A method and system for determining the volume of a pipe based on the length and diameter of the pipe

Abstract

The present application relates to a kind of method and system for determining the volume of pipeline according to pipeline length and pipeline diameter, comprising the following steps: obtaining multiple first arm length and multiple second arm length after rotating preset number of times according to preset degree of rotating arm;For each rotation, construct coordinate system according to coordinate origin, first arm length and second arm length, and determine the first coordinate point corresponding to the first arm length and the second coordinate point corresponding to the second arm length according to the coordinate system;According to each first coordinate point and each second coordinate point, the local diameter corresponding to the local position of pipeline is obtained;The local diameter corresponding to each axial measurement position is obtained;Determine the pipeline diameter of pipeline according to each local diameter;The pipeline length of pipeline is obtained by stretch line displacement sensor;According to pipeline length and local diameter, the volume of pipeline corresponding to pipeline length is determined.The problem that the volume measurement environment of existing pipeline is high and low in precision is solved.

Description

Technical Field

[0001] This invention relates to the field of pipeline measurement technology, and in particular to a method and system for determining pipeline volume based on pipeline length and pipeline diameter. Background Technology

[0002] Pipeline diameter and length measurement is an essential part of the surveying, design, construction, maintenance, and management of various pipeline projects. Current methods typically use vernier calipers for diameter measurement, while pipeline length can be measured manually or through other external methods. However, laser and ultrasonic measurement methods have stringent environmental requirements. Traditional methods are less effective when high-precision diameter measurements are needed. For example, in natural gas flow metering, the accuracy of diameter and length measurements directly impacts the accuracy of the measurement results when measuring standard metering sections of volumetric pipes. Summary of the Invention

[0003] To overcome the problems of high environmental requirements and low accuracy in existing pipeline volume measurement, this invention provides a method and system for determining pipeline volume based on pipeline length and diameter.

[0004] Firstly, to address the aforementioned technical problems, this invention provides a method for determining the volume of a pipe based on its length and diameter. The pipe contains a rotating arm and a wire displacement sensor. The rotating arm is driven by a motor to rotate axially within the pipe. The rotating arm is divided into a first rotating arm and a second rotating arm, with the rotation center as the dividing point. The angle between the first and second rotating arms is 180° and they are located on the same horizontal plane. A first sensor is installed at the end of the first rotating arm, and a second sensor is installed at the end of the second rotating arm. The first sensor is used to obtain the distance between its own position and a point on the inner wall of the pipe, and the second sensor is used to obtain the distance between its own position and a point on the inner wall of the pipe. The wire displacement sensor is used to obtain the length of the pipe. The method includes the following steps:

[0005] S1, obtain multiple first arm lengths and multiple second arm lengths after the rotating arm rotates a preset number of times according to a preset degree. Each rotation corresponds to obtaining a first arm length and a second arm length. The first arm length is the length between the rotation center and the first point on the inner wall of the pipe corresponding to the first sensor, and the second arm length is the length between the rotation center and the second point on the inner wall of the pipe corresponding to the second sensor.

[0006] S2, For each rotation, take the rotation center as the coordinate origin, construct a coordinate system based on the coordinate origin, the length of the first arm and the length of the second arm, and determine the first coordinate point corresponding to the length of the first arm and the second coordinate point corresponding to the length of the second arm based on the coordinate system. The first coordinate point is the coordinate value of the first point relative to the rotation center, and the second coordinate point is the coordinate value of the second point relative to the rotation center.

[0007] S3. Based on each first coordinate point and each second coordinate point, fit a circle using the least squares method to obtain the local diameter of the pipe at the local position, where the local position is the location of the rotating arm.

[0008] S4. Take each local position in the pipe as the axial measurement position, and repeat steps S1-S3 to obtain the local diameter corresponding to each axial measurement position.

[0009] S5, Determine the pipe diameter based on the diameter of each local section;

[0010] S6, the pipe length is obtained through a wire displacement sensor;

[0011] S7. Determine the pipe volume within the pipe length based on the pipe length and local diameter.

[0012] The beneficial effects of the method for determining pipe volume based on pipe length and pipe diameter provided by this invention are as follows: Using a first sensor and a second sensor on a rotating arm, the first coordinate point corresponding to the first arm length and the second coordinate point corresponding to the second arm length can be obtained. Then, by fitting a circle using the least squares method, the local diameter corresponding to a local position of the pipe can be obtained. Finally, by measuring the local diameters corresponding to multiple local positions, a highly accurate pipe diameter can be obtained by combining multiple local diameters. Combined with the pipe length obtained from a wire displacement sensor, the pipe volume can be obtained. The rotating arm, the first sensor, and the second sensor in this method are unaffected by the environment, and the pipe diameter is obtained by combining measurements of multiple local diameters, thus improving the accuracy of the pipe volume measurement and solving the problem of high environmental requirements and low accuracy in existing pipe volume measurement methods.

[0013] Based on the above technical solution, the method for determining pipe volume according to pipe length and pipe diameter of the present invention can be further improved as follows.

[0014] Furthermore, the acquisition of multiple first arm lengths and multiple second arm lengths after the rotating arm has rotated a preset number of times according to a preset degree includes:

[0015] For each rotation, obtain the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm. The first standard length is the length between the rotation center and the corresponding first position of the first sensor in the pipe, and the second standard length is the length between the rotation center and the corresponding second position of the second sensor in the pipe.

[0016] For each rotation, a first reading corresponding to the first sensor and a second reading corresponding to the second sensor are obtained. The first reading represents the length between the first position and the first point, and the second reading represents the length between the second position and the second point.

[0017] For each rotation, the first arm length is determined based on the first standard length and the first reading, and the second arm length is determined based on the second standard length and the second reading.

[0018] The beneficial effects of adopting the above-mentioned further scheme are: the first arm length is determined by the first standard length and the first reading of the first rotating arm, and the second arm length is determined by the second standard length and the second reading of the second rotating arm. The accuracy of the first arm length and the second arm length is high and the measurement is accurate.

[0019] Furthermore, the above also includes:

[0020] Rotate the rotating arm 180° with the rotation center as the rotation point to obtain the third reading corresponding to the first sensor and the fourth reading corresponding to the second sensor. The third reading is the length between the first position and the second point, and the fourth reading is the length between the second position and the first point.

[0021] Get the actual length between the first point and the second point;

[0022] Based on the first reading, second reading, third reading, fourth reading and actual length, the proportionality coefficient is determined. The proportionality coefficient represents the proportion of the first rotating arm and the second rotating arm to the length of the rotating arm, respectively.

[0023] For each rotation, obtain the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm, including:

[0024] For each rotation, the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm are obtained according to the scaling factor.

[0025] The beneficial effect of adopting the above-mentioned further scheme is that, since the inner wall of the pipe is not completely smooth and there are uneven parts, by obtaining the proportional coefficient, the measurement error caused by the unevenness can be reduced when fitting the circle by the least squares method for each first coordinate point and each second coordinate point.

[0026] Furthermore, the above-mentioned determination of the proportionality coefficient based on the first reading, second reading, third reading, fourth reading, and actual length includes:

[0027] Based on the first, second, third, and fourth readings and the actual length, the proportionality coefficient is determined using the first formula, which is:

[0028]

[0029] Where k represents the proportionality coefficient, Δl 1,0° Δl 2,0° Δl 1,180° Δl2,180° These represent the first, second, third, and fourth readings, respectively, and L0 represents the actual length.

[0030] The beneficial effect of adopting the above-mentioned further scheme is that the proportional coefficient is obtained through the first formula, and the first standard length and the second standard length of the rotating arm are set through the proportional coefficient, thereby improving the accuracy of the least squares method for fitting a circle.

[0031] Furthermore, the above-mentioned determination of the pipe diameter based on the diameter of each local section includes:

[0032] Based on the diameters of each local section, the pipe diameter is determined using the second formula, which is:

[0033]

[0034] Among them, D ref D represents the pipe diameter. local Indicates the local diameter, z cyl,2 z cyl,1 These represent the last axial measurement position and the first axial measurement position in each axial measurement location, respectively.

[0035] The beneficial effect of adopting the above-mentioned further scheme is that by using the second formula, the average value of each local diameter is taken to obtain the final pipe diameter, thereby improving the accuracy of the pipe diameter.

[0036] Secondly, the present invention provides a system for determining pipe volume based on pipe length and pipe diameter, comprising:

[0037] The arm length acquisition module is used to acquire multiple first arm lengths and multiple second arm lengths after the rotating arm rotates a preset number of times at a preset degree. Each rotation corresponds to acquiring one first arm length and one second arm length. The first arm length is the length between the rotation center and the first point on the inner wall of the pipe corresponding to the first sensor, and the second arm length is the length between the rotation center and the second point on the inner wall of the pipe corresponding to the second sensor.

[0038] The coordinate point acquisition module is used to construct a coordinate system based on the coordinate origin, the first arm length, and the second arm length for each rotation, taking the rotation center as the coordinate origin. Based on the coordinate origin, the first arm length, and the second arm length, the module determines the first coordinate point corresponding to the first arm length and the second coordinate point corresponding to the second arm length. The first coordinate point is the coordinate value of the first point relative to the rotation center, and the second coordinate point is the coordinate value of the second point relative to the rotation center.

[0039] The first local diameter module is used to fit a circle using the least squares method based on each first coordinate point and each second coordinate point to obtain the local diameter of the pipe at a local position, where the local position is the location of the rotating arm.

[0040] The second local diameter module is used to take each local position in the pipe as the axial measurement position, and repeatedly execute the functions corresponding to the arm length acquisition module, coordinate point acquisition module and the first local diameter module to obtain the local diameter corresponding to each axial measurement position.

[0041] The pipe diameter acquisition module is used to determine the pipe diameter based on the diameter of each local section.

[0042] The pipe length acquisition module is used to acquire the pipe length through a wire displacement sensor;

[0043] The pipe volume acquisition module is used to determine the pipe volume within the pipe length based on the pipe length and local diameter.

[0044] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of a method for determining the volume of a pipe based on the pipe length and the pipe diameter as described above.

[0045] Fourthly, the present invention also provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the steps of a method for determining a pipe volume based on a pipe length and a pipe diameter. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0047] Figure 1 This is a schematic diagram of the diameter measuring device;

[0048] Figure 2 This is a flowchart illustrating a method for determining pipe volume based on pipe length and pipe diameter according to an embodiment of the present invention.

[0049] Figure 3 This is a schematic diagram of the rotating arm.

[0050] Figure 4 A schematic diagram of the rotating arm in its working state;

[0051] Figure 5 A schematic diagram of another working state of the rotating arm;

[0052] Figure 6 This is a schematic diagram of the least squares fitted circle corresponding to the local diameter;

[0053] Figure 7 This is a schematic diagram of the structure of a wire displacement sensor;

[0054] Figure 8 A schematic diagram of the working state of the wire displacement sensor;

[0055] Figure 9 This is a graph showing the temperature changes inside and outside the pipe over time.

[0056] Figure 10 This is a schematic diagram of a system for determining pipe volume based on pipe length and pipe diameter according to an embodiment of the present invention. Detailed Implementation

[0057] The following embodiments are further explanations and supplements to the present invention and do not constitute any limitation on the present invention.

[0058] The following describes, with reference to the accompanying drawings, a method and system for determining pipe volume based on pipe length and pipe diameter according to an embodiment of the present invention.

[0059] This invention discloses a method for determining pipe volume based on pipe length and pipe diameter. This method is applied to a terminal device. In this application, the terminal device is the executing entity, and the application is described accordingly. The terminal device can be a computer, server, etc., and is used to execute the steps of a method for determining pipe volume based on pipe length and pipe diameter. The terminal device is connected to a first sensor, a second sensor, and a wire displacement sensor.

[0060] Optionally, the diameter of pipe 1 is measured using a diameter measuring device, wherein, for example... Figure 1 As shown, the diameter measuring device includes a motor 2, a fixed frame 3, a main shaft 4, a rotating arm 5, a first sensor 6, and a second sensor 7. One end of the main shaft 4 is connected to the motor 2, and the middle part of the main shaft 4 is fixed to the fixed frame 3 by a main shaft nut 8. The other end of the main shaft 4 is connected to the rotating arm 5. The fixed frame 3 slides on the inner wall of the pipe 1 via a sliding shaft 9, thereby moving the diameter measuring device to the target position. The rotating arm 5 is driven by the motor 2 to rotate axially inside the pipe 1. The rotating arm 5 is divided into a first rotating arm and a second rotating arm with the rotation center as the dividing point. The included angle between the first rotating arm and the second rotating arm is 180° and they are located on the same horizontal plane. The first sensor 6 is set at the end of the first rotating arm, and the second sensor 7 is set at the end of the second rotating arm. The first sensor 6 is used to obtain the distance between its own position and a point on the inner wall of the pipe 1, and the second sensor 7 is used to obtain the distance between its own position and a point on the inner wall of the pipe 1.

[0061] like Figure 2 As shown, the present invention provides a method for determining the volume of a pipe based on the pipe length and pipe diameter, comprising the following steps:

[0062] S1, obtain multiple first arm lengths and multiple second arm lengths after the rotating arm rotates a preset number of times according to a preset degree. Each rotation corresponds to obtaining a first arm length and a second arm length. The first arm length is the length between the rotation center and the first point on the inner wall of the pipe corresponding to the first sensor, and the second arm length is the length between the rotation center and the second point on the inner wall of the pipe corresponding to the second sensor.

[0063] S2, For each rotation, take the rotation center as the coordinate origin, construct a coordinate system based on the coordinate origin, the length of the first arm and the length of the second arm, and determine the first coordinate point corresponding to the length of the first arm and the second coordinate point corresponding to the length of the second arm based on the coordinate system. The first coordinate point is the coordinate value of the first point relative to the rotation center, and the second coordinate point is the coordinate value of the second point relative to the rotation center.

[0064] S3. Based on each first coordinate point and each second coordinate point, fit a circle using the least squares method to obtain the local diameter of the pipe at the local position, where the local position is the location of the rotating arm.

[0065] S4. Take each local position in the pipe as the axial measurement position, and repeat steps S1-S3 to obtain the local diameter corresponding to each axial measurement position.

[0066] S5, Determine the pipe diameter based on the diameter of each local section;

[0067] S6, the pipe length is obtained through a wire displacement sensor;

[0068] S7. Determine the pipe volume within the pipe length based on the pipe length and local diameter.

[0069] Optionally, obtaining the multiple first arm lengths and multiple second arm lengths after the rotating arm has rotated a preset number of times according to a preset degree includes:

[0070] For each rotation, obtain the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm. The first standard length is the length between the rotation center and the corresponding first position of the first sensor in the pipe, and the second standard length is the length between the rotation center and the corresponding second position of the second sensor in the pipe.

[0071] For each rotation, a first reading corresponding to the first sensor and a second reading corresponding to the second sensor are obtained. The first reading represents the length between the first position and the first point, and the second reading represents the length between the second position and the second point.

[0072] For each rotation, the first arm length is determined based on the first standard length and the first reading, and the second arm length is determined based on the second standard length and the second reading.

[0073] Optionally, the preset degree and preset number of times can be set according to the actual situation. For example, if the preset degree is φ° and the preset number of times is 6, then the rotating arm will rotate 6 times, each time rotating φ°.

[0074] Optionally, the above methods also include:

[0075] Rotate the rotating arm 180° with the rotation center as the rotation point to obtain the third reading corresponding to the first sensor and the fourth reading corresponding to the second sensor. The third reading is the length between the first position and the second point, and the fourth reading is the length between the second position and the first point.

[0076] Get the actual length between the first point and the second point;

[0077] Based on the first reading, second reading, third reading, fourth reading and actual length, the proportionality coefficient is determined. The proportionality coefficient represents the proportion of the first rotating arm and the second rotating arm to the length of the rotating arm, respectively.

[0078] For each rotation, obtain the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm, including:

[0079] For each rotation, the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm are obtained according to the scaling factor.

[0080] like Figure 3 As shown, the reference calliper represents a caliper used to represent the distance between the first and second points. A represents the first point, and B represents the second point. Figure 3 It can be seen that the actual length between the first point and the second point is L0 = L1 + L2, where L1 represents the length of the first arm and L2 represents the length of the second arm. In addition, since the lengths of the first arm and the second arm are not the same when fitting a circle using the least squares method in order to remove the error caused by the unevenness of the inner wall of the pipe, it is necessary to determine the proportional coefficient first, so as to determine the first standard length and the second standard length during actual measurement.

[0081] Optional, such as Figure 4 The diagram shows the first and second sensors measuring the inner wall of a pipe. The actual length between the first and second points is L0, and the first reading of the first sensor is Δl. 1,0° The second reading of the second sensor is Δl 2,0° The first standard length of the first rotating arm is L1, and the second standard length of the second rotating arm is L2. Therefore, we can obtain:

[0082] First arm length L a,0° =L1+Δl 1,0° (1);

[0083] Second arm length L b,0° =L2+Δl 2,0° (2).

[0084] like Figure 5 As shown, with the center of rotation ( Figure 5 The rotating arm is rotated 180° using the center point (the middle circle) as the rotation point, and the third reading Δl corresponding to the first sensor is obtained. 2,180° and the fourth reading Δl corresponding to the second sensor. 1,180° We can obtain:

[0085] The length L of the first arm after rotating 180° a,180° =L2+Δl 2,180° (3);

[0086] The second arm length L after rotating 180° b,180° =L1+Δl 1,180° (4).

[0087] In addition, by Figures 4-5 From this, we can know L a,0° =L a,180° L b,0° =L b,180° (5) Therefore, combining (1) and (5) yields:

[0088] L a,0° -L a,180° =L1+Δl 1,0° -L2-Δl 2,180° (6)

[0089] L b,0° -L b,180° =L2+Δl 2,0° -L1-Δl 1,180° (7)

[0090] In addition, by Figures 4-5 It can be seen that, assuming the proportionality coefficient is k, then there exist L1=k·L0; L2=(1-k)·L0(8). Therefore, combining (6)-(8) yields the first formula, which is as follows:

[0091]

[0092] Where k represents the proportionality coefficient, Δl 1,0° Δl 2,0° Δl 1,180° Δl 2,180° These represent the first, second, third, and fourth readings, respectively, and L0 represents the actual length.

[0093] Optionally, based on the above, the determination of the scaling factor according to the first reading, second reading, third reading, fourth reading, and actual length includes:

[0094] Based on the first, second, third, and fourth readings and the actual length, the proportionality coefficient is determined using the first formula, which is:

[0095]

[0096] Where k represents the proportionality coefficient, Δl 1,0° Δl 2,0° Δl 1,180° Δl 2,180° These represent the first, second, third, and fourth readings, respectively, and L0 represents the actual length.

[0097] Optional, such as Figure 6 As shown, each rotation yields a first coordinate point and a second coordinate point, where φ represents the rotation degree, and L... a,φ L represents the length of the first arm. b,φ Indicates the length of the second arm, x a,φ =L a,φ ·cos(φ) represents the x-coordinate of the first coordinate point, y a,φ =L a,φ sin(φ) represents the ordinate of the first coordinate point, x b,φ =L b,φ ·cos(φ) represents the x-coordinate of the second coordinate point, y b,φ =L b,φ sin(φ) represents the ordinate of the second coordinate point. Therefore, by using each first coordinate point and each second coordinate point, the least squares fitted circle can be obtained, and the local diameter can be obtained based on the fitted circle.

[0098] Optionally, the above determination of the pipe diameter based on the diameter of each local section includes:

[0099] Based on the diameters of each local section, the pipe diameter is determined using the second formula, which is:

[0100]

[0101] Among them, D ref D represents the pipe diameter. local Indicates the local diameter, z cyl,2 z cyl,1 These represent the last axial measurement position and the first axial measurement position in each axial measurement location, respectively.

[0102] Optional, such as Figure 7The diagram shows a wire displacement sensor, which includes a servo motor 10, a displacement stage 11, a connecting shaft 12, a piston 13, a wire 14, a fixed end 15, and electronic switches. One end of the wire is connected to the fixed end 15, and the other end is connected to the piston. The piston is connected to the displacement stage via the connecting shaft. The electronic switches are mounted on the inner wall of the pipe. "Incremental encoder electronic" indicates an incremental encoder used to detect the length of the wire 14 between the fixed end 15 and the piston 13. "HPPP elcctronic" represents each electronic switch. "PC based data acquisition" indicates that the data collected by the wire displacement sensor is uploaded to the terminal device.

[0103] Optional, such as Figure 8 As shown, in use, multiple electronic switches (a, b, or c) are set at the target position in the pipe. The servo motor 10 drives the displacement stage 11, thereby pushing the piston to move inside the pipe 1. At this time, the pull wire 14 continuously retracts at the fixed end 15. When the piston 13 triggers the first electronic switch, the incremental encoder detects the length of the pull wire 14 between the fixed end 15 and the piston 13, thereby obtaining the position information of the first electronic switch a4. When the piston 13 triggers the second electronic switch a2, the incremental encoder detects the length of the pull wire 14 between the fixed end 15 and the piston 13, thereby obtaining the position information of the second electronic switch. Therefore, the pipe length is the displacement difference between the displacement information of the first electronic switch and the displacement information of the second electronic switch, i.e., a2:a4 (or b2:b4 or c2:c4).

[0104] Optionally, to improve accuracy during pipe length measurement, the starting length of the guy wire needs to be changed. The starting length refers to the fixed end being set at different positions for pipe length measurement. Preferably, the starting length is changed 6 times. For each starting length, 5-10 measurements are repeated to obtain 5-10 displacement differences. Each measurement yields a set of displacement differences, namely a2:a4, b2:b4, and c2:c4. For each set of displacement differences, the median value between the maximum and minimum values ​​is used as the typical value, and the span between the maximum and minimum values ​​is used as a reproducibility estimate. The final pipe length is obtained based on the typical value and the estimate.

[0105] Optional, such as Figure 9 As shown, measurement time represents the measurement period, temperature represents the temperature, curve a is the temperature curve of the outer surface of the pipe, and curve b is the temperature curve of the inner wall of the pipe. Figure 9It can be seen that for different measurement times, due to changes in ambient temperature, there is a large temperature difference between the inside and outside of the pipe, and this temperature difference affects the measurement of both the pipe diameter and pipe length.

[0106] Optionally, when measuring the pipe diameter and pipe length, it is necessary to monitor and control the temperature difference between the inside and outside of the pipe, temperature changes, and temperature deviation from 20°C during the measurement process to avoid measurement errors caused by temperature. Therefore, temperature sensors are evenly distributed inside and outside the pipe.

[0107] To minimize the impact of temperature on the measurement results, the diameter measuring device and the wire displacement sensor are made of the same material as the pipe, namely stainless steel. Before measurement, the diameter measuring device should be placed close to the pipe to make their temperatures as close as possible, thus obtaining a small temperature difference.

[0108] like Figure 10 As shown, this embodiment of the invention also provides a system for determining pipe volume based on pipe length and pipe diameter, comprising:

[0109] The arm length acquisition module 201 is used to acquire multiple first arm lengths and multiple second arm lengths after the rotating arm rotates a preset number of times according to a preset degree. Each rotation corresponds to acquiring a first arm length and a second arm length. The first arm length is the length between the rotation center and the first point on the inner wall of the pipe corresponding to the first sensor, and the second arm length is the length between the rotation center and the second point on the inner wall of the pipe corresponding to the second sensor.

[0110] The coordinate point acquisition module 202 is used to construct a coordinate system based on the coordinate origin, the first arm length, and the second arm length for each rotation, taking the rotation center as the coordinate origin. Based on the coordinate origin, the first arm length, and the second arm length, the module determines the first coordinate point corresponding to the first arm length and the second coordinate point corresponding to the second arm length. The first coordinate point is the coordinate value of the first point relative to the rotation center, and the second coordinate point is the coordinate value of the second point relative to the rotation center.

[0111] The first local diameter module 203 is used to fit a circle using the least squares method based on each first coordinate point and each second coordinate point to obtain the local diameter of the pipe at a local position, where the local position is the position of the rotating arm.

[0112] The second local diameter module 204 is used to take each local position in the pipe as an axial measurement position, and repeatedly execute the functions corresponding to the arm length acquisition module, coordinate point acquisition module and the first local diameter module to obtain the local diameter corresponding to each axial measurement position.

[0113] The pipe diameter acquisition module 205 is used to determine the pipe diameter based on the diameter of each local section.

[0114] The pipe length acquisition module 206 is used to acquire the pipe length through a wire displacement sensor;

[0115] The pipe volume acquisition module 207 is used to determine the pipe volume within the pipe length based on the pipe length and local diameter.

[0116] Optional, the arm length acquisition module 201 is specifically used for:

[0117] For each rotation, obtain the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm. The first standard length is the length between the rotation center and the corresponding first position of the first sensor in the pipe, and the second standard length is the length between the rotation center and the corresponding second position of the second sensor in the pipe.

[0118] For each rotation, a first reading corresponding to the first sensor and a second reading corresponding to the second sensor are obtained. The first reading represents the length between the first position and the first point, and the second reading represents the length between the second position and the second point.

[0119] For each rotation, the first arm length is determined based on the first standard length and the first reading, and the second arm length is determined based on the second standard length and the second reading.

[0120] Optionally, the system may also include:

[0121] The scaling factor module is specifically used for:

[0122] Rotate the rotating arm 180° with the rotation center as the rotation point to obtain the third reading corresponding to the first sensor and the fourth reading corresponding to the second sensor. The third reading is the length between the first position and the second point, and the fourth reading is the length between the second position and the first point.

[0123] Get the actual length between the first point and the second point;

[0124] Based on the first reading, second reading, third reading, fourth reading and actual length, a proportionality coefficient is determined. The proportionality coefficient represents the proportion of the first rotating arm and the second rotating arm to the length of the rotating arm, respectively.

[0125] The arm length acquisition module 201 is specifically used for:

[0126] For each rotation, the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm are obtained according to the scaling factor.

[0127] Optional, scaling factor module, specifically used for:

[0128] Based on the first, second, third, and fourth readings and the actual length, the proportionality coefficient is determined using the first formula, which is:

[0129]

[0130] Where k represents the proportionality coefficient, Δl 1,0° Δl 2,0° Δl 1,180° Δl 2,180° These represent the first, second, third, and fourth readings, respectively, and L0 represents the actual length.

[0131] Optionally, the pipe diameter acquisition module 205 is specifically used for:

[0132] Based on the diameters of each local section, the pipe diameter is determined using the second formula, which is:

[0133]

[0134] Among them, D ref D represents the pipe diameter. local Indicates the local diameter, z cyl,2 z cyl,1 These represent the last axial measurement position and the first axial measurement position in each axial measurement location, respectively.

[0135] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements some or all of the steps of the method for determining the volume of a pipe based on the pipe length and the pipe diameter described above.

[0136] The electronic device can be a computer, and the corresponding program is computer software. The parameters and steps of the electronic device of the present invention can be referred to the parameters and steps in the embodiment of the method for determining the pipe volume based on the pipe length and pipe diameter in the above text, and will not be repeated here.

[0137] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this disclosure can be embodied in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the invention can also be implemented as a computer program product contained in one or more computer-readable media, which contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to—electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof.

[0138] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0139] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for determining pipe volume based on pipe length and pipe diameter, characterized in that, A rotating arm and a wire displacement sensor are installed inside the pipe. The rotating arm is driven by a motor to rotate axially within the pipe. The rotating arm is divided into a first rotating arm and a second rotating arm with the rotation center as the dividing point. The angle between the first rotating arm and the second rotating arm is 180° and they are located on the same horizontal plane. A first sensor is installed at the end of the first rotating arm, and a second sensor is installed at the end of the second rotating arm. The first sensor is used to obtain the distance between its own position and a point on the inner wall of the pipe, and the second sensor is used to obtain the distance between its own position and a point on the inner wall of the pipe. The wire displacement sensor is used to obtain the length of the pipe. The method includes the following steps: S1, obtain multiple first arm lengths and multiple second arm lengths after the rotating arm rotates a preset number of times according to a preset degree. Each rotation corresponds to obtaining one first arm length and one second arm length. The first arm length is the length between the rotation center and the first point on the inner wall of the pipe corresponding to the first sensor, and the second arm length is the length between the rotation center and the second point on the inner wall of the pipe corresponding to the second sensor. S2, for each rotation, the rotation center is taken as the coordinate origin, and a coordinate system is constructed based on the coordinate origin, the first arm length and the second arm length. Based on the coordinate system, the first coordinate point corresponding to the first arm length and the second coordinate point corresponding to the second arm length are determined. The first coordinate point is the coordinate value of the first point relative to the rotation center, and the second coordinate point is the coordinate value of the second point relative to the rotation center. S3, based on each of the first coordinate points and each of the second coordinate points, a circle is fitted using the least squares method to obtain the local diameter of the pipe at a local position, where the local position is the location of the rotating arm; S4, taking each of the local positions inside the pipe as axial measurement positions, repeat steps S1-S3 to obtain the local diameter corresponding to each axial measurement position; S5, determine the pipe diameter based on each of the aforementioned local diameters; S6, The pipe length of the pipe is obtained through the pull wire displacement sensor; S7. Determine the pipe volume corresponding to the pipe length within the pipe length based on the pipe length and the local diameter; The process of obtaining multiple first arm lengths and multiple second arm lengths after the rotating arm has rotated a preset number of times at a preset degree includes: For each rotation, a first standard length corresponding to the first rotating arm and a second standard length corresponding to the second rotating arm are obtained. The first standard length is the length between the rotation center and the corresponding first position of the first sensor in the pipe, and the second standard length is the length between the rotation center and the corresponding second position of the second sensor in the pipe. For each rotation, a first reading corresponding to the first sensor and a second reading corresponding to the second sensor are obtained, wherein the first reading represents the length between the first position and the first point, and the second reading represents the length between the second position and the second point; For each rotation, the first arm length is determined based on the first standard length and the first reading, and the second arm length is determined based on the second standard length and the second reading; The method further includes: The rotating arm is rotated 180° with the rotation center as the rotation point to obtain the third reading corresponding to the first sensor and the fourth reading corresponding to the second sensor. The third reading is the length between the first position and the second point, and the fourth reading is the length between the second position and the first point. Obtain the actual length between the first point and the second point; Based on the first reading, the second reading, the third reading, the fourth reading, and the actual length, a proportionality coefficient is determined, which represents the proportion of the length of the first rotating arm and the second rotating arm to the length of the rotating arm, respectively. For each rotation, the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm are obtained, including: For each rotation, the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm are obtained according to the scaling factor.

2. The method according to claim 1, characterized in that, The step of determining the proportionality coefficient based on the first reading, the second reading, the third reading, the fourth reading, and the actual length includes: Based on the first reading, the second reading, the third reading, the fourth reading, and the actual length, a proportionality coefficient is determined using a first formula, wherein the first formula is: Where k represents the proportionality coefficient, Δl 1,0° Δl 2,0° Δl 1,180° Δl 2,180° These represent the first, second, third, and fourth readings, respectively, and L0 represents the actual length.

3. The method according to claim 1 or 2, characterized in that, Determining the pipe diameter based on each of the aforementioned local diameters includes: Based on the respective local diameters, the pipe diameter is determined using a second formula, wherein the second formula is: Among them, D ref D represents the pipe diameter. local Indicates the local diameter, z cyl,2 z cyl,1 These represent the last axial measurement position and the first axial measurement position in each axial measurement location, respectively.

4. A system for determining pipe volume based on pipe length and pipe diameter, characterized in that, include: The arm length acquisition module is used to acquire multiple first arm lengths and multiple second arm lengths after the rotating arm rotates a preset number of times at a preset degree. Each rotation corresponds to acquiring one first arm length and one second arm length. The first arm length is the length between the rotation center and the first point on the inner wall of the pipe corresponding to the first sensor, and the second arm length is the length between the rotation center and the second point on the inner wall of the pipe corresponding to the second sensor. The coordinate point acquisition module is used to, for each rotation, take the rotation center as the coordinate origin, construct a coordinate system based on the coordinate origin, the first arm length and the second arm length, and determine the first coordinate point corresponding to the first arm length and the second coordinate point corresponding to the second arm length based on the coordinate system. The first coordinate point is the coordinate value of the first point relative to the rotation center, and the second coordinate point is the coordinate value of the second point relative to the rotation center. The first local diameter module is used to obtain the local diameter of the pipe at a local position by fitting a circle using the least squares method based on each of the first coordinate points and each of the second coordinate points, where the local position is the position of the rotating arm. The second local diameter module is used to take each of the local positions in the pipe as axial measurement positions, and repeatedly execute the functions corresponding to the arm length acquisition module, coordinate point acquisition module and the first local diameter module to obtain the local diameter corresponding to each of the axial measurement positions. The pipe diameter acquisition module is used to determine the pipe diameter based on the various local diameters. The pipe length acquisition module is used to acquire the pipe length by means of a wire displacement sensor; The pipe volume acquisition module is used to determine the pipe volume within the pipe length based on the pipe length and the local diameter. The coordinate point acquisition module is further configured to acquire, for each rotation, a first standard length corresponding to the first rotating arm of the rotating arm and a second standard length corresponding to the second rotating arm of the rotating arm, wherein the first standard length is the length between the rotation center and the corresponding first position of the first sensor in the pipe, and the second standard length is the length between the rotation center and the corresponding second position of the second sensor in the pipe; For each rotation, a first reading corresponding to the first sensor and a second reading corresponding to the second sensor are obtained, wherein the first reading represents the length between the first position and the first point, and the second reading represents the length between the second position and the second point; For each rotation, the first arm length is determined based on the first standard length and the first reading, and the second arm length is determined based on the second standard length and the second reading; The system also includes a proportional coefficient module, used to rotate the rotating arm 180° with the rotation center as the rotation point, obtain a third reading corresponding to the first sensor and a fourth reading corresponding to the second sensor, wherein the third reading is the length between the first position and the second point, and the fourth reading is the length between the second position and the first point; and obtain the actual length between the first point and the second point. Based on the first reading, the second reading, the third reading, the fourth reading, and the actual length, a proportionality coefficient is determined, which represents the proportion of the length of the first rotating arm and the second rotating arm to the length of the rotating arm, respectively. The coordinate point acquisition module is further configured to, for each rotation, acquire the first standard length corresponding to the first rotating arm and the second standard length corresponding to the second rotating arm according to the scaling factor.

5. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of a method for determining pipe volume based on pipe length and pipe diameter as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a terminal device, cause the terminal device to perform the steps of a method for determining a pipe volume based on a pipe length and a pipe diameter as described in any one of claims 1 to 3.

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