Method, device, electronic equipment and storage medium for measuring pipeline height in well

Abstract

The present invention relates to a method, device, electronic device, and storage medium for measuring the height of a well pipe, belonging to the technical field of pipeline measurement. The method includes: performing a rough detection of the pipe top based on a data frame obtained by scanning the well pipe from a wellhead to a preset first height using a line laser sensor, and distance information carried by each laser point in the data frame, to obtain a second height of the pipe top in the well, wherein the distance information includes the distance from the laser point to the line laser sensor; performing a precise positioning of the pipe top based on the second height to obtain a third height of the pipe top in the well; positioning the pipe center based on the third height to obtain a fourth height of the pipe center in the well; and determining the height of the well pipe based on the third and fourth heights. The present invention effectively solves the problem of the difficulty in ensuring the accuracy and stability of measurement results in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline measurement, and in particular to a method, device, electronic equipment and medium for measuring the height of a pipeline in a well. Background Art

[0002] In the maintenance and management of pipeline projects, accurately measuring the height of the pipeline in the well, especially the height of the pipeline from the manhole cover, is of great significance for ensuring the normal operation of the pipeline system, intelligent management, preventing potential risks, and conducting safety inspections. For example, during intelligent management or maintenance, measuring the height information of the pipeline can help the intelligent robot move the camera to the specified position for observation, ensuring the smooth progress of the work. In addition, it also provides data support for the measurement of slope, etc.

[0003] Traditional methods for measuring pipeline heights primarily involve manual labor using tools such as tape measures and measuring rods. However, these methods have several drawbacks: manual measurement methods require significant human resources and are limited by the skills and experience of surveyors, making it difficult to guarantee the accuracy and stability of measurement results. Summary of the Invention

[0004] In view of this, it is necessary to provide a method, device, electronic equipment and medium for measuring the height of a pipeline in a well to solve the problem that the accuracy and stability of the measurement results of the existing technology are often difficult to guarantee.

[0005] In order to solve the above problems, the present invention provides a method for measuring the height of a pipeline in a well, comprising:

[0006] Based on a data frame obtained by scanning the pipeline in the well by a line laser sensor from the wellhead to a preset first height, and distance information carried by each laser point in the data frame, a rough detection of the upper edge of the pipeline is performed to obtain a roughly estimated second height of the upper edge of the pipeline in the well, wherein the distance information includes: the distance from the laser point to the line laser sensor;

[0007] Performing precise positioning of the upper edge of the pipeline based on the second height to obtain a third height of the upper edge of the pipeline in the well;

[0008] Positioning the center of the pipeline based on the third height to obtain a fourth height of the center of the pipeline in the well;

[0009] The height of the pipe in the well is determined based on the third height and the fourth height.

[0010] In one possible implementation, the method of performing rough detection of the pipeline top edge based on a data frame obtained by scanning the pipeline in the well by a line laser sensor from the wellhead to a preset first height, and distance information carried by each laser point in the data frame, includes:

[0011] When there is a laser point in the data frame that meets a preset first condition, the data frame is marked as a first data frame, and the height of the line laser sensor at this time is used as the second height, wherein the first condition includes: there are several consecutive laser points in a single data frame whose distance information is greater than a preset distance threshold, and the number of these laser points is greater than a preset number threshold.

[0012] In a possible implementation, before the step of locating the upper edge of the pipeline based on the rough detection result to obtain the height of the upper edge of the pipeline in the well, the method further includes:

[0013] According to the edge position of each laser point in the first data frame relative to the line laser sensor, the orientation of the line laser sensor is adjusted accordingly.

[0014] In a possible implementation, performing precise positioning of the upper edge of the pipeline based on the second height to obtain a third height of the upper edge of the pipeline in the well includes:

[0015] Step 1: Acquire a second data frame collected by the line laser sensor after moving up a certain distance at the second height;

[0016] Step 2: Determine whether the change in distance information of the second data frame compared to the first data frame reaches a preset change threshold; if so, proceed to step 4; if not, proceed to step 3;

[0017] Step 3: Update the second height to the height of the line laser sensor at this time, and return to step 1;

[0018] Step 4: Acquire a third data frame collected by the line laser sensor after it moves down a certain distance at the updated second height;

[0019] Step 5: Determine whether the change in distance information of the third data frame compared to the first data frame reaches a preset change threshold; if so, proceed to step 7; if not, proceed to step 6;

[0020] Step 6: Delete all the second heights recorded previously and re-perform the rough detection of the pipeline top edge;

[0021] Step 7: Output the height of the line laser sensor at this time as the third height of the upper edge of the pipeline in the well.

[0022] In a possible implementation, locating the center of the pipeline based on the third height to obtain a fourth height of the center of the pipeline in the well includes:

[0023] performing a rough detection of the pipeline center based on data frames obtained by scanning the pipeline in the well by the line laser sensor during the period of descending from the third height to the preset fifth height, and distance information carried by each laser point in the data frames, to obtain a rough estimate of the pipeline center at a sixth height in the well;

[0024] The center of the pipeline is precisely positioned based on the sixth height to obtain the fourth height of the center of the pipeline in the well.

[0025] In one possible implementation, performing rough detection of the pipeline center based on a data frame obtained by scanning the pipeline in the well by the line laser sensor during a period of descending from the third height to a preset fifth height, and distance information carried by each laser point in the data frame, includes:

[0026] Compare the distance information of the data frame at each sampling moment with the data frame at the previous sampling moment, and obtain the number of laser points with distance information changes in each data frame;

[0027] When the number of laser points with distance information changes in a data frame at a certain sampling moment is reduced compared to the previous sampling moment, the height of the line laser sensor at this sampling moment is recorded as the sixth height.

[0028] In a possible implementation, performing precise positioning of the pipeline center based on the sixth height to obtain a fourth height of the pipeline center in the well includes:

[0029] Step 1: Acquire a fourth data frame collected by the line laser sensor after moving up a certain distance at the sixth height;

[0030] Step 2: Determine whether the number of laser points with distance information changes in the fourth data frame has decreased compared to the previous sampling moment. If so, proceed to step 4; if not, proceed to step 3.

[0031] Step 3: Update the sixth height to the height of the linear laser sensor in the well at this time, and return to step 1;

[0032] Step 4: Output the height of the line laser sensor in the well at this time as the fourth height of the pipeline center in the well.

[0033] The present invention provides a device for measuring the height of a pipeline in a well, comprising:

[0034] A pipeline top coarse detection module is configured to perform coarse detection of the pipeline top based on a data frame obtained by scanning the pipeline in the well from the wellhead to a preset first height by a line laser sensor, and distance information carried by each laser point in the data frame, to obtain a rough estimate of the second height of the pipeline top in the well, wherein the distance information includes the distance from the laser point to the line laser sensor;

[0035] a pipeline upper edge precise positioning module, configured to precisely position the pipeline upper edge based on the second height to obtain a third height of the pipeline upper edge in the well;

[0036] The pipeline center height measurement module is used to locate the pipeline center based on the third height to obtain a fourth height of the pipeline center in the well.

[0037] The present invention also provides an electronic device, comprising:

[0038] Memory, used to store programs;

[0039] A processor is coupled to the memory and is used to execute the program stored in the memory to implement the method for measuring the height of a pipeline in a well as described in any one of the above method items.

[0040] 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 method for measuring the height of a well pipeline as described in any one of the above-mentioned method items.

[0041] The present invention provides a method for measuring the height of a pipeline in a well. First, the method utilizes the characteristics of a line laser to process information about the distance between the sensor and the pipeline and the well wall to achieve non-contact measurement. This method effectively avoids the operational inconvenience and potential measurement errors associated with traditional contact measurement. Second, the method rapidly locates the approximate position of the pipeline's top edge and center through coarse detection, and then uses a precise positioning step to further determine the precise position. This method effectively improves measurement stability and accuracy, thereby effectively resolving the difficulty in ensuring the accuracy and stability of measurement results in existing technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A flow chart of an embodiment of a method for measuring the height of a pipeline in a well provided by the present invention;

[0043] Figure 2 for Figure 1 A method flow chart of an embodiment of step S103;

[0044] Figure 3 for Figure 1 A method flow chart of an embodiment of step S104;

[0045] Figure 4 for Figure 3 A method flow chart of an embodiment of step S302;

[0046] Figure 5 A schematic structural diagram of an embodiment of a device for measuring the height of a well pipe provided by the present invention;

[0047] Figure 6 This is a structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] In order to solve the above problems, Figure 1 As shown, the present invention provides a method for measuring the height of a pipeline in a well, comprising:

[0053] S101, performing a rough detection of the upper edge of the pipeline based on a data frame obtained by scanning the pipeline in the well from the wellhead to a preset first height by a line laser sensor, and distance information carried by each laser point in the data frame, to obtain a roughly estimated second height of the upper edge of the pipeline in the well;

[0054] Specifically, the distance information includes: the distance from the laser point to the line laser sensor;

[0055] In a possible implementation, step S101 includes:

[0056] When there is a laser point that meets the preset first condition in the data frame, the data frame is marked as the first data frame, and the height of the line laser sensor at this time is used as the third height;

[0057] Preferably, the first condition includes: there are a number of consecutive laser points whose distance information is greater than a preset distance threshold in a single data frame, and the number of these laser points is greater than a preset number threshold.

[0058] S102, adjusting the orientation of the line laser sensor accordingly according to the position of each laser point in the first data frame relative to the edge of the line laser sensor;

[0059] It should be noted that the direction determination rules in this embodiment are as follows: there are a total of 160 line laser sampling points, with 80 sampling points equally spaced on the left and right sides. The variables left and right represent the cumulative number of points greater than a preset distance threshold. The left and right values ​​range from 0 to 80. The direction of movement is determined based on the absolute value (left - right) > 160 * 20%, whichever is greater.

[0060] S103, performing precise positioning of the upper edge of the pipeline based on the second height to obtain a third height of the upper edge of the pipeline in the well;

[0061] S104, positioning the center of the pipeline based on the third height to obtain a fourth height of the center of the pipeline in the well;

[0062] S105 . Determine the height of the pipeline in the well based on the third height and the fourth height.

[0063] Compared to existing technologies, the present invention provides a method for measuring the height of a wellbore pipeline. First, it utilizes the characteristics of a line laser to process the distance information between the sensor and the pipeline and the wellbore wall to achieve non-contact measurement. This method effectively avoids the operational inconvenience and measurement errors that may result from traditional contact measurement. Second, the present invention uses coarse detection to quickly locate the approximate position of the pipeline's top edge and center, and then uses a precise positioning step to further determine the precise position. This method effectively improves the stability and accuracy of the measurement, effectively solving the problem of the existing technology that often lacks the accuracy and stability of measurement results.

[0064] like Figure 2 In a possible implementation, step S103 includes:

[0065] S201, acquiring a second data frame collected by the line laser sensor after moving up a certain distance at a second height;

[0066] Preferably, the upward distance can be 1 cm.

[0067] S202, determining whether the change in distance information of the second data frame compared to the first data frame reaches a preset change threshold, if so, proceeding to step S204, if not, proceeding to step S203;

[0068] S203, updating the second height to the height of the line laser sensor at this time, and returning to step S201;

[0069] S204, acquiring a third data frame collected by the line laser sensor after it moves down a certain distance at the updated second height;

[0070] Preferably, the downward distance can be 5 cm.

[0071] As you can understand, the present invention uses an adaptive adjustment strategy. When precisely locating the top edge of a pipeline, the sensor's height is adjusted up and down, and the changes in laser distance data are observed to accurately locate the exact location of the top edge of the pipeline. This strategy improves measurement flexibility and accuracy.

[0072] S205: Determine whether the change in distance information of the third data frame compared to the first data frame reaches a preset change threshold. If so, proceed to step S207; if not, proceed to step S206;

[0073] S206, remove all the second heights recorded previously, and re-perform the rough detection of the pipeline upper edge;

[0074] S207: Output the height of the linear laser sensor at this moment as the third height of the upper edge of the pipeline in the well.

[0075] like Figure 3 In a possible implementation, step S104 includes:

[0076] S301, performing a rough detection of the pipeline center based on data frames obtained by scanning the pipeline in the well by the line laser sensor during a period of descending from a third height to a preset fifth height, and distance information carried by each laser point in the data frames, to obtain a rough estimate of the pipeline center at a sixth height in the well;

[0077] In a possible implementation, step S301 includes:

[0078] Compare the distance information of the data frame at each sampling moment with the data frame at the previous sampling moment, and obtain the number of laser points with distance information changes in each data frame;

[0079] When the number of laser points with distance information changes in a data frame at a certain sampling moment is reduced compared to the previous sampling moment, the height of the line laser sensor at this sampling moment is recorded as the sixth height.

[0080] S302: Perform precise positioning of the pipeline center based on the sixth height to obtain a fourth height of the pipeline center in the well.

[0081] like Figure 4In a possible implementation, step S302 includes:

[0082] S401, acquiring a fourth data frame collected by the line laser sensor after moving up a certain distance at the sixth height;

[0083] S402, determining whether the number of laser points with distance information changes in the fourth data frame is reduced compared to the previous sampling moment, if so, proceeding to S401, if not, proceeding to S403;

[0084] S403, updating the sixth height to the height of the linear laser sensor in the well at this time, and returning to S401;

[0085] S404: Output the height of the line laser sensor in the well at this moment as the fourth height of the pipeline center in the well.

[0086] like Figure 5 The present invention provides a device 50 for measuring the height of a pipeline in a well, comprising:

[0087] The pipeline top coarse detection module 510 is configured to perform coarse detection of the pipeline top based on data frames obtained by scanning the pipeline in the well from the wellhead to a preset first height using a line laser sensor, and distance information carried by each laser point in the data frames, to obtain a roughly estimated second height of the pipeline top in the well;

[0088] The pipeline top edge precise positioning module 520 is used to precisely position the pipeline top edge based on the second height to obtain a third height of the pipeline top edge in the well;

[0089] The pipeline center height measurement module 530 is used to locate the pipeline center based on the third height to obtain a fourth height of the pipeline center in the well.

[0090] like Figure 6 As shown, the present invention further provides an electronic device 60, comprising:

[0091] Memory 610, used for storing programs;

[0092] 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 method for measuring the height of a pipeline in a well as described in any one of the above embodiments.

[0093] 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.

[0094] 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 well pipe height measurement method of the present invention.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] In one embodiment, when the processor 620 executes the well pipe height measurement program in the memory 610, the following steps may be implemented:

[0099] Based on data frames obtained by scanning the pipeline in the well from the wellhead to a preset first height by a line laser sensor and distance information carried by each laser point in the data frame, a rough detection of the upper edge of the pipeline is performed to obtain a roughly estimated second height of the upper edge of the pipeline in the well;

[0100] According to the position of each laser point in the first data frame relative to the edge of the line laser sensor, the orientation of the line laser sensor is adjusted accordingly.

[0101] Based on the second height, the upper edge of the pipeline is precisely positioned to obtain a third height of the upper edge of the pipeline in the well;

[0102] The center of the pipeline is positioned based on the third height to obtain the fourth height of the center of the pipeline in the well.

[0103] 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).

[0104] 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 method for measuring the height of a well pipeline as described in any one of the above-mentioned method items.

[0105] 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.

[0106] The above is a detailed introduction to the well pipe height 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 of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for measuring the height of a pipeline in a well, characterized in that: include: When a laser point that meets a preset first condition exists in a data frame, the data frame is marked as a first data frame, and the height of the line laser sensor at this time is used as the second height, wherein the first condition includes: the presence of a plurality of consecutive laser points in a single data frame whose distance information is greater than a preset distance threshold, and the number of these laser points is greater than a preset number threshold, and the second height of the upper edge of the pipeline in the well is obtained, wherein the distance information includes: the distance from the laser point to the line laser sensor; Based on the second height, the upper edge of the pipeline is precisely positioned to obtain a third height of the upper edge of the pipeline in the well; Position the center of the pipeline based on the third height to obtain the fourth height of the pipeline center in the well; The height of the pipe in the well is determined based on the third height and the fourth height.

2. The method for measuring the height of a pipeline in a well according to claim 1, characterized in that: Before accurately positioning the upper edge of the pipeline based on the second height to obtain a third height of the upper edge of the pipeline in the well, the method further includes: According to the edge position of each laser point in the first data frame relative to the line laser sensor, the orientation of the line laser sensor is adjusted accordingly.

3. The method for measuring the height of a pipeline in a well according to claim 2, characterized in that: The method of performing precise positioning of the upper edge of the pipeline based on the second height to obtain a third height of the upper edge of the pipeline in the well includes: Step 1: Acquire a second data frame collected by the line laser sensor after moving up a certain distance at the second height; Step 2: Determine whether the change in distance information of the second data frame compared to the first data frame reaches a preset change threshold. If so, proceed to step 4; if not, proceed to step 3. Step 3: Update the second height to the height of the line laser sensor at this time, and return to step 1; Step 4: Acquire a third data frame collected by the line laser sensor after it moves down a certain distance at the updated second height; Step 5: Determine whether the change in distance information of the third data frame compared to the first data frame reaches a preset change threshold; if so, proceed to step 7; if not, proceed to step 6; Step 6: Delete all the second heights recorded previously and re-perform the rough detection of the pipeline top edge; Step 7: Output the height of the line laser sensor at this time as the third height of the upper edge of the pipeline in the well.

4. The method for measuring the height of a pipeline in a well according to claim 3, characterized in that: Positioning the center of the pipeline based on the third height to obtain a fourth height of the center of the pipeline in the well includes: performing a rough detection of the pipeline center based on data frames obtained by scanning the pipeline in the well by the line laser sensor during the period of descending from the third height to the preset fifth height, and distance information carried by each laser point in the data frames, to obtain a rough estimate of the pipeline center at a sixth height in the well; The center of the pipeline is precisely positioned based on the sixth height to obtain the fourth height of the center of the pipeline in the well.

5. The method for measuring the height of a pipeline in a well according to claim 4, characterized in that: The method of performing rough detection of the pipeline center based on a data frame obtained by scanning the pipeline in the well by the line laser sensor during the period of descending from the third height to the preset fifth height, and distance information carried by each laser point in the data frame, includes: Compare the distance information of the data frame at each sampling moment with the data frame at the previous sampling moment, and obtain the number of laser points with distance information changes in each data frame; When the number of laser points with distance information changes in a data frame at a certain sampling moment is reduced compared to the previous sampling moment, the height of the line laser sensor at this sampling moment is recorded as the sixth height.

6. The method for measuring the height of a pipeline in a well according to claim 4, characterized in that: The method of performing precise positioning of the pipeline center based on the sixth height to obtain a fourth height of the pipeline center in the well includes: Step 1: Acquire a fourth data frame collected by the line laser sensor after moving up a certain distance at the sixth height; Step 2: Determine whether the number of laser points with distance information changes in the fourth data frame has decreased compared to the previous sampling moment. If so, proceed to step 4; if not, proceed to step 3. Step 3: Update the sixth height to the height of the linear laser sensor in the well at this time, and return to step 1; Step 4: Output the height of the line laser sensor in the well at this time as the fourth height of the pipeline center in the well.

7. A device for measuring the height of a pipeline in a well, characterized in that: include: The pipeline top edge rough detection module is configured to mark a data frame as a first data frame when a laser point that meets a preset first condition exists in the data frame, and use the height of the line laser sensor at that time as a second height, wherein the first condition includes: the presence of a plurality of consecutive laser points in a single data frame whose distance information is greater than a preset distance threshold, and the number of these laser points is greater than a preset number threshold, thereby obtaining a roughly estimated second height of the pipeline top edge in the well, wherein the distance information includes: the distance from the laser point to the line laser sensor; a pipeline upper edge precise positioning module, configured to precisely position the pipeline upper edge based on the second height to obtain a third height of the pipeline upper edge in the well; The pipeline center height measurement module is used to locate the pipeline center based on the third height to obtain a fourth height of the pipeline center in the well.

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 method for measuring the height of a pipeline in a well as described in 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 method for measuring the height of a well pipeline as described in any one of claims 1 to 6.

Images