Linear Scanning Pipeline Alignment Method

Abstract

The present invention provides a linear scanning type pipeline alignment method and a pipeline alignment device. The pipeline alignment method specifically includes: at both ends of the pipeline, two rows of light spot acquisition components are respectively arranged, so that the light spot acquisition components move up and down along the pipeline, and a light source is used in cooperation with the light spot acquisition components to obtain the displacement differences of a number of light spots on each row of light spot acquisition components. Combining the displacement information of the light spots on the light spot acquisition components and the pixel coordinates at the light spots, the center coordinates of the corresponding pipeline are obtained. Furthermore, based on the differences between the center coordinates at both ends and the point coordinates where the light source passes through both ends of the pipeline, the alignment of the pipeline is carried out. In the present invention, multiple light spot acquisition components are selected, and then they move up and down along the pipeline to determine whether they pass through the center. According to the calibration, the pixel coordinates of the center are directly obtained. The central axis formed by the two centers is compared with the straight line of the laser to determine whether they are aligned, and adjustments are made through the device.

Description

Technical Field

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

[0002] In the prior art, in construction and production, cylindrical pipelines or cylindrical structures are often used. If these cylinders are not placed flat and the body is not aligned, during use, problems such as construction deviation and production deviation will occur. Therefore, there is an urgent need to solve the problem of pipeline body alignment to improve its use efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a linear scanning pipeline alignment method, which forms a linear shape through multiple position information acquisition components, and determines whether the pipeline is aligned by judging the relative position and length of the linear shape on the cross-section. The structure is simple, the method is time-saving, and the efficiency is high.

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

[0005] For the linear scanning pipeline alignment method, at both ends of the pipeline, two rows of light spot acquisition components are respectively arranged, so that the light spot acquisition components move up and down along the pipeline, and a light source is used in cooperation with the light spot acquisition components to obtain the displacement difference of several light spots on each row of light spot acquisition components. Combining the displacement information of the light spots on the light spot acquisition components and the pixel coordinates at the light spots, the center coordinates of the corresponding pipeline are obtained. Then, through the gap between the center coordinates at both ends and the point coordinates where the light source passes through both ends of the pipeline, the alignment of the pipeline is carried out.

[0006] Preferably, light source penetration components with the same cross-sectional area as the pipeline are respectively arranged at both ends of the pipeline, and the light spot acquisition components are assembled on the light source penetration components. In this technical solution, the purpose of adding the light source penetration components is to enable the laser to penetrate positions parallel to or inside the pipeline during emission, and the outside cannot sense it, avoiding the generation of error points and improving the accuracy.

[0007] Preferably, the step of the light spot acquisition components moving up and down along the pipeline is specifically: the light spot acquisition components move up and down along the light source penetration components on the back of the light source penetration components. The light spot acquisition components are located on the back of the light source transmission components, so that the laser passes through the light source penetration components and is sensed by the light spot acquisition components for corresponding collection.

[0008] Preferably, obtaining the displacement difference of several light spots on each row of light spot acquisition components is specifically:

[0009] S1) The front and rear rows of light spot acquisition components are zeroed according to the same benchmark;

[0010] S2) Use a light source to emit light, and the spot acquisition component at the front end of the pipeline moves according to S1 to obtain the first spot and its pixel coordinates.

[0011] S3) The spot acquisition component at the rear end of the pipeline moves according to S2 to obtain the second spot and its pixel coordinates.

[0012] Adjust the position of the light source so that it continues to emit light, and repeat the above steps S2) and S3) to obtain the displacement differences of several spots on the same row of spot acquisition components.

[0013] Preferably, it also includes the judgment of the center position, specifically: during the up and down adjustment of the light position, judge the number of light spots obtained by each row of spot acquisition components and the moving distance of the spot acquisition components. When the number of light spots is the largest and the moving distance differences are all equal, the light source passes through the center at this time. In this technical solution, a number of spot acquisition components are set. Therefore, only when passing through the center, all the spot acquisition components will absorb the laser passing through the light source penetration component and obtain spots. So it should be located at the center at this time. And when all the moving distance differences are equal, it can be judged that the spot acquisition components are assembled completely without error.

[0014] Preferably, it also includes the acquisition of the point coordinates where the light source passes through both ends of the pipeline, specifically: taking one of the center coordinates as the starting point, use a laser emitter to emit laser, and move the spot acquisition component in the height direction to obtain the point coordinates where the laser passes through both ends of the pipeline at this time. In this technical solution, use the principle of directly obtaining a straight line by laser as a reference line and compare it with the straight line formed by the center to judge whether it is aligned.

[0015] Preferably, it also includes the calculation of the difference between the center coordinates and the point coordinates, specifically: respectively obtain the Z-axis coordinates and Y-axis coordinates of the two centers, and use the spot acquisition component to obtain the Z-axis coordinates and Y-axis coordinates at the front and rear ends of the same laser, and use the coordinate values to make a difference to obtain the difference. In this technical solution, select two points and compare the corresponding coordinate values to judge whether they are on the same straight line.

[0016] The present invention also discloses a pipeline alignment device for the above linear scanning type pipeline alignment method, including:

[0017] A support component, the support component forms a support space, and the pipeline is supported in the support space;

[0018] Spot acquisition components, there are several spot acquisition components, several of the spot acquisition components form two rows, and are respectively arranged at both ends of the pipeline, and move up and down along the pipeline through a lifting component;

[0019] Computing units, which are respectively used for calculating the displacement difference and determining whether the light spot acquisition component is at the center position.

[0020] Preferably, it further includes an assembly cover, and on both sides of the assembly cover, the light spot acquisition component and the light source penetration component are respectively assembled. In this technical solution, by setting the assembly cover, the light spot acquisition component and the light source penetration component can be directly assembled, with simple assembly and convenient for assembly.

[0021] Preferably, it further includes a slideway located on the assembly cover, and the slideway forms a movement cavity. After several light spot acquisition components are connected, they are connected to a sliding component in the slideway. In this technical solution, by setting the sliding component, it is possible for the light spot acquisition component to move horizontally. Therefore, as long as the laser is emitted, the light spot can be obtained by adjusting the light spot acquisition component. Description of the Drawings

[0022] Figure 1 It is a schematic structural diagram of the linear scanning type pipeline alignment device provided by the present invention;

[0023] Figure 2 It is a schematic structural diagram of the bracket provided by the present invention;

[0024] Figure 3 It is an assembly diagram of the light spot acquisition component and the lifting component provided by the present invention;

[0025] Figure 4 It is a circuit schematic diagram of the pipeline automatic alignment device provided by the present invention;

[0026] In the figure:

[0027] 100, support component; 110, bracket; 111, lifting lead screw; 120, track; 130, bracket; 131, slider; 200, pipeline; 300, light spot acquisition component; 400, laser emitter; 500, light source penetration component; 600, lifting component; 700, assembly cover; 710, slideway; 711, sliding component. Detailed Embodiments

[0028] The present invention will be described in detail below with reference to the embodiments shown in the drawings. However, it should be noted that these embodiments do not limit the present invention, and any equivalent transformation or substitution in terms of function, method, or structure made by those of ordinary skill in the art according to these embodiments shall fall within the protection scope of the present invention.

[0029] Embodiment 1

[0030] In this embodiment, the core steps of the linear scanning type pipeline alignment method are mainly introduced.

[0031] Refer to the appendixFigures 1-4 As shown in Figures 1-4 , the linear scanning type pipeline alignment method in this embodiment is specifically as follows: At both ends of the pipeline 200, two rows of spot acquisition components 300 are respectively arranged, so that the spot acquisition components 300 move up and down along the pipeline 200, and a light source is used in cooperation with the spot acquisition components 300 to obtain the displacement differences of a number of light spots on each row of spot acquisition components 300. Combining the displacement information of the light spots on the spot acquisition components 300 and the pixel coordinates at the light spots, the center coordinates of the corresponding pipeline are obtained. Then, through the difference between the center coordinates at both ends and the point coordinates where the light source passes through both ends of the pipeline 200, the alignment of the pipeline is carried out.

[0032] The principle of the present invention is as follows:

[0033] In the present invention, coordinate calibration is carried out by using the interaction of laser and linear laser sensors, etc. Specifically, reference can be made to the principle of the existing authorized patent CN202110450348 - Virtual Reality Laser Marking Method, Device, Equipment and Storage Medium to carry out corresponding virtual marking to obtain the pixel coordinates of the light spots. Then, when passing through the center of the circle, the pixel coordinates at the corresponding center of the circle are obtained. The pixel coordinates of the two centers of the circle form a center line. At this time, taking a certain center of the circle as a reference, laser emission is carried out to form a laser line. The laser line is compared with the center line, or directly the pixel coordinates at the relevant light spots are compared to obtain the deflection information of the pipeline. Then, the support components, etc. are used for adjustment to achieve the final alignment of the pipeline.

[0034] The working process of the present invention is as follows:

[0035] In the present invention, a linear laser sensor is selected and cooperated with a CCD camera to obtain the pixel coordinates of the light spots obtained when the laser passes through. Since there are multiple spot acquisition components, the laser emitter 400 emits multiple lasers simultaneously. At this time, since the laser cannot be easily perceived, a penetration component is cooperated to make the laser only enter the area formed by the pipeline. Then, when the maximum number of points is obtained, it can be judged that it passes through the center of the circle. Then, at this time, the Z values on the two end spots among several spot acquisition components are used to obtain the Z value at the middle center of the circle. Then, in cooperation with the displacement difference in the Y-axis direction, when all the displacement differences are the same, the Y-axis pixel is obtained, and then the coordinates at the center of the circle are obtained. Using the same method, the center coordinates at both ends of the pipeline are calculated. The center coordinates are compared with the two-point coordinates of a certain laser line, especially the laser coordinates obtained by the light plate acquisition component passing through the center of the circle. Then, the pipeline is continuously adjusted so that the center coordinates are the same as the two center coordinates obtained when the laser passes through. At this time, the laser can directly pass through the correct center of the circle at one time, and the pipeline is aligned.

[0036] Embodiment 2

[0037] In this embodiment, it is introduced in combination with the specific use process and device.

[0038] As shown in the accompanying drawings, in this embodiment, during use, light source penetration components 500 with the same cross-sectional area as the pipeline 200 are respectively arranged at both ends of the pipeline 200, and the spot acquisition component 300 is assembled on the light source penetration component 500. In this embodiment, the purpose of adding the light source penetration component is that when the laser is emitted, it can penetrate the position parallel to or inside the pipeline, and the outside world cannot sense it, avoiding the generation of error points and improving the accuracy.

[0039] For better control, the specific movement of the spot acquisition component 300 along the pipeline up and down is as follows: The spot acquisition component 300 is on the back of the light source penetration component 500 and moves up and down along the light source penetration component 500. The spot acquisition component is located on the back of the light source transmission component, so that the laser passes through the light source penetration component and is sensed by the spot acquisition component for corresponding collection.

[0040] In this example, the specific method for obtaining the displacement difference of several light spots on each row of the spot acquisition component 300 is as follows:

[0041] S1) The spot acquisition components 300 in the front and rear rows are zeroed according to the same benchmark.

[0042] S2) Using the light source to emit light, the spot acquisition component 300 at the front end of the pipeline 200 moves in S1 to obtain the first spot and its pixel coordinates.

[0043] S3) The spot acquisition component 300 at the rear end of the pipeline 200 moves in S2 to obtain the second spot and its pixel coordinates.

[0044] Adjust the position of the light source to make it continue to emit light, and repeat the above steps S2) and S3) to obtain the displacement difference of several spots on the same row of the spot acquisition component 300.

[0045] In this embodiment, the calculation of the light spot displacement difference aims to find the light spots in the laser. At the same time, for the calibration method that is not easy to obtain the Y-axis coordinate position, it can form a displacement difference by moving up and down. Then, using the displacement difference to replace the Y-axis information and setting it as the Y-axis information, the Y-axis at the center of the circle can be obtained. And in the final comparison, as long as the displacement difference in the height direction of the spot acquisition component at the center of the circle is equal when different lasers pass through, it can also be considered that the Y-axis directions are aligned.

[0046] In this embodiment, it also includes the judgment of the center position of the circle, specifically: during the up and down adjustment of the light position, judge the number of light spots obtained by each row of light spot acquisition components 300 and the moving distance of the light spot acquisition components 300. When the number of light spots is the largest and the moving distance differences are all equal, it means that the light source passes through the center of the circle at this time. In this embodiment, a number of light spot acquisition components are provided. Only when passing through the center of the circle, all the light spot acquisition components will absorb the laser passing through the light source penetration component and obtain light spots. Therefore, it should be located at the center of the circle at this time. When all the moving distance differences are equal, it can be judged that the light spot acquisition components are assembled completely without error.

[0047] Furthermore, it also includes the acquisition of the point coordinates at both ends of the pipeline 200 where the light source passes through, specifically: taking one of the center coordinates as the starting point, using the laser emitter 400 to emit laser, and moving the light spot acquisition component 300 in the height direction to obtain the point coordinates at both ends of the pipeline where the laser passes through at this time. In this solution, the principle of directly obtaining a straight line by laser is used as the reference line and compared with the straight line formed by the center of the circle to judge whether it is aligned.

[0048] Preferably, it also includes the calculation of the difference between the center coordinates and the point coordinates, specifically: respectively obtain the Z-axis coordinates and Y-axis coordinates of the two centers of the circle, and use the light spot acquisition component 300 to obtain the Z-axis coordinates and Y-axis coordinates at the front and rear ends of the same laser, and use the coordinate values to make a difference to obtain the difference. In this solution, two points are selected for corresponding coordinate value comparison to judge whether they are on the same straight line.

[0049] The present invention also discloses a pipeline alignment device for the above linear scanning type pipeline alignment method, including:

[0050] A support component 100, the support component 100 forms a support space, and the pipeline is supported in the support space;

[0051] Light spot acquisition components 300, there are several light spot acquisition components 300, several of the light spot acquisition components 300 form two rows, which are respectively arranged at both ends of the pipeline 200 and move up and down along the pipeline 200 through a lifting component 600;

[0052] A calculation unit, the calculation unit is respectively used to calculate the displacement difference and judge whether the light spot acquisition component 300 is in the center position of the circle. In this embodiment, the calculation unit is located in the control component and directly performs calculations.

[0053] Preferably, it further includes an assembly cover 700. On both sides of the assembly cover 700, the light spot acquisition component 300 and the light source penetration component 500 are respectively assembled. In this solution, by providing the assembly cover, the light spot acquisition component and the light source penetration component can be directly assembled, with simple assembly and easy installation. Further, the light source penetration component 500 can be directly assembled at the hollow position in the center of the assembly cover 700, thereby saving space and making it easier to assemble the light plate acquisition component 300.

[0054] Preferably, it further includes a slideway 710 on the assembly cover 700. The slideway 710 forms a movement cavity. After several light spot acquisition components 300 are connected, they are connected to a sliding component 711 in the slideway 710. In this solution, by providing the sliding component, it is possible for the light spot acquisition component to move horizontally. Thus, as long as the laser is emitted, by adjusting the light spot acquisition component, the light spot can be obtained.

[0055] Embodiment 3

[0056] In this embodiment, the detailed process of placing the pipeline and aligning the pipeline is mainly introduced in detail.

[0057] First, a support component 100 for the pipeline 200 is provided in this embodiment.

[0058] Specifically: Select two support components 100 to form a support space, and place the pipeline 200 horizontally on the support space. In this embodiment, by providing two support components 100, the two ends of the pipeline 200 can be symmetrically supported. When selecting the measurement points, structures can be assembled on the support components 100 to obtain the points, etc. In this embodiment, 2 support components 100 are preferably selected. Of course, more can also be selected. During actual adjustment, when placing the pipeline, the alignment is basically carried out under the condition of a relatively small inclination. At this time, the alignment of the pipeline can be directly carried out based on the principle that two points form a straight line. During the process of pipeline connection, three or more support components can be selected. At this time, two support components are provided for each pipeline, and at the pipeline connection, one support component 100 can be shared.

[0059] Secondly, the assembly of the light spot acquisition component 300

[0060] Select an assembly cover 700, and form a circular hollow structure on the assembly cover 700. The light source penetration component 500 (i.e., the laser penetration device) is assembled on this hollow structure. On the side of the assembly cover 700 away from the pipeline 20, a lifting component 600 is provided. Specifically, the lifting component 600 extends from the edge of the assembly cover 700 and includes symmetric slideways 710 arranged opposite to each other and a sliding component 711 located in the slideways 710. The sliding component 711 drives the spot acquisition component 300 to move up and down. In this embodiment, the spot acquisition component 300 specifically includes a linear laser sensor and a CCD camera, which directly realizes data calibration.

[0061] Thirdly, the interaction and calibration of lasers

[0062] In this embodiment, the existing laser marking method is used to calibrate the pixel coordinates. For example, in the existing technical solution, the laser marking method in the authorized invention patent CN202110450348 - Virtual Reality Laser Marking Method, Device, Equipment and Storage Medium is used to obtain the corresponding pixel coordinates.

[0063] The first step, obtaining the laser pixel coordinates before movement

[0064] On the side of the pipeline 200, start the laser emitter 400 to emit laser light, and respectively control the lifting component 600 so that the spot acquisition components 300 before and after the pipeline 200 obtain the pixel coordinates of the points before and after the pipeline 200 before movement.

[0065] The second step, finding the center point and obtaining the center coordinates

[0066] Continuously move the spot acquisition component 300, and use the laser emitter 400 to emit multiple laser lines. When the spot acquisition component 300 in a row senses the most laser spots, it is initially judged that it is located at the center of the circle. Then, the Z value at the center position can also be obtained through the Z values in the pixel coordinates of the two outermost spots on both sides among multiple spots. It is also possible to obtain the coordinate information at the position with the fewest spots by continuously moving up and down, and infer the corresponding center of the circle based on this data.

[0067] The third step, judging whether the pipeline is aligned

[0068] Taking a certain center coordinate obtained in the second step as the base point, start the laser emitter 500 so that the laser formed by it passes through this base point, and then rotate the rotating component 600 to obtain the pixel coordinates of this 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 in the second step. If there is an included angle between the two, the pipeline is not aligned, otherwise the pipeline is aligned; or directly judge the offset direction and position through the center coordinates, and perform reverse inference to obtain the distance that needs to be adjusted for the pipeline in a certain azimuth.

[0069] Step 4, Pipe alignment

[0070] Based on the included angle or the difference in center coordinates, determine the offset direction of the pipe, and then calculate the distance that needs to be adjusted for adjustment

[0071] During the automatic alignment of the pipe, specifically, the attitude adjustment unit on the support assembly 100 is used to adjust the alignment of the pipe, which specifically includes: the Y-axis lifting adjustment of the support assembly 100 and the Z-axis direction adjustment of the support assembly. As shown in the attached 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 that the pixel coordinates in two directions are the same, that is, the height and the front-back coordinates. The X coordinates form the length of the pipe. Furthermore, when the coordinates on the center of the circle are on a straight line, the central axis of the pipe is on the same horizontal line, and thus the adjustment and alignment can be achieved

[0072] Refer to the attached Figures 1-4 As shown, the support assembly 100 includes a bracket 110 and a track 120 located on the bracket 110. A carriage 130 is provided on the track 120, and the carriage 130 forms a support cavity, and the pipe 200 is placed in the support cavity. In this embodiment, the support assembly is fully utilized to enable it to directly adjust the pipe at the end, and finally achieve the overall alignment of the pipe

[0073] To achieve the adjustment in the Z-axis direction, a slider 131 is provided on the carriage 130, and the slider 131 moves in the Z-axis direction along the track 120 on the bracket 110. In this embodiment, the slider is provided, and a driving mechanism and the like are added to it. Furthermore, the sliding distance of the slider can be known, and in cooperation with the control assembly, the overall motion control in the Z-axis can be achieved

[0074] Furthermore, an installation cavity is formed on the side of the bracket 110, and a lifting lead screw 111 for adjusting the Y-axis lifting is provided in the installation cavity, and an assembly part for track assembly is provided on the side of the installation cavity. In this technical solution, the lifting lead screw also has a driving mechanism, such as hydraulic pressure, etc. Furthermore, it can also be linked with the control assembly to achieve the control of the moving distance in the Y-axis

[0075] In this embodiment, a control unit 800 is provided. A calculation unit is provided in the control unit 800, which is respectively connected to the control ends of the light spot acquisition component 300, the lifting lead screw 111, the slider 131, and the lifting assembly 600. Furthermore, based on the light spot data obtained by the light spot acquisition component 300, through calculation, it is converted into coordinates. By comparing the coordinates with the laser straight line coordinates, etc., the deflection state is obtained. Then, using the deflection state, the orientation and displacement that need to be adjusted are judged, and various lifting components and sliders are controlled to move to achieve the automatic alignment of the pipe

[0076] The series of detailed descriptions listed above are only specific descriptions of the feasible implementation manners of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent implementation manners or modifications made without departing from the technical spirit of the present invention should be included in the protection scope of the present invention.

[0077] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be construed as limiting the claimed invention.

[0078] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. Linear scanning type pipeline alignment method, characterized in that At both ends of the pipeline, two rows of light spot acquisition components are respectively arranged, so that the light spot acquisition components move up and down along the pipeline. In cooperation with the light source and the light spot acquisition components, the displacement differences of a number of light spots on each row of light spot acquisition components are obtained. Combining the displacement information of the light spots on the light spot acquisition components and the pixel coordinates at the light spots, the center coordinates of the corresponding pipeline are obtained. Furthermore, the alignment of the pipeline is carried out through the differences between the center coordinates at both ends and the point coordinates where the light source passes through both ends of the pipeline; Specifically, obtaining the displacement differences of a number of light spots on each row of light spot acquisition components is as follows: S1) The front and rear rows of light spot acquisition components are zeroed according to the same reference; S2) The light source emits light, and the light spot acquisition component at the front end of the pipeline moves in S1 to obtain the first light spot and its pixel coordinates; S3) The light spot acquisition component at the rear end of the pipeline moves in S2 to obtain the second light spot and its pixel coordinates; Adjust the position of the light source so that it continues to emit light, and repeat the above steps S2) and S3) to obtain the displacement differences of a number of light spots on the same row of light spot acquisition components; It also includes the judgment of the center position, specifically: during the up and down adjustment of the light position, judge the number of light spots obtained by each row of light spot acquisition components and the movement distance of the light spot acquisition components. When the number of light spots is the largest and the movement distance differences are all equal, the light source passes through the center at this time.

2. The linear scanning type pipeline alignment method according to claim 1, characterized in that, Light source penetration components with the same cross-sectional area as the pipeline are respectively arranged at both ends of the pipeline, and the light spot acquisition components are assembled on the light source penetration components.

3. The linear scanning type pipeline alignment method according to claim 2, wherein Specifically, the step of the light spot acquisition component moving up and down along the pipeline is as follows: The light spot acquisition component moves up and down along the back of the light source penetration component on the back of the light source penetration component.

4. The linear scanning type pipeline alignment method according to claim 1, characterized in that It also includes the acquisition of the point coordinates where the light source passes through both ends of the pipeline, specifically: taking one of the center coordinates as the starting point, using a laser emitter to emit laser light, and moving the light spot acquisition component in the height direction to obtain the point coordinates where the laser passes through both ends of the pipeline at this time.

5. The linear scanning type pipeline alignment method according to claim 1, wherein, It also includes the calculation of the difference between the center coordinates and the point coordinates, specifically: respectively obtain the Z-axis coordinates and Y-axis coordinates of the two centers, and use the light spot acquisition component to obtain the Z-axis coordinates and Y-axis coordinates of the same laser at the front and rear ends, and use the coordinate values to make a difference to obtain the difference.

6. A pipe alignment device for the linear scanning type pipe alignment method according to any one of claims 1-5, characterized in that, It includes: A support component, the support component forms a support space, and the pipeline is supported in the support space; Light spot acquisition components, there are a number of the light spot acquisition components, and the number of the light spot acquisition components forms two rows, which are respectively arranged at both ends of the pipeline and move up and down along the pipeline through a lifting component; A calculation unit, the calculation unit is respectively used to calculate the displacement difference and judge whether the light spot acquisition component is at the center position.

7. The pipe alignment device according to claim 6, wherein, It also includes an assembly cover, and the light spot acquisition component and the light source penetration component are respectively assembled on both sides of the assembly cover.

8. The pipe alignment device according to claim 6, wherein It also includes a slideway located on the assembly cover, the slideway forms a movement cavity, and after a number of the light spot acquisition components are connected, they are connected to a sliding component in the slideway.

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