Pipeline material thickness measurement method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of drainage pipeline detection and repair, in particular to a pipeline material thickness measuring method and system, electronic equipment and a storage medium, and the method comprises the steps: respectively determining the pipe section diameters of all positions of a target pipeline before and after repair according to the point cloud data of the target pipeline before and after repair; and the pipeline material thickness of the target pipeline at any position is determined by comparing the diameter difference value of the front pipe section and the rear pipe section at any position until the pipeline material thickness of the target pipeline at each position is obtained. According to the method, the thickness of any position of the pipeline can be measured, so that the pipeline repairing effect is comprehensively and accurately evaluated, meanwhile, the detection efficiency can be improved, errors and limitation of manual measurement are reduced, and reliable data support is provided for the non-excavation pipeline repairing quality.

Description

Background Art

[0002] In the current drainage pipe inspection and repair industry, the quality effect inspection of trenchless repair pipes mainly relies on simple manual measurements at the inspection well mouth. The manual measurement method can usually only roughly evaluate the thickness of the repair material at the edge of the pipe at a limited inspection well location, and cannot accurately measure the material thickness at any longitudinal distance and any clock position of the pipe. Due to the complex internal structure of the drainage pipe and the fact that manual measurement is limited by the location and number of inspection wells, it is difficult to fully and accurately reflect the repair effect of the entire pipe, resulting in obvious blind spots and insufficient accuracy in pipeline inspection and repair quality assessment. Therefore, the existing measurement methods have great limitations in comprehensiveness and accuracy, and cannot meet the needs of refined evaluation of the quality effect of trenchless repair pipes.

[0003] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a pipeline material thickness measurement method, system, electronic equipment and storage medium.

[0005] In a first aspect, the present invention provides a method for measuring the thickness of a pipeline material, and the technical solution of the method is as follows:

[0006] Determine, according to first point cloud data corresponding to a pipeline contour of the target pipeline before repair, a first pipe segment diameter at different positions of the pipeline contour before repair;

[0007] Determine the diameter of the second pipe section at different positions of the repaired pipeline contour according to the second point cloud data corresponding to the pipeline contour of the target pipeline after the repair;

[0008] According to the data difference between the diameter of the first pipe section and the diameter of the second pipe section at any position, the pipe material thickness of the target pipe at any position is determined until the pipe material thickness of the target pipe at each position is obtained.

[0009] The beneficial effects of a pipeline material thickness measurement method of the present invention are as follows:

[0010] The method of the present invention can measure the thickness of any position of the pipeline, thereby achieving a comprehensive and accurate evaluation of the pipeline repair effect. At the same time, it can also improve the detection efficiency, reduce the errors and limitations of manual measurement, and provide reliable data support for the quality of trenchless pipeline repair.

[0011] Based on the above solution, the pipeline material thickness measurement method of the present invention can also be improved as follows.

[0012] In an optional manner, the step of determining the diameter of the first pipe section at different positions of the pipeline contour before repair according to the first point cloud data corresponding to the pipeline contour of the target pipeline before repair includes:

[0013] The first point cloud data at any position is fitted and calculated by using the least square method to obtain a first fitting circle diameter at the any position, and the first fitting circle diameter at the any position is determined as the first pipe section diameter at the any position.

[0014] In the above optional manner, the least square method is used for fitting calculation, so that the diameter of the pipeline at different positions can be accurately determined, thereby improving the accuracy of measurement. The least square method can minimize the error between the actual observation point and the ideal circle, thereby improving the reliability of the measurement result.

[0015] In an optional manner, the step of determining the diameter of the second pipe section at different positions of the repaired pipeline contour according to the second point cloud data corresponding to the repaired pipeline contour of the target pipeline includes:

[0016] The second point cloud data at any position is fitted and calculated by using the least square method to obtain the second fitting circle diameter at the any position, and the second fitting circle diameter at the any position is determined as the second pipe section diameter at the any position.

[0017] In the above optional manner, consistent with the first point cloud data processing method, the accuracy and reliability of the measurement of the pipe section diameter after repair are improved, providing a solid data basis for evaluating the repair effect.

[0018] In an optional manner, the method further includes:

[0019] The first point cloud data and the second point cloud data are acquired by a laser scanning crawler device.

[0020] In the above optional methods, the use of high-precision laser scanning crawler equipment can efficiently and accurately obtain the point cloud data of the inner wall of the pipeline. The laser scanning crawler can perform inspections without damaging the pipeline, which is suitable for the inspection needs of non-excavation pipeline repair. The laser scanning crawler equipment has a high degree of automation, which reduces the difficulty and risk of manual operation and improves the safety and efficiency of inspection.

[0021] In a second aspect, the present invention provides a pipeline material thickness measurement system, the technical solution of the system is as follows:

[0022] The pipeline material thickness measurement system comprises: a first measurement module, a second measurement module and a thickness calculation module;

[0023] The first measurement module is used to determine the first pipe section diameter at different positions of the pipeline contour before repair according to the first point cloud data corresponding to the pipeline contour of the target pipeline before repair;

[0024] The second measurement module is used to determine the diameter of the second pipe section at different positions of the repaired pipeline contour according to the second point cloud data corresponding to the pipeline contour of the target pipeline after repair;

[0025] The thickness calculation module is used to determine the pipe material thickness of the target pipe at any position according to the data difference between the first pipe section diameter and the second pipe section diameter at any position, until the pipe material thickness of the target pipe at each position is obtained.

[0026] The beneficial effects of a pipeline material thickness measurement system of the present invention are as follows:

[0027] The system of the present invention can measure the thickness of any position of the pipeline, thereby achieving a comprehensive and accurate evaluation of the pipeline repair effect. At the same time, it can also improve the detection efficiency, reduce the errors and limitations of manual measurement, and provide reliable data support for the quality of non-excavation pipeline repair.

[0028] Based on the above solution, the pipeline material thickness measurement system of the present invention can also be improved as follows.

[0029] In an optional manner, the first measurement module is specifically used to:

[0030] The first point cloud data at any position is fitted and calculated by using the least square method to obtain a first fitting circle diameter at the any position, and the first fitting circle diameter at the any position is determined as the first pipe section diameter at the any position.

[0031] In the above optional manner, the least square method is used for fitting calculation, so that the diameter of the pipeline at different positions can be accurately determined, thereby improving the accuracy of measurement. The least square method can minimize the error between the actual observation point and the ideal circle, thereby improving the reliability of the measurement result.

[0032] In an optional manner, the second measurement module is specifically used to:

[0033] The second point cloud data at any position is fitted and calculated by using the least square method to obtain the second fitting circle diameter at the any position, and the second fitting circle diameter at the any position is determined as the second pipe section diameter at the any position.

[0034] In the above optional manner, consistent with the first point cloud data processing method, the least squares method is used for fitting calculation to improve the accuracy and reliability of the measurement of the diameter of the pipe section after repair, providing a solid data basis for evaluating the repair effect.

[0035] In an optional manner, it further includes a data acquisition module, wherein the data acquisition module is used to:

[0036] The first point cloud data and the second point cloud data are acquired by a laser scanning crawler device.

[0037] In the above optional methods, the use of high-precision laser scanning crawler equipment can efficiently and accurately obtain the point cloud data of the inner wall of the pipeline. The laser scanning crawler can perform inspections without damaging the pipeline, which is suitable for the inspection needs of non-excavation pipeline repair. The laser scanning crawler equipment has a high degree of automation, which reduces the difficulty and risk of manual operation and improves the safety and efficiency of inspection.

[0038] In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0039] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the pipeline material thickness measurement method of the present invention are realized.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0041] The computer-readable storage medium stores instructions. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the pipeline material thickness measurement method of the present invention.

[0042] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0044] Figure 1 A schematic diagram of a process of an embodiment of a pipeline material thickness measurement method of the present invention;

[0045] Figure 2 A radar schematic diagram of the first point cloud data and the second point cloud data;

[0046] Figure 3 is the variation diagram of material thickness;

[0047] Figure 4 It is a structural schematic diagram of an embodiment of a pipeline material thickness measurement system of the present invention;

[0048] Figure 5 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0049] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0050] Figure 1 FIG. 1 is a flow chart of an embodiment of a method for measuring the thickness of a pipeline material provided by the present invention, and the method is executed by a controller. Figure 1 As shown, the following steps are included:

[0051] S1. Determine the first pipe segment diameters of the pipeline contour before repair at different positions according to the first point cloud data corresponding to the pipeline contour of the target pipeline before repair. In S1:

[0052] 1) The target pipeline refers to the pipeline that needs to be repaired and the material thickness measurement. The target pipeline is the object of the entire measurement process, and all measurements and calculations are performed around the target pipeline. The status of the target pipeline before and after repair is recorded and analyzed through point cloud data to evaluate the repair effect and measure the material thickness.

[0053] 2) Pipeline profile refers to the cross-sectional shape of the inner wall of the target pipeline, which is obtained by laser scanning and other methods. The pipeline profile reflects the geometric characteristics of the inner wall of the pipeline. By analyzing the pipeline profile, the diameter, shape and deformation of the pipe section can be determined. The pipeline profile is the basic data for calculating the diameter of the pipe section.

[0054] 3) The first point cloud data refers to the three-dimensional coordinate data set of the inner wall of the target pipeline obtained by laser scanning crawlers and other equipment before the repair of the target pipeline. The first point cloud data is used to describe the internal contour of the target pipeline before the repair. The diameter of the pipe section before the repair can be calculated through the first point cloud data, and provide benchmark data for subsequent comparison after the repair.

[0055] 4) The first pipe section diameter refers to the diameter of the cross-sectional circle at a specific location of the target pipe before repair. The first pipe section diameter is obtained by fitting the first point cloud data. The first pipe section diameter is used to represent the size of the pipe at different locations before repair. By comparing the diameter changes at the same location before and after repair, the pipe material thickness at the corresponding location can be calculated.

[0056] Specifically, the controller determines the first pipe segment diameters of the pipeline contour before repair at different positions according to the first point cloud data corresponding to the pipeline contour of the target pipeline before repair.

[0057] S2. Determine the diameter of the second pipe section at different positions of the repaired pipeline contour according to the second point cloud data corresponding to the repaired pipeline contour of the target pipeline. In S2:

[0058] 1) The second point cloud data refers to the three-dimensional coordinate data set of the inner wall of the target pipeline obtained by laser scanning crawlers and other equipment after the target pipeline is repaired. The second point cloud data is used to describe the internal contour of the target pipeline after repair. The diameter of the repaired pipe section can be calculated through the second point cloud data and compared with the data before repair to evaluate the repair effect and measure the material thickness.

[0059] 2) The second pipe segment diameter refers to the diameter of the cross-section circle at a specific location of the target pipe after repair. The second pipe segment diameter is obtained by fitting the second point cloud data. The second pipe segment diameter is used to represent the size of the pipe at different locations after repair. By comparing it with the first pipe segment diameter, the pipe material thickness at the corresponding location can be calculated to evaluate the impact of the repair on the pipe wall thickness.

[0060] Specifically, the controller further determines the second pipe segment diameter of the repaired pipeline contour at different positions according to the second point cloud data corresponding to the repaired pipeline contour of the target pipeline.

[0061] S3, determining the pipe material thickness of the target pipe at any position according to the data difference between the diameter of the first pipe section and the diameter of the second pipe section at any position, until the pipe material thickness of the target pipe at each position is obtained, in S3:

[0062] 1) Pipeline material thickness refers to the wall thickness of the target pipeline at a specific location, that is, the difference between the diameter of the pipe section before and after repair. Pipeline material thickness is a key indicator for evaluating the effect of pipeline repair. By measuring the material thickness at different locations, we can fully understand the impact of the repair on the pipeline wall, ensure the quality of the repair, and provide data support for subsequent maintenance.

[0063] Specifically, the controller further determines the pipe material thickness of the target pipe at any position according to the data difference between the first pipe section diameter and the second pipe section diameter at any position, until the pipe material thickness of the target pipe at each position is obtained.

[0064] The technical solution of this embodiment can measure the thickness of the pipeline at any position, thereby realizing a comprehensive and accurate evaluation of the pipeline repair effect. At the same time, it can also improve the detection efficiency, reduce the errors and limitations of manual measurement, and provide reliable data support for the quality of trenchless pipeline repair.

[0065] In an optional manner, the step of determining the diameter of the first pipe section at different positions of the pipeline contour before repair according to the first point cloud data corresponding to the pipeline contour of the target pipeline before repair includes:

[0066] The first point cloud data at any position is fitted and calculated by using the least square method to obtain a first fitting circle diameter at the any position, and the first fitting circle diameter at the any position is determined as the first pipe section diameter at the any position.

[0067] The step of determining the diameter of the second pipe section at different positions of the repaired pipeline contour according to the second point cloud data corresponding to the repaired pipeline contour of the target pipeline comprises:

[0068] The second point cloud data at any position is fitted and calculated by using the least square method to obtain the second fitting circle diameter at the any position, and the second fitting circle diameter at the any position is determined as the second pipe section diameter at the any position.

[0069] In this embodiment, first, the first point cloud data at any position of the target pipeline before repair and the second point cloud data at the same position before and after repair of the target pipeline are opened by the PipeProf analysis software, and then Figure 2 The outer circle represents the pipeline contour before repair corresponding to the first point cloud data, and the inner circle represents the pipeline contour after repair corresponding to the second point cloud data. Therefore, the distance (i.e., material thickness) between the pipeline contours before and after repair at any clock position can be measured using a measuring device or a measuring tool.

[0070] Furthermore, the first point cloud data and the second point cloud data are selected in the PipeProf analysis software, and a radar chart is generated. The radar chart can display the profile of the target pipe in different angle directions (distance-angle relationship diagram). At this time, the distance value in a specific angle direction can be measured on the radar chart using a measuring tool to preliminarily understand the pipe profile and material thickness in the current angle direction.

[0071] Then, the least squares method is used through the PipeProf analysis software to fit the first point cloud data before repair and the second point cloud data after repair, so as to calculate the center and diameter of the first fitting circle and the second fitting circle respectively, and determine the diameter of the first fitting circle as the diameter of the first pipe section, and the diameter of the second fitting circle as the diameter of the second pipe section.

[0072] The purpose of using the least squares method to calculate the fitting circle is to find the best fitting circle through mathematical methods, so as to obtain the center coordinates and radius of the best fitting circle. Furthermore, the fitting circle determines the center and radius of the best fitting circle by minimizing the error between any point in the point cloud data and the fitting circle.

[0073] The pipeline outline representing any point cloud data can be expressed by the equation of a circle: R 2 =(xA) 2 +(yB) 2 ;

[0074] Where R is the radius, A is the horizontal coordinate of the center of the circle, B is the vertical coordinate of the center of the circle, x is the horizontal coordinate variable on the plane, and y is the vertical coordinate variable on the plane. Therefore, the coordinates of the center of the circle can be expressed as (A, B). The equation of the circle is expanded to: R 2 =x 2 -2Ax+A 2 +y 2 -2By+B 2 ;

[0075] Let a = -2A, b = -2B, c = A 2 +B 2 -R 2 ; then the expression is expanded again to: -ax-by-c=x 2 +y 2 ; where a is the coefficient of the linear term related to x, b is the coefficient of the linear term related to y, and c is the constant term in the equation.

[0076] Therefore, the equation of the circle can be expressed in matrix form with K*v=w:

[0077]

[0078] Then, we can use v = (K T ·K) -1 ·K T w, get the values ​​of a, b and c, and finally get the radius R and the coordinates of the center of the circle (A, B), so that the first fitting circle diameter and the second fitting circle diameter can be obtained, thereby determining the first pipe section diameter and the second pipe section diameter. Where K represents a matrix, v represents the input vector, and w represents the result vector obtained after the matrix K acts on the vector v.

[0079] Finally, the material thickness of different target pipe distance positions was calculated by PipeProf analysis software (material thickness = diameter of the first pipe section before repair - diameter of the second pipe section after repair), and the following diagrams were drawn by PipeProf analysis software: Figure 3 The relationship diagram between the target pipe distance position and the material thickness is shown, that is, the material thickness variation diagram.

[0080] Specifically, the controller further uses the least squares method to perform fitting calculations on the first point cloud data and the second point cloud data at any position to obtain a first fitting circle diameter and a second fitting circle diameter, and determines the first fitting circle diameter as the first pipe segment diameter and the second fitting circle diameter as the second pipe segment diameter.

[0081] In an optional manner, the method further includes:

[0082] The first point cloud data and the second point cloud data are acquired by a laser scanning crawler device.

[0083] In this embodiment, before the target pipeline is repaired, the target pipeline to be repaired is inspected once using the X5-HT5 high-precision laser scanning crawler device. Before the inspection, the pipeline is desilted, and the crawler is controlled to crawl at a low speed in the target pipeline through the acquisition control software, so as to collect video data and point cloud data (pipeline contour). The point cloud data of any distance position is obtained by scanning one circle of the X5-HT5 high-precision laser scanning crawler device equipped with a laser ranging sensor. The laser ranging sensor collects 800 points in one rotation, that is, a distance value is recorded every 0.45 degrees. The frequency of collecting one circle can be preset, and the fastest is 4 circles in 1 second. The point cloud data measured before repair is the first point cloud data.

[0084] After the target pipeline is repaired, repeat the inspection again with the same steps as before the repair, ensuring that data is collected from the same starting point as before the repair, and the end point is also consistent, and record the point cloud data of the same pipeline position interval as before the repair. The point cloud data measured again is the second point cloud data.

[0085] Specifically, the controller further acquires the first point cloud data and the second point cloud data through a laser scanning crawler device.

[0086] Figure 4 FIG. 2 is a schematic diagram showing a structure of an embodiment of a pipeline material thickness measurement system 200 provided by the present invention. Figure 4 As shown, the system 200 includes: a first measurement module 210 , a second measurement module 220 and a thickness calculation module 230 .

[0087] The first measurement module 210 is used to: determine the first pipe section diameter at different positions of the pipeline contour before repair according to the first point cloud data corresponding to the pipeline contour of the target pipeline before repair;

[0088] The second measurement module 220 is used to determine the diameter of the second pipe section at different positions of the repaired pipeline contour according to the second point cloud data corresponding to the pipeline contour of the target pipeline after repair;

[0089] The thickness calculation module 230 is used to determine the pipe material thickness of the target pipe at any position according to the data difference between the first pipe section diameter and the second pipe section diameter at any position, until the pipe material thickness of the target pipe at each position is obtained.

[0090] In an optional manner, the first measurement module is specifically used to:

[0091] The first point cloud data at any position is fitted and calculated by using the least square method to obtain a first fitting circle diameter at the any position, and the first fitting circle diameter at the any position is determined as the first pipe section diameter at the any position.

[0092] In an optional manner, the second measurement module is specifically used to:

[0093] The second point cloud data at any position is fitted and calculated by using the least square method to obtain the second fitting circle diameter at the any position, and the second fitting circle diameter at the any position is determined as the second pipe section diameter at the any position.

[0094] In an optional manner, it further includes a data acquisition module, wherein the data acquisition module is used to:

[0095] The first point cloud data and the second point cloud data are acquired by a laser scanning crawler device.

[0096] The technical solution of this embodiment can measure the thickness of the pipeline at any position, thereby realizing a comprehensive and accurate evaluation of the pipeline repair effect. At the same time, it can also improve the detection efficiency, reduce the errors and limitations of manual measurement, and provide reliable data support for the quality of trenchless pipeline repair.

[0097] The above parameters and steps for each module to implement corresponding functions in the pipeline material thickness measurement system 200 of this embodiment can refer to the parameters and steps in the embodiment of the pipeline material thickness measurement method above, and will not be repeated here.

[0098] like Figure 5As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above-mentioned pipeline material thickness measurement methods, specifically:

[0099] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein at least one computer program 330 is stored in the one or more memories 310, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements any one of the pipeline material thickness measurement methods provided in the above embodiments. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for implementing device functions, which will not be described in detail here.

[0100] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above-mentioned pipeline material thickness measurement methods.

[0101] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0102] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above-mentioned pipeline material thickness measurement methods.

[0103] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0104] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0105] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0106] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for measuring the thickness of a pipeline material, characterized in that: include: Determine, according to first point cloud data corresponding to a pipeline contour of the target pipeline before repair, a first pipe segment diameter at different positions of the pipeline contour before repair; Determine the diameter of the second pipe section at different positions of the repaired pipeline contour according to the second point cloud data corresponding to the pipeline contour of the target pipeline after the repair; According to the data difference between the diameter of the first pipe section and the diameter of the second pipe section at any position, the pipe material thickness of the target pipe at any position is determined until the pipe material thickness of the target pipe at each position is obtained.

2. The method for measuring the thickness of pipeline materials according to claim 1, characterized in that: The step of determining the diameter of the first pipe section at different positions of the pipeline contour before repair according to the first point cloud data corresponding to the pipeline contour of the target pipeline before repair comprises: The first point cloud data at any position is fitted and calculated by using the least square method to obtain a first fitting circle diameter at the any position, and the first fitting circle diameter at the any position is determined as the first pipe section diameter at the any position.

3. The method for measuring the thickness of pipeline material according to claim 1, characterized in that: The step of determining the diameter of the second pipe section at different positions of the repaired pipeline contour according to the second point cloud data corresponding to the repaired pipeline contour of the target pipeline comprises: The second point cloud data at any position is fitted and calculated by using the least square method to obtain the second fitting circle diameter at the any position, and the second fitting circle diameter at the any position is determined as the second pipe section diameter at the any position.

4. The method for measuring the thickness of pipeline material according to claim 1, characterized in that: Also includes: The first point cloud data and the second point cloud data are acquired by a laser scanning crawler device.

5. A pipeline material thickness measurement system, characterized in that: include: A first measuring module, a second measuring module and a thickness calculating module; The first measurement module is used to determine the first pipe section diameter at different positions of the pipeline contour before repair according to the first point cloud data corresponding to the pipeline contour of the target pipeline before repair; The second measurement module is used to determine the diameter of the second pipe section at different positions of the repaired pipeline contour according to the second point cloud data corresponding to the pipeline contour of the target pipeline after repair; The thickness calculation module is used to determine the pipe material thickness of the target pipe at any position according to the data difference between the first pipe section diameter and the second pipe section diameter at any position, until the pipe material thickness of the target pipe at each position is obtained.

6. The pipeline material thickness measurement system according to claim 5, characterized in that: The first measurement module is specifically used for: The first point cloud data at any position is fitted and calculated by using the least square method to obtain a first fitting circle diameter at the any position, and the first fitting circle diameter at the any position is determined as the first pipe section diameter at the any position.

7. The pipeline material thickness measurement system according to claim 5, characterized in that: The second measurement module is specifically used for: The second point cloud data at any position is fitted and calculated by using the least square method to obtain the second fitting circle diameter at the any position, and the second fitting circle diameter at the any position is determined as the second pipe section diameter at the any position.

8. The pipeline material thickness measurement system according to claim 5, characterized in that: It also includes a data acquisition module, which is used to: The first point cloud data and the second point cloud data are acquired by a laser scanning crawler device.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the pipeline material thickness measurement method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor, so that the computer-readable storage medium implements the pipeline material thickness measurement method according to any one of claims 1 to 4.

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