A pipeline orientation measurement method, device, electronic device and storage medium

Abstract

The present invention relates to a pipeline orientation measurement method, device, electronic device, and storage medium, belonging to the field of measurement technology. The pipeline orientation measurement method includes: acquiring a plurality of laser points detected in a well by a line laser sensor and laser data carried by the laser points, the laser data including the angle and intensity of the laser; performing edge detection on the plurality of laser points based on the laser data to obtain a plurality of edge points, wherein an edge point includes a laser point where both the angle and intensity of the laser are greater than a preset edge threshold; adjusting the rotation angle of the line laser sensor based on the plurality of edge points; and determining the pipeline orientation based on the rotation angle. The present invention effectively solves the problems of low measurement accuracy and pipeline damage caused by the need for direct contact with the pipeline in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and in particular to a pipeline orientation measurement method, device, electronic equipment and storage medium. Background Art

[0002] Pipeline systems play a vital role in industries like oil, gas, and municipal construction. These pipelines are typically laid underground or in wells to transport liquids, gases, or other media. Accurately measuring the position of the pipelines within the wells is a crucial task during the construction, maintenance, and management of these pipeline systems.

[0003] Traditional pipeline orientation measurement methods rely primarily on manual measurement tools, such as tape measures and theodolites. These methods are not only labor-intensive and time-consuming, but also often suffer from poor accuracy due to human factors, making them inadequate for the high-precision measurement demands of modern industry. Furthermore, traditional measurement methods often require direct contact with the pipeline, potentially damaging it and posing safety concerns for the measurement personnel. Summary of the Invention

[0004] In view of this, it is necessary to provide a pipeline orientation measurement method, device, electronic equipment and medium to solve the problems of low measurement accuracy and pipeline damage caused by the need for direct contact with the pipeline in the existing technology.

[0005] In order to solve the above problems, the present invention provides a pipeline orientation measurement method, comprising:

[0006] Acquire a plurality of laser points detected in the well by a line laser sensor and laser data carried by the laser points, wherein the laser data includes: angle and intensity of the laser;

[0007] Performing edge detection on the laser point based on the laser data to obtain a plurality of edge points, wherein the edge points include: laser points where both the angle and intensity of the laser are greater than a preset edge threshold;

[0008] adjusting a rotation angle of the line laser sensor according to the plurality of edge points;

[0009] The pipe orientation is determined based on the rotation angle.

[0010] In a possible implementation, the step of acquiring a plurality of laser points detected in the well by a line laser sensor and laser data carried by the laser points includes:

[0011] Direct the emitting end of the line laser sensor toward the pipeline and lower the line laser sensor at a constant speed along the shaft direction to a preset height;

[0012] Acquire a plurality of laser points detected by the line laser sensor during the period of descending from the wellhead to the preset height and the laser data carried by the laser points.

[0013] In a possible implementation, the method of directing the transmitting end of the line laser sensor toward the pipeline and uniformly lowering the line laser sensor along the shaft to a preset height includes:

[0014] The line laser sensor is mounted on a rotatable device, the emission end of the line laser sensor is directed toward the pipeline, and the line laser sensor is lowered at a uniform speed along the shaft direction to a preset height by the rotatable device.

[0015] In a possible implementation, adjusting the rotation angle of the line laser sensor according to the plurality of edge points includes:

[0016] Determine whether the number of edge points is two;

[0017] If there are two edge points, the average value of the two edge points is taken as the pipeline center orientation;

[0018] If the number of the edge point is one, the laser point with the largest laser data among the other laser points is taken as the second edge point, and the average value of the two edge points is taken as the pipeline center orientation;

[0019] The rotation angle of the line laser sensor is adjusted according to the orientation of the center of the pipeline.

[0020] In a possible implementation, adjusting the rotation angle of the line laser sensor according to the center orientation of the pipeline includes:

[0021] The rotation angle of the line laser sensor is adjusted according to the angle of the center orientation of the pipeline.

[0022] In a possible implementation, adjusting the rotation angle of the line laser sensor according to the angle of the pipeline center orientation includes:

[0023] Determining the direction of the pipeline center relative to the line laser sensor according to the angle of the pipeline center;

[0024] Rotate the line laser sensor in the direction and measure the angle between the laser and the center of the pipeline in real time;

[0025] When the angle between the laser and the center of the pipeline is less than the preset angle threshold, the rotation is stopped and the rotation angle of the line laser sensor is recorded.

[0026] In a possible implementation, determining the pipeline orientation based on the rotation angle includes:

[0027] The rotation angle is output as the azimuth angle of the pipeline orientation.

[0028] The present invention also provides a pipeline orientation measuring device, comprising:

[0029] A data acquisition module is used to acquire a number of laser points detected in the well by a line laser sensor and laser data carried by the laser points, wherein the laser data includes: angle and intensity of the laser;

[0030] an edge detection module, configured to perform edge detection on the plurality of laser points and the laser data carried by the laser points to obtain a plurality of edge points, wherein the edge points include: laser points where both the angle and intensity of the laser are greater than a preset edge threshold;

[0031] A rotation alignment module, configured to adjust a rotation angle of the line laser sensor according to the plurality of edge points;

[0032] The position determination module is configured to determine the position of the pipeline based on the rotation angle.

[0033] The present invention also provides an electronic device, comprising:

[0034] Memory, used to store programs;

[0035] A processor is coupled to the memory and is used to execute the program stored in the memory to implement the pipeline orientation measurement method described in any one of the above method items.

[0036] The present invention also provides a storage medium for storing a computer-readable program or instruction, which, when executed by a processor, can implement the pipeline orientation measurement method described in any one of the above-mentioned method items.

[0037] The present invention has the following beneficial effects: It provides a pipeline orientation measurement method that uses line laser technology to scan the pipeline and processes the laser data from the scanned laser points to accurately measure the pipeline's orientation within the well. The method also detects the pipeline's position based on the line laser data, adjusts the rotation angle of the line laser sensor with real-time feedback, and determines the pipeline's orientation based on this rotation angle. This innovation not only offers the advantages of non-contact measurement, high precision, and high efficiency, meeting the needs of modern industry for pipeline measurement and improving measurement accuracy and efficiency, but also reduces human intervention and enhances measurement consistency and repeatability, thereby resolving the issues of low measurement accuracy and pipeline damage associated with prior art techniques that require direct contact with the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A flow chart of an embodiment of a pipeline orientation measurement method provided by the present invention;

[0039] Figure 2 for Figure 1 Flowchart of the method of step S101 in an embodiment;

[0040] Figure 3 for Figure 1 A method flow chart of an embodiment of step S103;

[0041] Figure 4 for Figure 3 A method flow chart of an embodiment of step S303;

[0042] Figure 5 A schematic structural diagram of an embodiment of a pipeline orientation measuring device provided by the present invention;

[0043] Figure 6 This is a structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0045] In the description of the embodiments of the present invention, unless otherwise specified, "plurality" means two or more. "And / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone.

[0046] The terms "first," "second," and so on, used in the embodiments of the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, technical features designated as "first" or "second" may explicitly or implicitly include at least one such feature.

[0047] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] In order to solve the above problems, Figure 1 As shown, the present invention provides a pipeline orientation measurement method, comprising:

[0049] S101, acquiring a plurality of laser points detected in a well by a line laser sensor and laser data carried by the laser points;

[0050] Furthermore, the laser data includes: the angle and intensity of the laser;

[0051] It can be understood that since the laser emitted by the line laser sensor is not affected by the visibility of the environment, no lighting is required for fill light during the detection process. By only using the line laser sensor to record the intensity, angle and other information of the laser data, high-precision data collection can be achieved, which saves equipment costs and further improves the practicality of the present invention.

[0052] S102, performing edge detection on a plurality of laser points based on the laser data to obtain a plurality of edge points, wherein the edge points include: laser points where both the angle and intensity of the laser are greater than a preset edge threshold;

[0053] S103, adjusting the rotation angle of the line laser sensor according to a number of edge points;

[0054] S104: Determine the pipeline orientation based on the rotation angle.

[0055] Compared to existing technologies, the present invention provides a pipeline orientation measurement method that uses line laser technology to scan the pipeline and processes the laser data from the scanned laser points to accurately measure the pipeline's orientation within the wellbore. The present invention also detects the pipeline's position based on the line laser data, adjusts the line laser sensor's rotation angle with real-time feedback, and determines the pipeline's orientation based on this rotation angle. This innovation not only offers the advantages of non-contact measurement, high precision, and high efficiency, meeting the demands of modern industry for pipeline measurement while improving measurement accuracy and efficiency, but also reduces human intervention and enhances measurement consistency and repeatability. This addresses the existing issues of low measurement accuracy and pipeline damage caused by the need for direct contact with the pipeline.

[0056] In a possible implementation, the rotation angle may be output as the azimuth angle of the pipeline orientation.

[0057] like Figure 2 In a possible implementation, step S101 includes:

[0058] S201, controlling the transmitting end of the line laser sensor to face the pipeline, and controlling the line laser sensor to descend at a uniform speed along the well direction to a preset height;

[0059] In one possible implementation, the line laser sensor is mounted on a rotatable device, with the emitting end of the line laser sensor facing the pipeline, and the line laser sensor is lowered at a uniform speed along the shaft direction to a preset height by the rotatable device.

[0060] Furthermore, when obtaining the rotation angle of the line laser sensor, it can be directly measured by the rotatable device.

[0061] S202: Acquire a plurality of laser points detected by the line laser sensor during the period of descending from the wellhead to a preset height and the laser data carried by the laser points.

[0062] like Figure 3 In a possible implementation, step S103 includes:

[0063] S301, determining whether the number of edge points is two;

[0064] S302: If there are two edge points, take the average of the orientations of the two edge points as the pipeline center orientation;

[0065] S303: If the number of edge points is one, the laser point with the largest laser data among the other laser points is used as the second edge point, and the average of the orientations of the two edge points is taken as the pipeline center orientation;

[0066] S304: Adjust the rotation angle of the line laser sensor according to the center orientation of the pipeline.

[0067] Furthermore, the rotation angle of the line laser sensor can be adjusted according to the angle of the center orientation of the pipeline.

[0068] like Figure 4 In a possible implementation, step S303 includes:

[0069] S401, determining the direction of the pipeline center relative to the line laser sensor according to the angle of the pipeline center;

[0070] S402, rotating the line laser sensor toward the direction of the pipeline center relative to the line laser sensor, and measuring the angle between the laser and the pipeline center in real time;

[0071] S403: When the angle between the laser and the center of the pipeline is less than a preset angle threshold, the rotation is stopped and the rotation angle of the line laser sensor is recorded.

[0072] like Figure 5 The present invention also provides a pipeline orientation measuring device 50, comprising:

[0073] The data acquisition module 510 is used to acquire a number of laser points detected in the well by the line laser sensor and the laser data carried by the laser points. The laser data includes: the angle and intensity of the laser;

[0074] The edge detection module 520 is used to perform edge detection on a plurality of laser points based on the laser data to obtain a plurality of edge points, wherein the edge points include: laser points where the angle and intensity of the laser are both greater than a preset edge threshold;

[0075] A rotation alignment module 530 is used to adjust the rotation angle of the line laser sensor according to a number of edge points;

[0076] The orientation determination module 540 is configured to determine the orientation of the pipeline based on the rotation angle.

[0077] like Figure 6 As shown, the present invention further provides an electronic device 60, comprising:

[0078] Memory 610, used for storing programs;

[0079] The processor 620 is coupled to the memory 610 and is configured to execute the program stored in the memory 610 to implement the steps of the pipeline orientation measurement method described in any one of the above embodiments.

[0080] Figure 6 Only some of the components of the electronic device 60 are shown, but it should be understood that implementing all of the shown components is not a requirement, and more or fewer components may alternatively be implemented.

[0081] In some embodiments, the processor 620 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 610 , such as the pipeline orientation measurement method of the present invention.

[0082] In some embodiments, processor 620 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, processor 620 may be local or remote. In some embodiments, processor 620 may be implemented in a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, multiple clouds, or any combination thereof.

[0083] In some embodiments, the memory 610 may be an internal storage unit of the electronic device 60, such as a hard disk or memory of the electronic device 60. In other embodiments, the memory 610 may also be an external storage device of the electronic device 60, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 60.

[0084] Furthermore, the memory 610 may include both an internal storage unit of the electronic device 60 and an external storage device. The memory 610 is used to store application software installed on the electronic device 60 and various data.

[0085] In one embodiment, when the processor 620 executes the pipeline position measurement program in the memory 610, the following steps may be implemented:

[0086] Acquire a number of laser points detected in the well by a line laser sensor and laser data carried by the laser points;

[0087] Perform edge detection on several laser points based on laser data to obtain several edge points;

[0088] Adjust the rotation angle of the line laser sensor according to several edge points;

[0089] Determine pipe orientation based on rotation angle.

[0090] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 60 mentioned. The electronic device 60 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, or a laptop computer. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with iOS, Android, Microsoft, or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 60 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0091] The present invention also provides a storage medium for storing a computer-readable program or instruction, which, when executed by a processor, can implement the pipeline orientation measurement method described in any one of the above-mentioned method items.

[0092] Those skilled in the art will appreciate that all or part of the process steps of the above-described method embodiments can be implemented by instructing related hardware (such as a processor, controller, etc.) through a computer program, and the computer program can be stored in a computer storage medium. The computer storage medium may be a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0093] The above is a detailed introduction to the pipeline orientation measurement method, device, electronic device and storage medium provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A pipeline orientation measurement method, characterized in that: include: Acquire a plurality of laser points detected in the well by a line laser sensor and laser data carried by the laser points, wherein the laser data includes: angle and intensity of the laser; Performing edge detection on a plurality of laser points based on the laser data to obtain a plurality of edge points, wherein the edge points include: laser points where both the angle and the intensity of the laser are greater than a preset edge threshold; adjusting a rotation angle of the line laser sensor according to the plurality of edge points; determining the orientation of the pipeline based on the rotation angle; The adjusting the rotation angle of the line laser sensor according to the plurality of edge points includes: Determine whether the number of edge points is two; If there are two edge points, the average of the orientations of the two edge points is taken as the pipeline center orientation; If the number of the edge point is one, the laser point with the largest laser data among the other laser points is taken as the second edge point, and the average of the orientations of the two edge points is taken as the pipeline center orientation; The rotation angle of the line laser sensor is adjusted according to the orientation of the center of the pipeline.

2. The pipeline orientation measurement method according to claim 1, characterized in that: The step of acquiring a plurality of laser points detected in the well by the line laser sensor and laser data carried by the laser points includes: Control the emitting end of the line laser sensor to face the pipeline, and control the line laser sensor to descend at a uniform speed along the well direction to a preset height; Acquire a plurality of laser points detected by the line laser sensor during the period of descending from the wellhead to the preset height and the laser data carried by the laser points.

3. The pipeline orientation measurement method according to claim 2, characterized in that: Point the emitting end of the line laser sensor toward the pipeline and lower the line laser sensor along the shaft at a constant speed to a preset height, including: The line laser sensor is mounted on a rotatable device, the emission end of the line laser sensor is directed toward the pipeline, and the line laser sensor is lowered at a uniform speed along the shaft direction to a preset height by the rotatable device.

4. The pipeline orientation measurement method according to claim 1, characterized in that: The adjusting the rotation angle of the line laser sensor according to the center orientation of the pipeline includes: The rotation angle of the line laser sensor is adjusted according to the angle of the center orientation of the pipeline.

5. The pipeline orientation measurement method according to claim 4, characterized in that: The adjusting the rotation angle of the line laser sensor according to the angle of the pipeline center orientation includes: Determining the direction of the pipeline center relative to the line laser sensor according to the angle of the pipeline center; Rotate the line laser sensor in the direction and measure the angle between the laser and the center of the pipeline in real time; When the angle between the laser and the center of the pipeline is less than the preset angle threshold, the rotation is stopped and the rotation angle of the line laser sensor is recorded.

6. The pipeline orientation measurement method according to claim 1, characterized in that: Determining the pipeline orientation based on the rotation angle includes: The rotation angle is output as the azimuth angle of the pipeline orientation.

7. A pipeline orientation measuring device, characterized in that: include: A data acquisition module is used to acquire a number of laser points detected in the well by a line laser sensor and laser data carried by the laser points, wherein the laser data includes: angle and intensity of the laser; An edge detection module is configured to perform edge detection on a plurality of laser points based on the laser data to obtain a plurality of edge points, wherein the edge points include: laser points where both the angle and intensity of the laser are greater than a preset edge threshold; A rotation alignment module, configured to adjust a rotation angle of the line laser sensor according to the plurality of edge points; an orientation determination module, configured to determine the orientation of the pipeline based on the rotation angle; The adjusting the rotation angle of the line laser sensor according to the plurality of edge points includes: Determine whether the number of edge points is two; If there are two edge points, the average of the orientations of the two edge points is taken as the pipeline center orientation; If the number of the edge point is one, the laser point with the largest laser data among the other laser points is taken as the second edge point, and the average of the orientations of the two edge points is taken as the pipeline center orientation; The rotation angle of the line laser sensor is adjusted according to the orientation of the center of the pipeline.

8. An electronic device, characterized in that: include: Memory, used to store programs; A processor is coupled to the memory and is used to execute the program stored in the memory to implement the pipeline orientation measurement method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the pipeline orientation measurement method described in any one of claims 1 to 6.

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