pipe is calculated;

[0010] E. The industrial computer sends the determined ductile iron pipe socket type to the PLC controller. The PLC controller synchronously controls the drive device to drive the profiler back to the origin and sends the detected ductile iron pipe socket type to the production line.

[0011] Furthermore, the center point of the profiler when rotating is e; the profiler includes a first profiler and a second profiler; the profiler takes a photo for the first time to obtain two sets of length information with coordinate values, and each profiler can read a total of m length information, wherein the measurement value of the first profiler is [L a1 , L a2 ...L am ], and the coordinate values ​​corresponding to its length value are [S1, S2...S m ], the length of the second profilometer is [L c1 , L c2 ...L cm ], and the coordinate values ​​corresponding to its length value are [S1, S2...S m ]; According to the measured pipe diameter information, if the pipe interface to be measured is type I, the m1 data of its d2 surface width can be measured, and the corresponding coordinates are [S d2 1...S d2 m1], collectively referred to as S d2 , d3 surface width can be measured m2 data, the corresponding coordinates are [S d3 1...S d3 m2], collectively referred to as S d3 , d5 surface width can be measured m3 data, the corresponding coordinates are [S d5 1...S d5m3], collectively referred to as S d5 , d6 surface width can be measured m4 data, the corresponding coordinates are [S d6 1...S d6 m4], collectively referred to as S d6 If the pipe interface to be tested is type II, the width of its d2 surface can be measured by m1' data, and the corresponding coordinates are [S d2 1'...S d2 m1'], collectively referred to as S d2 ', d3 surface width can be measured m2' data, the corresponding coordinates are [S d3 1'...S d3 m2'], collectively referred to as S d3 ', d5 surface width can be measured m3' data, the corresponding coordinates are [S d5 1'...S d5 m3'], collectively referred to as S d5 ', d6 surface width can be measured m4' data, the corresponding coordinates are [S d6 1'...S d6 m4'], collectively referred to as S d6 '; The coordinates of the width range of other interface types d2, d3, d5, and d6 are similar; assuming that the pipe to be tested is interface type I, then within the coordinate range of its d2 surface, the photographic values ​​obtained are La and Lc, and the points corresponding to the pipe wall are a and c; similarly, the profiler reads the photographic information for the second time to obtain two points b and d, whose measured values ​​are L b and L d ; The rotation angle of the profiler is r1; the points a, b, and c form a triangle, the vertical point of which is f. The theoretical radius of the ductile iron pipe under this coordinate is Rx1, and the height of the profiler is L; then the value from point e to a is L a +L, denoted as L ea ; The value from point e to b is Lb+L, denoted as L eb ; The value of points e to c is L c +L, denoted as L ec ; The value of points e to d is L d +L, denoted as L ed ; Carry out the next step of calculation: the coordinate range is S d2 The data represents the measurement results of the d2 surface, and the calculation is performed, where L ea , L eb , L ec , L ed If the angle r1 is known, L can be obtained by calculation. ab , L ac , L bc and L bf The length of R x1 The value of the coordinate feedback range S d2Then select n groups of data to calculate and get R x2 ......R xn , averaging the above data, we can get R x value, R x The value of is compared with the d2 face value of interface type I of the corresponding pipe diameter in the model library. If it is within the range, select S d3 If the data is not in the range, the data of other types of interfaces are retrieved for comparison and calculation. The specific formula is as follows:

[0012]

[0013]

[0014] Lac=Lea+Lec------------------③

[0015] Lbf=Leb×sinr1------------------④

[0016]

[0017]

[0018] If the results of multiple measurements are consistent, the socket type of the ductile iron pipe can be determined.

[0019] A device capable of detecting the socket type of a ductile iron pipe comprises a ductile iron pipe, a support V-support, a pipe diameter detector, an end face position detector, a driving device, a rotary servo motor, a profiler, a PLC controller and an industrial computer; the ductile iron pipe is located on the support V-support, the pipe diameter detector comprises two first laser sensors, the two first laser sensors are respectively vertically located directly above and directly below the ductile iron pipe, and are connected to the input end of the PLC controller; the end face position detector is a second laser sensor, the second laser sensor is located directly in front of the ductile iron pipe, and is connected to the input end of the PLC controller; the driving device comprises a base, a vertical displacement device and a horizontal displacement device, the base is fixed on the ground directly in front of the support V-support, the bottom of the vertical displacement device is fixed on the base, and the horizontal displacement device is fixedly connected to the top of the vertical displacement device; the rotary servo motor is fixedly connected to the front end of the horizontal displacement device; the profiler is fixedly connected to the rotary servo motor; the profiler is electrically connected to the industrial computer, and the industrial computer and the PLC controller are network connected.

[0020] Furthermore, the profilometers are two, including a first profilometer and a second profilometer, which are fixed back to back at 180°; and an angle sensor is fixed on the rotary servo motor.

[0021] Furthermore, the vertical displacement device is a vertical cylinder, in which a vertical position sensor is provided, and the horizontal displacement device is a horizontal cylinder, in which a horizontal position sensor is provided, and both the vertical displacement device and the horizontal displacement device are electrically connected to a PLC controller.

[0022] Furthermore, the angle sensor is electrically connected to the PLC controller via a servo driver, and the servo driver is bidirectionally connected to the PLC controller.

[0023] The beneficial effects obtained by the present invention are as follows: the present invention can automatically detect the pipe diameter and the socket end face position of the target to be measured, and adjust and detect according to the obtained data, compare the detection result with the database, and then obtain the socket type of the target to be measured, providing a strong guarantee for the stable and automatic operation of the ductile iron pipe production line.

[0024] The device is easy to install and maintain; according to the established socket type database, the characteristic values ​​read by photographing are compared to determine the socket type of the ductile iron pipe; the method can be extended to determine the socket types of other metal pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a block diagram of the detection method of the present invention;

[0026] Figure 2 It is a schematic diagram of the structure of the device of the present invention;

[0027] Figure 3 It is a control flow chart of the implementation scheme of the present invention;

[0028] Figure 4 This is a diagram of the T-interface ductile iron pipe detection method of the present invention;

[0029] Among them, 1 represents ductile iron pipe, 2 represents supporting V-bracket, 3 represents pipe diameter detector, 4 represents end position detector, 5 represents base, 6 represents vertical displacement device, 7 represents vertical displacement sensor, 8 represents horizontal displacement device, 9 represents horizontal displacement sensor, 10 represents rotary servo motor, 11 represents angle sensor, 12 represents servo drive, 13 represents PLC controller, 14 represents industrial computer, and 15 represents profiler. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] like Figure 1-3As shown, a method for detecting the type of the socket of a ductile iron pipe comprises the following steps: A. first detecting whether the ductile iron pipe 1 enters the detection station; B. when the ductile iron pipe 1 is in place, the PLC controller 13 controls the pipe diameter detector 3 and the end position detector 4 to perform data detection to obtain the pipe diameter information and the pipe end position information, and retrieves the data stored in the industrial computer 14 according to the measured pipe diameter information: the surface width range of the d2, d3, d5, and d6 surfaces in the socket of the ductile iron pipe 1 to be measured and the radius of the d2, d3, d5, and d6 surfaces; the surface width range of the d2, d3, d5, and d6 surfaces corresponds to the coordinate range of the measurement value of the profilometer 15; C. the PLC controller 13 uses the driving device 15 to detect the measured pipe diameter and pipe end information according to the measured pipe diameter and pipe end information. The profiler 15 is set to reach the preset position; D. When the profiler 15 reaches the preset position, the PLC controller 13 issues an information collection command, the profiler 15 reads the photographic information for the first time, and the profiler 15 rotates under the control of the rotary servo motor 10. After rotating to the specified position, the profiler 15 reads the photographic information for the second time, and the above actions are repeated several times. The read photographic information is uploaded to the industrial computer 14 and data is processed to calculate the socket type of the ductile iron pipe 1; E. The industrial computer 14 sends the determined socket type of the ductile iron pipe 1 to the PLC controller 13, and the PLC controller 13 synchronously controls the driving device to drive the profiler back to the origin, and sends the detected socket type of the ductile iron pipe 1 to the production line.

[0032] The center point of the profilometer 15 when rotating is e; the profilometer 15 includes a first profilometer and a second profilometer; the profilometer 15 takes a photo for the first time, and obtains two sets of length information with coordinate values. Each profilometer can read m length information in total, and the measurement value of the first profilometer is [L a1 , L a2 ...L am ], and the coordinate values ​​corresponding to its length value are [S1, S2...S m ], the length of the second profilometer is [L c1 , L c2 ...L cm ], and the coordinate values ​​corresponding to its length value are [S1, S2...S m ]; According to the measured pipe diameter information, if the pipe interface to be measured is type I, the m1 data of its d2 surface width can be measured, and the corresponding coordinates are [S d2 1...S d2 m1], collectively referred to as S d2 , d3 surface width can be measured m2 data, the corresponding coordinates are [S d3 1...S d3 m2], collectively referred to as S d3 , d5 surface width can be measured m3 data, the corresponding coordinates are [S d5 1...S d5m3], collectively referred to as S d5 , d6 surface width can be measured m4 data, the corresponding coordinates are [S d6 1...S d6 m4], collectively referred to as S d6 If the pipe interface to be tested is type II, the width of its d2 surface can be measured by m1' data, and the corresponding coordinates are [S d2 1'...S d2 m1'], collectively referred to as S d2 ', d3 surface width can be measured m2' data, the corresponding coordinates are [S d3 1'...S d3 m2'], collectively referred to as S d3 ', d5 surface width can be measured m3' data, the corresponding coordinates are [S d5 1'...S d5 m3'], collectively referred to as S d5 ', d6 surface width can be measured m4'4 data, the corresponding coordinates are [S d6 1'...S d6 m4'], collectively referred to as S d6 '; The coordinates of the surface width ranges of other interface types d2, d3, d5, and d6 are similar; assuming that the pipe to be measured is interface type I, then within the coordinate range of its d2 surface, the photographic values ​​obtained are La and Lc, and the points corresponding to the pipe wall are a and c; similarly, the profiler 15 reads the photographic information for the second time to obtain two points b and d, whose measured values ​​are L b and L d ; The rotation angle of the profiler 15 is r1; the points a, b, and c form a triangle, the vertical point of which is f. The theoretical radius of the ductile iron pipe 1 under this coordinate is Rx1, and the height of the profiler 15 is L; then the value from point e to a is L a +L, denoted as L ea ; The value from point e to b is Lb+L, denoted as L eb ; The value of points e to c is L c +L, denoted as L ec ; The value of points e to d is L d +L, denoted as L ed ; Carry out the next step of calculation: the coordinate range is S d2 The data represents the measurement results of the d2 surface, and the calculation is performed, where L ea , L eb , L ec , L ed If the angle r1 is known, L can be obtained by calculation. ab , L ac , L bc and L bf The length of R x1 The value of the coordinate feedback range Sd2 Then select n groups of data to calculate and get R x2 ......R xn , averaging the above data, we can get R x value, R x The value of is compared with the d2 face value of interface type I of the corresponding pipe diameter in the model library. If it is within the range, select S d3 If the data is not in the range, the data of other types of interfaces are retrieved for comparison and calculation. The specific formula is as follows:

[0033]

[0034]

[0035] Lac=Lea+Lec------------------③

[0036] Lbf=Leb×sinr1------------------④

[0037]

[0038]

[0039] If the results of multiple measurements are consistent, the socket type of the ductile iron pipe 1 can be determined.

[0040] A device capable of detecting the socket type of a ductile iron pipe comprises a ductile iron pipe 1, a support V-support 2, a pipe diameter detector 3, an end face position detector 4, a drive device, a rotary servo motor 10, a profiler 15, a PLC controller 13 and an industrial computer 14; the ductile iron pipe 1 is located on the support V-support 2, the pipe diameter detector 3 comprises two first laser sensors, the two first laser sensors are respectively vertically located directly above and directly below the ductile iron pipe 1, and are connected to the input end of the PLC controller 13; the end face position detector 4 is a second laser sensor, the second laser sensor is located at the ductile iron pipe 1 The front of the cast iron pipe 1 is connected to the input end of the PLC controller 13; the driving device includes a base 5, a vertical displacement device 6 and a horizontal displacement device 8. The base 5 is fixed on the ground in front of the support V bracket 2, the bottom of the vertical displacement device 6 is fixed on the base 5, and the horizontal displacement device 8 is fixedly connected to the top of the vertical displacement device 6; the rotary servo motor 10 is fixedly connected to the front end of the horizontal displacement device 8; the profiler 15 is fixedly connected to the rotary servo motor 10; the profiler 15 is electrically connected to the industrial computer 14, and the industrial computer 14 is connected to the PLC controller 13 through a network. The profilers 15 are two, including a first profiler and a second profiler, and are fixed back to back at 180°; an angle sensor 11 is fixed on the rotary servo motor 10. The vertical displacement device 6 is a vertical cylinder, and a vertical position sensor 7 is provided in the vertical cylinder. The horizontal displacement device 8 is a horizontal cylinder, and a horizontal position sensor 9 is provided in the horizontal cylinder. The vertical displacement device 6 and the horizontal displacement device 8 are both electrically connected to the PLC controller 13. The angle sensor 11 is electrically connected to the PLC controller 13 via the servo driver 12 , and the servo driver 12 and the PLC controller 13 are bidirectionally connected.

[0041] The pipe diameter detector 3 is used to identify the pipe diameter of the ductile iron pipe 1 and transmit the pipe diameter information to the PLC controller 13; the end face position detector 4 is used to identify the socket position information of the ductile iron pipe 1 and transmit the position information to the PLC controller 13. The PLC controller 13 controls the driving device to adjust the equipment action according to the obtained pipe diameter information and end face position information, and sends the profiler 15 to the corresponding position. The profiler 15 can perform line scanning on the ductile iron pipe 1 and obtain a number of distance values ​​with coordinates. The profiler 13 is connected to the industrial computer 14. The PLC controller 13 sends a collection signal command to the profiler 13 through the industrial computer 14. The signal collected by the profiler 13 is fed back to the industrial computer 14 for feature processing, and the industrial computer 14 feeds back the calculation result to the PLC controller 13; the interface feature database is established according to the pipe diameter and interface type.

[0042] The vertical displacement sensor 7 is installed inside the vertical displacement device 6, and is used to detect the length information of the extension / retraction of the device. The vertical displacement device 6 is controlled by the PLC controller 13; the horizontal position sensor 9 is installed inside the horizontal displacement device 8, and is used to detect the length information of the extension / retraction of the device. The horizontal displacement device 8 is controlled by the PLC controller 13; the angle sensor 11 is installed at the tail end of the servo motor, and is used to detect the rotation angle of the motor. The rotary servo motor 10 is controlled by the servo driver 12; the profiler 13 is installed at the front end of the rotary servo motor 10, and when the rotary servo motor 10 rotates, it drives the profiler 15 to rotate 360° around the motor shaft.

[0043] Combination Figure 4 , taking the T-type interface as an example, the specific implementation process is as follows:

[0044] a. First, establish a model library. Figure 4 Taking the T-interface ductile iron pipe 1 as an example, when the pipe diameter is determined, the size and position of each surface in the T-interface socket are determined: a. According to the manual, the diameters of the d2, d3, d5, and d6 surfaces of the T-interface ductile iron pipe 1 are known; b. The measurement value within the feedback coordinate s1 of the profiler 13 is the d3 surface data, the measurement data within the s2 range is the d2 surface data, the measurement data within the s3 range is the d5 surface data, and the measurement data within the s4 range is the d6 surface data.

[0045] b. The ductile iron pipe 1 is delivered from the previous station, and the pipe diameter detection part first determines that the ductile iron pipe 1 is in place, and sends the in-place information to the PLC controller 13;

[0046] c. The PLC controller 13 reads the pipe diameter and pipe end information fed back by the pipe diameter detection part and the end position detection part. After obtaining the pipe diameter and pipe end information, the PLC controller 13 issues a control command to control the action of the driving device;

[0047] d. The PLC controller 13 controls the vertical displacement device 6 to rise according to the pipe diameter information, and performs precise positioning according to the information fed back by the vertical displacement sensor 7; after vertically rising to the right position, the PLC controller 13 controls the horizontal displacement device 8 to extend according to the pipe end information, and performs precise positioning according to the information fed back by the horizontal position sensor 9; after extending to the right position, the photo detection process is entered;

[0048] e. The PLC controller 13 sends a detection command to the industrial computer 14. The industrial computer 14 controls the two profilometers 15 to take the first photo and read the data at the same time, rotate the angle r1, and take the second photo. The industrial computer 14 can obtain several sets of length values ​​with coordinates. Figure 4Taking the T-type interface as an example, the industrial computer 14 first calls the T-type interface model. If the target to be measured is a T-type interface, the data fed back by the profiler 15 is obtained according to the pipe diameter information: the m1 data of the d2 surface width can be measured, and the corresponding coordinates are [S d2 1...S d2 m1], collectively referred to as S d2 , d3 surface width can be measured m2 data, the corresponding coordinates are [S d3 1...S d3 m2], collectively referred to as S d3 , d5 surface width can be measured m3 data, the corresponding coordinates are [S d5 1...S d5 m3], collectively referred to as S d5 , d6 surface width can be measured m4 data, the corresponding coordinates are [S d6 1...S d6 m4], collectively referred to as S d6 ; The coordinate range is S d2 The data should represent the measurement results of the d2 surface, where L ea , L eb , L ec , L ed If the angle r1 is known, L can be obtained by calculation. ab , L ac , L bc and L bf The length of R x1 The value of the coordinate feedback range S d2 Then select n groups of data to calculate and get R x2 ......R xn , averaging the above data, we can get R x Compare the Rx value with the d2 value of the interface type T of the corresponding pipe diameter in the model library. If they are within the range, select S. d3 If the data is not in the range, other types of interface data are retrieved for comparison and calculation. The specific formula is as follows:

[0049]

[0050]

[0051] Lac=Lea+Lec--------------------③

[0052] Lbf=Leb×sinr1---------------------④

[0053]

[0054]

[0055] f. To ensure the accuracy of the measurement data, the ductile iron pipe 1 to be measured should be measured multiple times and compared with the database. If the results of multiple measurements are consistent, the socket type of the ductile iron pipe 1 can be determined. After the characteristic value comparison is completed, the calculation result is fed back to the PLC controller 13. At the same time, the PLC controller 13 controls the drive device to return to the origin and sends the test result to the production line.

[0056] Figure 4 In the figure, a and c represent the profiler 15 at S d2 The two points selected for the first measurement within the coordinate range; b, d represent the profilometer 15 at S d2 The two points of the second measurement within the coordinate range; e represents the center point of the circle around which the profile is rotated; r1 represents the rotation angle of the two measurements of the profiler 15; f represents the high vertical point of Δabc; Rx1 represents the theoretical radius of the ductile iron pipe 1d2 surface to be measured; L represents the height of the profiler 15; S d2 S represents the measurement coordinate range of the T-interface ductile iron pipe 1d2 corresponding to the profilometer 15; d3 S represents the measurement coordinate range of the T-interface ductile iron pipe 1d3 corresponding to the profilometer 15; d5 S represents the measurement coordinate range of the T-interface ductile iron pipe 1d5 corresponding to the profilometer 15; d6 It shows the measurement coordinate range of the profiler 15 corresponding to the surface of the T-interface ductile iron pipe 1d6.

[0057] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for detecting the type of ductile iron pipe socket, characterized in that: Includes steps: A. First, check whether the ductile iron pipe (1) has entered the inspection station; B. When the ductile iron pipe (1) is in place, the PLC controller (13) controls the pipe diameter detector (3) and the end position detector (4) to perform data detection, obtains pipe diameter information and pipe end position information, and retrieves data stored in the industrial computer (14) based on the measured pipe diameter information: the surface width range of the d2, d3, d5, and d6 surfaces in the socket of the ductile iron pipe (1) to be measured and the radius of the d2, d3, d5, and d6 surfaces; the surface width range of the d2, d3, d5, and d6 surfaces corresponds to the coordinate range of the measurement value of the profilometer (15); C. The PLC controller (13) uses a driving device to make the profiler (15) reach a preset position according to the measured pipe diameter and pipe end information; D. When the profiler (15) reaches the preset position, the PLC controller (13) issues an information collection command, the profiler (15) reads the photographic information for the first time, and the profiler (15) rotates under the control of the rotary servo motor (10). After rotating to the specified position, the profiler (15) reads the photographic information for the second time, and the above actions are repeated several times. The read photographic information is uploaded to the industrial computer (14) and data is processed to calculate the socket type of the ductile iron pipe (1); E. The industrial computer (14) sends the determined socket type of the ductile iron pipe (1) to the PLC controller (13), and the PLC controller (13) synchronously controls the driving device to drive the profiler back to the origin, and sends the detected socket type of the ductile iron pipe (1) to the production line; The center point of the profilometer (15) when rotating is e; the profilometer (15) comprises a first profilometer and a second profilometer; the profilometer (15) takes a picture for the first time to obtain two sets of length information with coordinate values, and each profilometer can read a total of m length information, wherein the measurement value of the first profilometer is [L a1 , L a2 ...L am ], and the coordinate values ​​corresponding to its length value are [S1, S2...S m ], the length of the second profilometer is [L c1 , L c2 ...L cm ], and the coordinate values ​​corresponding to its length value are [S1, S2...S m ]; According to the measured pipe diameter information, if the pipe interface to be measured is type I, the m1 data of its d2 surface width can be measured, and the corresponding coordinates are [S d2 1...S d2 m1], collectively referred to as S d2 , d3 surface width can be measured m2 data, the corresponding coordinates are [S d3 1...S d3 m2], collectively referred to as S d3 , d5 surface width can be measured m3 data, the corresponding coordinates are [S d5 1...S d5 m3], collectively referred to as S d5 , d6 surface width can be measured m4 data, the corresponding coordinates are [S d6 1...S d6 m4], collectively referred to as S d6 If the pipe interface to be tested is type II, the width of its d2 surface can be measured by m1' data, and the corresponding coordinates are [S d2 1'...S d2 m1'], collectively referred to as S d2 ', d3 surface width can be measured m2' data, the corresponding coordinates are [S d3 1'...S d3 m2'], collectively referred to as S d3 ', d5 surface width can be measured m3' data, the corresponding coordinates are [S d5 1'...S d5 m3'], collectively referred to as S d5 ', d6 surface width can be measured m4'4 data, the corresponding coordinates are [S d6 1'...S d6 m4'], collectively referred to as S d6 '; The coordinates of the surface width ranges of other interface types d2, d3, d5, and d6 are similar; assuming that the pipe to be measured is interface type I, then within the coordinate range of its d2 surface, the photographic values ​​obtained are La and Lc, and the points corresponding to the pipe wall are a and c; similarly, the profiler (15) reads the photographic information for the second time to obtain two points b and d, whose measured values ​​are Lb and L d ; The rotation angle of the profiler (15) is r1; the points a, b, and c form a triangle, the vertical point of which is f. The theoretical radius of the ductile iron pipe (1) under this coordinate is Rx1, and the height of the profiler (15) is L; then the value from point e to a is L a +L, denoted as L ea ; The value from point e to b is Lb+L, denoted as L eb ; The value of points e to c is L c +L, denoted as L ec ; The value of points e to d is L d +L, denoted as L ed ; Carry out the next step of calculation: the coordinate range is S d2 The data represents the measurement results of the d2 surface, and the calculation is performed, where L ea , L eb , L ec , L ed If the angle r1 is known, L can be obtained by calculation. ab , L ac , L bc and L bf The length of R x1 The value of the coordinate feedback range S d2 Then select n groups of data to calculate and get R x2 ......R xn , averaging the above data, we can get R x value, R x The value of is compared with the d2 value of the interface type I of the corresponding pipe diameter in the model library. If it is within the range, select S d3 If the data is not in the range, the data of other types of interfaces are retrieved for comparison and calculation. The specific formula is as follows: Lac=Lea+Lec ------------------③ Lbf=Leb×sinr1 ------------------④ If the results of multiple measurements are consistent, the socket type of the ductile iron pipe (1) can be determined.

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