Rotary pipe center alignment method and pipe alignment device

Abstract

The present invention provides a rotary pipeline center alignment method and a pipeline alignment device. The pipeline alignment method specifically comprises the following steps: using a laser marking method, taking two points on the circumference of the front and rear ends of the pipeline as reference points, rotating the receiving unit along the circumference of the pipeline with the reference point as the center and the pipeline diameter as the rotation radius, obtaining the coordinate information of the first and second centers of the pipeline in front and back according to the laser marking and image pixels, emitting a laser straight line with the first or second center as the reference, and obtaining the laser positioning information of the laser straight line at the front and rear ends of the pipeline, obtaining the offset state between the straight line formed by the two centers and the laser using the two laser positioning information and the positioning information difference between the two centers, and adjusting the pipeline using the offset state until the angle difference is 0°. The present invention directly uses whether the straight line formed by the front and rear centers of the pipeline coincides with the reference line as the basis for alignment judgment, and the method is simple and has high precision.

Description

Technical Field

[0001] The invention relates to the technical field of alignment in long pipeline placement, and in particular to a linear scanning pipeline alignment method. Background Art

[0002] In the prior art, cylindrical pipes or cylindrical structures are often used in construction and production. If these cylinders are not placed flat and the main body is not aligned, they will cause construction deviations and production deviations during use. Therefore, it is urgent to solve the problem of pipe body alignment to improve its use efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a rotary pipeline center alignment method and a pipeline alignment device, which uses a certain point on the side of the pipeline as the center of the circle, a laser transmitter, and the principle of a CCD camera to obtain the coordinate information of each point before and after the rotation, and then uses the method of obtaining the center of the circle by three points to obtain different centers of the circle before and after the pipeline. A straight line is formed by these two centers of the circle, which is compared with the straight line of the laser, and finally forms a center straight line that coincides with the laser straight line. The operation is simple, and the control device is used to achieve high efficiency.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0005] The rotary pipeline center alignment method uses a laser marking method to take two points on the circumference of the front and rear ends of the pipeline as reference points, and the receiving unit is rotated along the circumference of the pipeline with the reference point as the center and the pipeline diameter as the rotation radius. The coordinate information of the first and second centers of the front and rear of the pipeline is obtained according to the laser marking and image pixels. With the first or second center of the circle as the reference, a laser straight line is emitted, and the laser positioning information of the laser straight line at the front and rear ends of the pipeline is obtained. The two laser positioning information and the positioning information difference between the two centers are used to obtain the offset state between the straight line formed by the two centers and the laser, and the offset state is used to adjust the pipeline until the angle difference is 0°.

[0006] Optionally, it also includes obtaining positioning information before and after rotation, specifically: using laser and laser penetration device to obtain photosensitive spot image pixels, and using photosensitive spot image pixels to obtain pixel coordinates of at least two points on the pipeline. In this technical solution, a rotating receiving unit is selected, and then an arc surface is formed by rotation. The arc surface is used to cooperate with the obtained pixel coordinates of the photosensitive spot to infer the pixel coordinates of three points, and these three points are respectively located on the pipeline, and then the pixel coordinates of the three points are used to infer the coordinates of the center of the circle where the three points are located.

[0007] Optionally, the coordinate information of the first circle center in front of the pipeline is obtained by: obtaining the coordinate information of the first circle center according to the physical coordinates of the reference point and the pixel coordinates of two points on the pipeline. In this solution, the conversion of pixel coordinates and physical coordinates can be directly realized by using the conversion of the existing coordinate system. Of course, the pixel coordinates of the two points can also be obtained during the rotation, and then the coordinates of the rotating reference point can be inferred by using the pixel coordinates of the two points and the rotation angle, and then the coordinates of the center of the circle can be inferred by using the triangle formed by these three points.

[0008] Optionally, the pixel coordinates are converted into physical coordinates to obtain the physical coordinates of two points on the circumference, and then combined with the physical coordinates of the reference point to obtain the physical coordinates of three points on the circumference, and the coordinates of the center of the circle are obtained using the coordinates of the three points. In this technical solution, the coordinate values ​​in a unified coordinate system are obtained by mutual conversion of coordinate systems, which facilitates calculation.

[0009] Optionally, the laser positioning information of the laser line at the front and rear ends of the pipeline is obtained by rotating the receiving units located at the front and rear of the pipeline to obtain pixel coordinates on the same laser line, and then converting them into physical coordinates. In this technical solution, a rotating receiving unit is used. Since the laser cannot be sensed and received at all positions, the laser penetrating component, CCD camera, linear laser sensor, etc. are used in this technical solution to directly obtain the pixel coordinates of the spot obtained by the laser on the receiving unit, thereby realizing its calibration.

[0010] Optionally, obtaining the offset state between the straight line formed by the two circle centers and the laser is specifically as follows: the coordinate information of the first circle center and the coordinate information of the second circle center are respectively compared with the coordinate information formed by the laser in the front and rear pipes to obtain the offset of the pipe in different directions. In this technical solution, the principle of connecting the two circle centers to form a central axis is used, and then compared with the laser whose main body is directly a straight line to find the deviation of the central axis, and then by adjusting the deviation of the central axis, the alignment adjustment of the entire pipe is achieved.

[0011] Optionally, according to the offset in different directions, the posture of the pipeline in the direction is adjusted accordingly, so that the offset gradually becomes smaller. In the technical solution, the method of adjusting different directions is used to achieve the final alignment through multiple adjustments, and then in the repeated adjustments, different adjustments can be made from two directions, specifically, the Y axis and the Z axis.

[0012] The present invention also provides a rotary pipeline center alignment device for use in the rotary pipeline center alignment method, comprising a laser transmitter,

[0013] A receiving unit, used to receive the laser emitted by the laser transmitter, and obtain the pixel coordinates of the spot of the laser on the receiving unit by using a camera analysis;

[0014] A rotating assembly is provided with mounting points at the circumferential direction of the front and rear ends of the pipeline, and the rotating assembly is mounted on the mounting points;

[0015] A calculation unit is used to calculate the coordinates of the center of the circle and calculate the offset state according to the coordinate information.

[0016] In this technical solution, a laser reflector is used to emit laser, and a receiving unit receives the laser to form a light spot, and obtains the pixel coordinates corresponding to the light spot. Then, under the action of a rotating component, the pixel coordinates of multiple points are obtained, and the center of the circle can be determined. The coordinates of the center of the circle are used to realize the final judgment and adjustment of the pipeline alignment.

[0017] Optionally, it further comprises an assembly cover, the assembly cover is respectively covered at both ends of the pipe, the assembly cover is provided with a laser penetration device corresponding to the pipe diameter, and the receiving unit is provided on the laser penetration device. In this technical solution, the laser penetration device is formed by using a laser penetration component, so that the acquisition of points and the formation of light spots are targeted and selective, and the generation of errors is reduced.

[0018] Optionally, a plurality of receiving units are provided on the rotating assembly, and at least one receiving unit is provided at the center position of the rotating assembly. In the technical solution, the receiving unit is provided at the center position so that the rotating assembly forms a diameter. During the rotation, the center position corresponds to the center position of the circle, which is convenient for reconfirming the center position of the circle and making a judgment.

[0019] The beneficial effects of the present invention are as follows:

[0020] In the present invention, the CCD laser linear sensor is directly assembled on the end of the pipe by means of rotation, and cooperates with the camera to obtain the point position changes in the rotation in time. With the rotation angle, the information of multiple points within the rotation area can be known, and then the center of the end can be obtained. Using the center of the circle, the aligned straight line formed by the two center of the circle can be directly obtained with higher accuracy.

[0021] Compared with the prior art, the present invention cleverly applies the pixel coordinates obtained by image acquisition to pipeline alignment, without the need for excessive clamping devices, etc., thereby being able to directly achieve alignment of the pipeline. Together with the alignment device, the operation is simple and the design is ingenious. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A flow chart of the rotary pipeline center alignment method provided by the present invention;

[0023] Figure 2A schematic diagram of the structure of the support assembly provided by the present invention;

[0024] Figure 3 A schematic diagram of the structure of the support provided by the present invention;

[0025] Figure 4 An assembly diagram of the receiving unit and the rotating assembly provided by the present invention;

[0026] Figure 5 A circuit schematic diagram of the rotary pipe center alignment device provided by the present invention;

[0027] In the figure:

[0028] 100, support assembly; 110, bracket; 111, lifting screw; 120, track; 130, bracket; 131, slider; 200, pipeline; 300, receiving unit; 400, laser penetration device; 500, laser transmitter; 600, rotating assembly; 700, control unit; 710, computing unit; 800, assembly cover. DETAILED DESCRIPTION

[0029] The present invention is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present invention.

[0030] Example 1

[0031] In this embodiment, the main steps of the rotary pipe center alignment method are mainly introduced.

[0032] See attached Figure 1-5 As shown, the rotary pipeline center alignment method in this embodiment uses a laser marking method, takes two points on the circumference of the front and rear ends of the pipeline 200 as reference points, and rotates the receiving unit 300 along the circumference of the pipeline 200 with the reference point as the center and the diameter of the pipeline 200 as the rotation radius. According to the laser marking and image pixels, the coordinate information of the first center and the second center of the front and rear ends of the pipeline 200 is obtained; with the first center or the second center as the reference, a laser straight line is emitted, and the laser positioning information of the laser straight line at the front and rear ends of the pipeline is obtained;

[0033] Using the positioning information of the two lasers and the positioning information difference between the two circle centers, the offset state between the straight line formed by the two circle centers and the laser is obtained; using the offset state, the pipeline is adjusted until the angle difference is 0°.

[0034] The working principle of this embodiment is as follows: using a CCD linear laser sensor in conjunction with a CCD camera, when the laser passes through, using the CCD camera to capture the light spot passing through the CCD linear laser sensor, and then obtaining pixel coordinates, and then using the pixel coordinates to directly convert into commonly used physical coordinates, and then using the method of finding the center of a circle from three points to directly obtain the center of a circle coordinates, using the two center of a circle coordinates to obtain the center line of the pipeline at this time, and then using the laser and the center line to compare and find out the deviation, and then using this deviation, combined with the reverse calculation, to find out which position of the center line of the pipeline needs to be adjusted, and then directly adjust it. In this embodiment, the three-point coordinates are known, and the calculation method for finding the center of a circle coordinates can refer to the existing technology, such as in the 360 ​​library, and in the high school courseware for secondary education, there are specific methods for calculating the center of a circle coordinates.

[0035] The working process of the alignment method in this embodiment is as follows:

[0036] First, the center of the circle at the front end of the pipe 200 is calculated by using a laser to produce a light spot. At this time, the laser passes through the receiving unit 300, and the pixel coordinates of the light spot at a certain point on the pipe are obtained. Then, the receiving unit 300 is rotated to rotate radially along the pipe 200. At this time, the radius of rotation is the pipe diameter, so a certain rotation angle can be obtained. The laser and the receiving unit 300 are used to obtain the pixel coordinates of the light spot after rotation on the pipe. At this time, the pixel coordinates of the reference point are obtained using the rotation angle and the pixel coordinates before and after the rotation, and then the pixel coordinates of the three points can be obtained, and then the center coordinates of the circle at the front end of the pipe 200 can be inferred.

[0037] Secondly, according to the calculation method of the center coordinates of the front end of the pipeline 200, the center coordinates of the rear end of the pipeline 200 are obtained, and then the coordinates of the two centers on the center line of the pipeline 200 are obtained;

[0038] Next, the deviation is searched. In order to ensure that a suitable reference point is found, in this embodiment, the coordinate point of the center of the front or rear pipe is used as the reference, so that the laser is emitted from this point to form a very straight line, which will form a deviation angle or posture deviation with the straight line formed by the two centers of the circle;

[0039] Finally, correction, in this embodiment, takes a certain circle center as a reference, and then adjusts the position of the other end of the pipe so that the front and rear ends of the entire pipe are in the same straight line. In this embodiment, a pipe support component is added, and the component is used for adjustment, as detailed below.

[0040] Optionally, the method further includes obtaining positioning information before and after the rotation, specifically: using the laser and the laser penetrating device 400 to obtain the pixels of the photosensitive spot image, and using the pixels of the photosensitive spot image to obtain the pixel coordinates of at least two points on the pipeline. In this embodiment, a rotating receiving unit is selected, and then an arc surface is formed by rotation. The arc surface is used to cooperate with the obtained pixel coordinates of the photosensitive spot to infer the pixel coordinates of three points, and these three points are respectively located on the pipeline, and then the pixel coordinates of the three points are used to infer the coordinates of the center of the circle where the three points are located.

[0041] In the specific calculation, the coordinate information of the first circle center in front of the pipe 200 is obtained by: obtaining the coordinate information of the first circle center according to the physical coordinates of the reference point and the pixel coordinates of the two points on the pipe 200. In this solution, the conversion of the pixel coordinates and the physical coordinates can be directly realized by using the conversion of the existing coordinate system. Of course, the pixel coordinates of the two points can also be obtained during the rotation, and then the coordinates of the rotating reference point can be inferred by using the pixel coordinates of the two points and the rotation angle, and then the coordinates of the center of the circle can be inferred by using the triangle formed by these three points.

[0042] Optionally, the pixel coordinates are converted into physical coordinates to obtain the physical coordinates of two points on the circumference, and then combined with the physical coordinates of the reference point to obtain the physical coordinates of three points on the circumference, and the coordinates of the three points are used to obtain the coordinates of the center of the circle. In this technical solution, the coordinate system is converted to each other to obtain the coordinate value in a unified coordinate system, which is convenient for calculation. If the angle is known, the pixel coordinates of the light spot on the pipe before and after the rotation are known, then no separate calculation is required.

[0043] Optionally, the laser positioning information of the laser line at the front and rear ends of the pipeline 200 is obtained by rotating the receiving units 300 located at the front and rear of the pipeline respectively to obtain pixel coordinates on the same laser line, and then converting them into physical coordinates. In this embodiment, a rotating receiving unit is used, because the laser cannot be sensed and received at all positions, and in this technical solution, in conjunction with a laser penetration component and a CCD camera, a linear laser sensor, etc., the pixel coordinates of the spot obtained by the laser on the receiving unit can be directly obtained, thereby realizing its calibration.

[0044] Optionally, the offset state between the straight line formed by the two circle centers and the laser is obtained by comparing the coordinate information of the first circle center and the coordinate information of the second circle center with the coordinate information formed by the laser in the front and rear pipes, respectively, to obtain the offset of the pipe 200 in different directions. In this solution, the principle of forming a central axis by connecting the two circle centers is used, and then compared with the laser whose main body is directly a straight line to find the deviation of the central axis, and then by adjusting the deviation of the central axis, the alignment adjustment of the entire pipe is achieved.

[0045] Optionally, according to the offset in different directions, the posture of the pipeline in the direction is adjusted accordingly, so that the offset gradually becomes smaller. In this solution, by making adjustments in different directions respectively, the final alignment is achieved through multiple adjustments, and then in the repeated adjustments, different adjustments can be made from two directions respectively, specifically, the Y axis and the Z axis.

[0046] Example 2

[0047] In this embodiment, the device for implementing the above method is mainly introduced.

[0048] The present invention also provides a rotary pipeline center alignment device for use in a rotary pipeline center alignment method, comprising a laser emitter 500,

[0049] The receiving unit 300 is used to receive the laser emitted by the laser emitter 500 and obtain the pixel coordinates of the spot of the laser on the receiving unit 300 by camera analysis;

[0050] The rotating assembly 600 is provided with mounting points at the front and rear ends of the pipe 200 in the circumferential direction, and the rotating assembly 600 is mounted on the mounting points;

[0051] The calculation unit 710 is used to calculate the coordinates of the center of the circle and calculate the offset state according to the coordinate information. In this embodiment, the calculation unit 710 is located in the control unit 700 and performs corresponding calculation operations after receiving data.

[0052] Optionally, it further includes an assembly cover 800, which is respectively covered at both ends of the pipe 200, and is provided with a laser penetration device corresponding to the diameter of the pipe 800 on the assembly cover 800, and the receiving unit 300 is provided on the laser penetration device 400. In this embodiment, the assembly cover is directly assembled, so that the laser penetration device 400 is directly installed on the assembly cover, and the laser is emitted at the reverse position of the assembly cover, and after the laser passes through the laser penetration device 400, a light spot is formed on the receiving unit 300 to obtain the pixel coordinates.

[0053] Optionally, a plurality of receiving units 300 are provided on the rotating assembly, and at least one receiving unit is provided at the center of the rotating assembly. In this embodiment, a plurality of receiving units are provided so that they can pass through the center of the circle and can be compared with the initial center of the circle to determine whether they are aligned.

[0054] Example 3

[0055] In this embodiment, the placement of the pipeline and the detailed process of the pipeline alignment are mainly introduced in detail.

[0056] First, in this embodiment, a support assembly 100 of the pipeline 200 is provided.

[0057] Specifically: two support assemblies 100 are selected to form a support space, and the pipeline 200 is erected on the support space in a horizontal direction. In this embodiment, two support assemblies 100 are set, so that both ends of the pipeline 200 can be symmetrically supported. When selecting measurement points, the structure can be assembled on the support assembly 100 to obtain points, etc. In this embodiment, two support assemblies 100 are preferred, and of course more can be selected. In actual adjustment, when placing, the pipeline is basically aligned when the inclination is relatively small. At this time, the pipeline can be aligned directly by the principle of forming a straight line between two points. In the process of pipeline connection, three or more can be selected. At this time, two support assemblies are set for each pipeline, and a support assembly 100 can be shared at the pipeline connection.

[0058] Next, the receiving unit 300 is assembled

[0059] An assembly cover 800 is selected to form a circular hollow structure on the assembly cover 800. The laser penetration device 400 is assembled on the hollow structure. A rotating component 600 is set on the side of the assembly cover 800 away from the pipe. The rotating component 600 uses a point on the edge of the pipe 200 as a reference point to form a circular motion trajectory around the cross-section of the pipe 200.

[0060] The receiving unit 300 is arranged on the rotating component 600. Specifically, a plurality of receiving units 300 may be arranged. In this case, a plurality of light spots may be obtained, and even the pixel coordinates of the straight line light spots formed by the rotating component 600 before, after and during rotation may be inferred, so as to obtain more information for the subsequent calculation of the reference points.

[0061] Again, the interaction and calibration between the receiving unit 300 and the laser

[0062] In this embodiment, the existing laser marking method is used to calibrate the pixel coordinates, such as the existing technical solution, the laser marking method in the authorized invention patent CN202110450348-Virtual reality laser marking method, device, equipment and storage medium, to obtain the corresponding pixel coordinates.

[0063] The first step is to obtain pixel coordinates before rotation

[0064] On both sides of the pipeline, the laser transmitter 500 is started to emit laser light, and the receiving units 300 at the front and rear of the pipeline are rotated respectively to obtain the pixel coordinates of the front and rear points at the initial position;

[0065] The second step is to obtain the pixel coordinates after rotation

[0066] Rotate the rotating components on both sides of the pipeline respectively, the rotation angles of the two can be consistent or inconsistent, then restart the laser transmitter 500, and adjust the laser position so that it passes through the laser penetration device 400 and hits the rotated receiving unit 300, and obtain the pixel coordinates of the front and rear points of the rotated pipeline;

[0067] The third step is to obtain the coordinates of the reference point

[0068] Using the rotation angle, the pixel coordinates before and after the rotation, and the length of the rotating component, that is, the diameter of the pipe, the points before and after the rotation, and the reference point form a triangle, and then the coordinates of the reference point are obtained; specifically, if the degree of a vertex angle of the triangle and the lengths of its two sides are known, the length of the third side can be calculated, and combined with the corresponding coordinate information, the coordinate information of the third point (that is, the reference point) can be obtained.

[0069] Of course, it is also possible to directly set up a device such as a GPS at the reference point to directly obtain the coordinate information of the point.

[0070] Step 4: Get the coordinates of the center of the circle

[0071] Since the front and back points of the rotation and the reference point are located on the circle formed by the same cross section of the pipeline, and the coordinates of the three points are known, the coordinates of the corresponding center of the circle can be directly obtained by using mathematical knowledge; the coordinates of the center of the front and rear end pipelines can be obtained in the same way;

[0072] Step 5: Determine whether the pipeline is aligned

[0073] Taking the coordinates of the center of a circle obtained in the fourth step as the base point, start the laser emitter 500 so that the laser formed by it passes through the base point, and then rotate the rotating component 600 to obtain the pixel coordinates of the laser at the front and rear ends of the pipeline 200; compare the straight line formed by the pixel coordinates of the laser with the straight line formed by the two centers of the circle in the fourth step. If the two form an angle, the pipeline is not straight, otherwise the pipeline is straight;

[0074] Step 6: Pipeline Alignment

[0075] According to the angle, the deviation direction of the pipeline is determined, and then the distance to be adjusted is calculated and adjusted.

[0076] The automatic alignment of the pipeline is specifically performed by adjusting the alignment of the pipeline through the posture adjustment unit on the support assembly 100, which specifically includes: Y-axis lifting adjustment of the support assembly 100 and Z-axis direction adjustment of the support assembly. Referring to the accompanying drawings, since the horizontal directions are all on the support assembly 100, and thus their X-coordinates are inconsistent, at this time, it is only necessary to determine whether the pixel coordinates in two directions are consistent, namely the height and the front and rear coordinates, and the length of the pipeline is formed between the X-coordinates. Then, when the coordinates on the center of the circle are on a straight line, the central axis of the pipeline is on the same horizontal line, and the alignment can be adjusted.

[0077] Refer to the attached Figure 2-4 As shown, the support assembly 100 includes a bracket 110 and a track 120 located on the bracket 110. A bracket 130 is arranged on the track 120. The bracket 130 forms a support cavity, and the pipe 200 is placed in the support cavity. In this embodiment, the support assembly is fully utilized so that the pipe at the end can be directly adjusted, and finally the entire alignment of the pipe is achieved.

[0078] In order to achieve adjustment in the Z-axis direction, a slider 131 is provided on the bracket 130, and the slider 131 moves in the Z-axis direction along the track 120 on the bracket 110. In this embodiment, a slider is provided, which adds a driving mechanism, etc., so that the sliding distance of the slider can be known, and the entire motion control in the Z-axis can be achieved in conjunction with the control component.

[0079] Furthermore, a mounting cavity is formed on the side of the bracket 110, and a lifting screw 111 for adjusting the lifting of the Y-axis is arranged in the mounting cavity, and an assembly part for track assembly is arranged on the side of the mounting cavity. In this technical solution, the lifting screw also has a driving mechanism, such as hydraulic pressure, and can also be linked with the control component to realize the control of the Y-axis movement distance.

[0080] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

[0081] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0082] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A rotary pipe center alignment method, characterized in that: Using the laser marking method, two points on the circumference of the front and rear ends of the pipeline are respectively used as reference points, and the receiving unit is rotated along the circumference of the pipeline with the reference point as the center and the pipeline diameter as the rotation radius. According to the laser marking and image pixels, the coordinate information of the first center and the second center of the pipeline are obtained. With the first center or the second center as the reference, a laser straight line is emitted, and the laser positioning information of the laser straight line at the front and rear ends of the pipeline is obtained. The offset state between the straight line formed by the two centers and the laser is obtained by using the two laser positioning information and the positioning information difference between the two centers, and the pipeline is adjusted by using the offset state until the angle difference is 0°; It also includes obtaining positioning information before and after the rotation, specifically: using a laser and a laser penetrating device to obtain pixels of a photosensitive spot image, and using the pixels of the photosensitive spot image to obtain pixel coordinates of at least two points on the pipeline; The step of obtaining the coordinate information of the center of the first circle in front of the pipeline is as follows: obtaining the coordinate information of the center of the first circle according to the physical coordinates of the reference point and the pixel coordinates of two points on the pipeline; The pixel coordinates are converted into physical coordinates to obtain the physical coordinates of two points on the circumference, and then combined with the physical coordinates of the reference point to obtain the physical coordinates of three points on the circumference. The coordinate information of the first center of the circle is obtained using the coordinates of the three points.

2. The rotary pipe center alignment method according to claim 1, characterized in that: The laser positioning information of the laser line at the front and rear ends of the pipeline is obtained by rotating the receiving units located at the front and rear ends of the pipeline respectively to obtain pixel coordinates on the same laser line, and then converting them into physical coordinates.

3. The rotary pipeline center alignment method according to claim 1, characterized in that: The offset state between the straight line formed by the two circle centers and the laser is obtained by comparing the coordinate information of the first circle center and the coordinate information of the second circle center with the coordinate information formed by the laser in the front and rear pipes, respectively, to obtain the offset of the pipe in different directions.

4. The rotary pipeline center alignment method according to claim 3, characterized in that: According to the offset in different directions, the posture of the pipeline in the direction is adjusted accordingly so that the offset gradually decreases.

5. A rotary pipeline center alignment device used in the rotary pipeline center alignment method according to any one of claims 1 to 4, characterized in that: Including laser transmitter, A receiving unit, used to receive the laser emitted by the laser transmitter, and obtain the pixel coordinates of the spot of the laser on the receiving unit by using a camera analysis; A rotating assembly is provided with mounting points at the circumferential direction of the front and rear ends of the pipeline, and the rotating assembly is mounted on the mounting points; A calculation unit is used to calculate the coordinates of the center of the circle and calculate the offset state according to the coordinate information.

6. The rotary pipe center alignment device according to claim 5, characterized in that: It also includes an assembly cover, which is respectively covered at both ends of the pipeline. A laser penetration device corresponding to the diameter of the pipeline is arranged on the assembly cover, and the receiving unit is arranged on the laser penetration device.

7. The rotary pipe center alignment device according to claim 6, characterized in that: A plurality of receiving units are arranged on the rotating assembly, and at least one receiving unit is arranged at the center position of the rotating assembly.

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