Pipeline miter elbow angle measuring device and method, medium and program product

Abstract

The invention discloses a pipeline miter elbow angle measuring device and method, a medium and a program product. The measuring device comprises a moving mechanism which can be attached to the outer wall face, located on one side of a miter joint circumferential weld, of a pipeline and move in the circumferential direction of the outer wall face of the pipeline; the distance measuring mechanism is arranged on the moving mechanism and can measure the distance from the moving mechanism to the miter joint circumferential weld of the pipeline in real time; the control module is in communication connection with the moving mechanism and / or the distance measuring mechanism so as to control the moving mechanism to move around the pipeline, the maximum distance and the minimum distance from the moving mechanism to the miter joint circumferential weld of the pipeline are extracted according to the distance measured by the distance measuring mechanism, and the miter joint elbow angle of the pipeline is calculated. According to the technical scheme, the angle of the miter joint elbow of the pipeline can be accurately detected, and the problems of difficulty in orientation, complicated operation, low measurement efficiency and the like in field excavation verification of miter joint angle detection of the pipeline in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of long-distance oil and gas pipeline detection and excavation verification, and in particular to a pipeline miter elbow angle measurement device, method, medium and program product. Background Art

[0002] At present, domestic long-distance oil and gas pipelines are generally buried underground. Currently, pipeline defects / features are mainly identified and quantified through in-pipeline inspection. Pipeline geometric in-pipe inspection can detect and quantify the angle of the miter elbow, but the quantification accuracy can only be verified by measuring after the pipeline is excavated. The current verification measurement method is to directly measure the angle with an angle ruler. This method has the following disadvantages: (1) It is difficult to accurately determine the bending direction of the miter elbow of the pipeline after excavation, that is, it is difficult to find the maximum angle position of the pipeline and it is also difficult to align it with the axial direction of the pipeline; (2) There is excess height in the miter ring weld of the pipeline, which will raise the angle ruler and reduce the measurement angle; (3) The measurement efficiency is low, and multiple positions must be measured repeatedly to confirm the maximum angle.

[0003] Chinese Patent Application No.: CN201611107386.1 discloses a "Method and Device for Determining Miter Features". This method determines the miter features and angles by comparing the straight pipe section signal and the miter pipe section signal, and has the problem of unverified measurement accuracy. Chinese Patent Application No.: CN202210617499.5 discloses a "Method and Device for Detecting Pipeline Miter Angles". This method uses a leakage magnetic internal detector to collect leakage magnetic curve samples of different miter angles in the pipeline, and combines a convolutional neural network model to identify and quantify the miter angles. It is still based on the internal detection signal for analysis, and the detection accuracy is unverified. The present invention aims to solve the problems of existing pipeline miter angle detection methods, such as the difficulty in verifying detection accuracy, difficulty in determining orientation during on-site excavation verification, complicated operations, and low measurement efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a pipe miter elbow angle measurement device, method, medium and program product to solve the problems of difficulty in detecting and identifying the internal detection and quantitative accuracy verification of pipe miter angles in the prior art, while also overcoming the problems of difficult orientation, complicated operation and low measurement efficiency in on-site excavation verification of pipe miter angle detection.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, some embodiments of the present invention provide a device for measuring the angle of a pipe miter elbow, the device comprising:

[0007] a moving mechanism capable of being attached to an outer wall surface of the pipe on one side of the miter ring weld and circumferentially moving around the outer wall surface of the pipe;

[0008] a distance measuring mechanism, the distance measuring mechanism being arranged on the moving mechanism and capable of measuring the distance from the moving mechanism to the miter ring weld of the pipeline in real time;

[0009] a control module, the control module being in communication with the moving mechanism and / or the distance measuring mechanism to control the movement of the moving mechanism around the pipeline, and extracting a maximum distance and a minimum distance from the moving mechanism to the miter girth weld of the pipeline based on the distance measured by the distance measuring mechanism, and calculating a miter elbow angle of the pipeline;

[0010] The control module calculates the miter elbow angle of the pipeline using the following formula:

[0011]

[0012] Wherein, D is the diameter of the pipe, in mm; θ is the angle of the miter elbow of the pipe, in degrees; L max L is the maximum distance from the mobile mechanism to the miter ring weld of the pipeline, in mm; min The minimum distance from the moving mechanism to the miter ring weld of the pipeline, in mm.

[0013] In a possible implementation of the first aspect, the moving mechanism includes a main body, a magnetic wheel and a power unit, the main body is provided with an output shaft that drives the magnetic wheel to rotate, the magnetic wheel can be magnetically adsorbed on the outer wall surface of the pipe, and the power unit is arranged in the main body and drives the output shaft to rotate.

[0014] In a possible implementation of the first aspect, the distance measuring mechanism includes a distance measuring unit, an automatic telescopic unit, and an automatic positioning unit. The distance measuring unit is arranged on the mobile mechanism, and the automatic positioning unit can automatically locate the central axis of the miter ring weld. One end of the automatic telescopic unit is connected to the distance measuring unit, and the other end is connected to the automatic positioning unit. The distance measuring unit can measure the length of the automatic telescopic unit in real time to obtain the distance from the mobile mechanism to the miter ring weld of the pipeline.

[0015] In a possible implementation of the first aspect, the ranging mechanism includes two groups of automatic telescopic units, the ranging unit is arranged at a center position on the moving mechanism, and the two groups of automatic telescopic units are symmetrically arranged on opposite sides of the ranging unit.

[0016] In a possible implementation manner of the first aspect, the measuring device further includes a marking component, which is provided on the moving mechanism and can mark a trajectory of the moving mechanism moving on the outer wall surface of the pipe.

[0017] In a second aspect, some embodiments of the present invention provide a method for measuring the angle of a pipe miter elbow, the method comprising the steps of:

[0018] S1: adsorbing the moving mechanism onto the outer wall surface of the pipeline, and the moving mechanism does not contact the miter ring weld of the pipeline during the process of moving around the pipeline;

[0019] S2: Adjust the distance measuring mechanism so that it is positioned directly above the central axis of the miter ring weld and automatically locked;

[0020] S3: The control module starts the movement of the moving mechanism along the circumference of the pipeline and measures the distance from the moving mechanism to the miter ring weld in real time, automatically plots the distance into a clock position-distance curve, extracts the maximum and minimum distances from the moving mechanism to the miter ring weld, and automatically calculates the miter elbow angle of the pipeline.

[0021] In a possible implementation of the second aspect, the method further includes step S4:

[0022] Check whether the moving trajectory of the moving mechanism is connected end to end and determine whether the measurement result is accurate.

[0023] In a possible implementation of the second aspect, checking whether the moving trajectory of the moving mechanism is connected end to end and determining whether the measurement result is accurate includes:

[0024] If the moving trajectory of the moving mechanism is connected end to end, it means that the movement of the moving mechanism has not deviated during the measurement process, and the measurement result of the miter elbow angle of the pipeline is accurate;

[0025] If the moving trajectory of the moving mechanism is not connected end to end, it means that the movement of the moving mechanism is offset during the measurement process, and the measurement result of the miter elbow angle of the pipeline is inaccurate, and re-measurement is required until the moving trajectory of the moving mechanism is connected end to end.

[0026] In a third aspect, some embodiments of the present invention provide a computer-readable storage medium storing computer instructions, which are used to enable a processor to implement the pipe miter elbow angle measurement method described in any embodiment of the present invention when executed.

[0027] In a fourth aspect, some embodiments of the present invention provide a computer program product, comprising a computer program, which, when executed by a processor, implements the pipe miter elbow angle measurement method described in any embodiment of the present invention.

[0028] The technical solution of the embodiment of the present invention is to set the pipeline miter elbow angle measuring device on the outer wall surface of the pipeline, so that the mobile mechanism of the pipeline miter elbow angle measuring device is attached to the outer wall surface of the pipeline on the side of the miter ring weld and moves circumferentially around the outer wall surface of the pipeline; the distance measuring mechanism set on the mobile mechanism measures the distance from the mobile mechanism to the miter ring weld of the pipeline in real time; and the movement of the mobile mechanism around the pipeline is controlled by a control module connected to the mobile mechanism and / or the distance measuring mechanism, and the maximum and minimum distances from the mobile mechanism to the miter ring weld of the pipeline are extracted according to the distance measured by the distance measuring mechanism, and the miter elbow angle of the pipeline is calculated, so that the miter elbow angle of the pipeline can be accurately detected, solving the problems of difficult orientation, complicated operation, low measurement efficiency, etc. in the field excavation verification of pipeline miter angle detection in the prior art. In addition, the technical solution of the embodiment of the present invention also has the following effects:

[0029] (1) Different detection service providers and different detectors have different recognition and quantification accuracy. The present invention solves the existing internal detection recognition and quantification accuracy verification problems.

[0030] (2) Instead of directly measuring the angle, the pipe miter angle can be easily measured through the measuring device and method applied by the company itself, with a high degree of automation and full visualization.

[0031] (3) The measuring device and method of the present invention can be directly used to measure and verify the angle of the above-ground miter pipes, and has a wide range of applications.

[0032] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic structural diagram of a pipeline including a miter girth weld provided in some embodiments of the present invention;

[0035] Figure 2 A schematic structural diagram of a moving mechanism and a distance measuring mechanism provided in some embodiments of the present invention;

[0036] Figure 3A schematic diagram of a miter elbow angle measuring device for measuring the miter angle of a pipe provided by some embodiments of the present invention;

[0037] Figure 4 A schematic diagram of a miter elbow angle calculation principle provided by some embodiments of the present invention;

[0038] Figure 5 A schematic flow chart of a method for measuring the angle of a miter elbow provided in some embodiments of the present invention;

[0039] Figure 6 A graph showing the distance from the central axis of a moving mechanism to the central axis of a miter ring weld during measurement of the miter angle of a pipe elbow with a miter angle of 5° is provided in some embodiments of the present invention. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "up", "down", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0044] Figure 1Schematic diagram of the structure of a pipeline including a miter ring weld provided for some embodiments of the present invention. To facilitate production and transportation, pipelines are usually produced in factories with certain diameters, wall thicknesses, and lengths. During on-site installation, the construction unit assembles a certain length of pipeline by welding to form a long-distance pipeline. Figure 1 The pipeline 1 including the miter ring weld 1a includes a first pipeline 1b and a second pipeline 1c connected by the miter ring weld 1a. The first pipeline 1b and the second pipeline 1c are symmetrically arranged relative to the plane where the miter ring weld 1a is located. For example, referring to Figure 4 The surface where the miter ring weld 1a is located is used as the dividing line, and the first pipeline 1b and the second pipeline 1c are symmetrically arranged on the left and right sides of the dividing line.

[0045] Reference Figures 2 to 4 The embodiment of the present invention provides a device 2 for measuring the angle of a pipe miter elbow, comprising a moving mechanism 21, a distance measuring mechanism 22, and a control module 23. The moving mechanism 21 can be attached to the outer wall of the pipe 1 on one side of the miter ring weld 1a, that is, on the outer wall of the first pipe 1b or the second pipe 1c. For example, Figure 3 As shown, the movable mechanism 21 is attached to the outer wall of the first pipe 1. The movable mechanism 21 is capable of circumferentially moving around the outer wall of the pipe 1. Specifically, the movable mechanism 21 is capable of moving around the axis of the first pipe 1b or the second pipe 1c on the outer wall of the first pipe 1b or the second pipe 1c. Because the pipes 1 are connected by welding, they are typically made of pipeline steel, a material that can be magnetically attracted.

[0046] The distance measuring mechanism 22 is mounted on the moving mechanism 21 and is capable of measuring the distance between the moving mechanism 21 and the miter ring weld 1a of the pipeline 1 in real time. Specifically, the distance can be the distance from the side of the moving mechanism 21 closest to the miter ring weld 1a to the center axis of the miter ring weld 1a. Alternatively, the distance can be the distance from the center axis of the moving mechanism 21 to the center axis of the miter ring weld 1a.

[0047] The control module 23 can be communicatively connected to the mobile mechanism 21 and / or the distance measuring mechanism 22. For example, the control module 23 can be simultaneously connected to the mobile mechanism 21 and the distance measuring mechanism 22 for communication. Of course, the control module 23 can also be directly connected to one of the mobile mechanism 21 and the distance measuring mechanism 22, and indirectly connected to the other of the mobile mechanism 21 and the distance measuring mechanism 22. For example, the control module 23 can be directly connected to the mobile mechanism 21, which in turn is connected to the distance measuring mechanism 22. In other words, the control module 23 is indirectly connected to the distance measuring mechanism 22. Of course, the control module 23 can be directly connected to the distance measuring mechanism 22, which in turn is connected to the mobile mechanism 21. In other words, the control module 23 is indirectly connected to the mobile mechanism 21. The control module 23 can control the mobile mechanism 21 so that the mobile mechanism 21 can move around the outer wall of the pipeline 1 around the axis of the pipeline 1. Furthermore, the control module 23 can also extract the maximum and minimum distances between the mobile mechanism 21 and the miter ring weld 1a of the pipeline 1 based on the distance data measured in real time by the distance measuring mechanism 22, thereby calculating the miter elbow angle of the pipeline 1. For example, the control module 23 can include a data storage and analysis system, which extracts the maximum and minimum distances between the mobile mechanism 21 and the miter ring weld 1a of the pipeline 1 based on the distance measured in real time by the distance measuring mechanism 22, and automatically calculates the miter elbow angle of the pipeline 1. In one example, Figure 3 As shown, the control module 23 may be a computer in which a data storage and analysis system is stored.

[0048] Figure 4 Schematic diagram of the miter elbow angle calculation principle provided in some embodiments of the present invention.

[0049] Reference Figure 4 Assuming that the angle of the miter elbow of the pipe 1, that is, the miter elbow angle between the first pipe 1b and the second pipe 1c, is θ, and the angle between the first pipe 1b or the second pipe 1c and the miter ring weld is X, then X+X+θ=180°, and X=90°-θ / 2. Since the trajectory line 3 of the moving mechanism is perpendicular to the axis of the first pipe 1b and forms the following Figure 4 The right triangle shown in FIG. 1 shows that the acute angle between the trajectory line 3 and the miter ring weld 1a is θ / 2, and the following calculation formula can be obtained:

[0050]

[0051] Deformation can be obtained

[0052] Wherein, D is the diameter of the pipe, in mm; θ is the angle of the miter elbow of the pipe, in degrees; L max L is the maximum distance from the mobile mechanism to the miter ring weld of the pipeline, in mm;min The minimum distance from the moving mechanism to the miter ring weld of the pipeline, in mm.

[0053] Continue to refer to Figure 2 The moving mechanism 21 includes a main body 211, a magnetic wheel 212, and a power unit (not shown). The main body 211 is provided with an output shaft 213 that drives the magnetic wheel 212 to rotate. The magnetic wheel 212 can be magnetically attracted to the outer wall surface of the pipe 1. For example, the magnetic wheel 212 can be made of a permanent magnet and can be attracted to the surface of the pipe 1, moving in a circumferential and single direction on the outer surface of the pipe 1. The magnetic wheel 212 can be set to have no angular freedom to prevent deviation. The power unit is set in the main body 211 and drives the output shaft 213 to rotate.

[0054] In one embodiment, the power unit may include a battery (not shown) and a motor (not shown). The battery supplies power to the motor to rotate the motor, thereby driving the output shaft 213 to rotate, thereby driving the magnetic wheel 212 to rotate and move on the outer wall of the pipe 1. However, the power unit may also be provided in other suitable ways.

[0055] The distance measuring mechanism 22 includes a distance measuring unit 221, an automatic telescopic unit 222, and an automatic positioning unit 223. The distance measuring unit 221 is disposed on the mobile mechanism 21. For example, the distance measuring unit 221 can be disposed in the middle of the main body 211 of the mobile mechanism 21. The automatic positioning unit 223 can automatically locate the central axis of the miter ring weld 1a. For example, the automatic positioning unit 223 can be an automatic zoom positioning camera. One end of the automatic telescopic unit 222 is connected to the distance measuring unit 221, and the other end is connected to the automatic positioning unit 223. The distance measuring unit 221 can measure the length of the automatic telescopic unit 222 in real time to obtain the distance from the mobile mechanism 21 to the miter ring weld 1a of the pipeline 1.

[0056] In one embodiment, the distance measuring mechanism 22 may include two sets of automatic telescopic units 222. The distance measuring unit 221 is provided at the center of the main body 211 of the mobile mechanism 21. The two sets of automatic telescopic units 222 are symmetrically provided on opposite sides of the distance measuring unit 221. For example, the two sets of automatic telescopic units 222 are arranged in a direction perpendicular to the central axis of the mobile mechanism 21 (i.e., Figure 2 By setting two groups of automatic telescopic units 222, the automatic positioning unit 223 can be selectively connected to one of the groups of automatic telescopic units 222 according to measurement needs. Of course, two groups of automatic positioning units 223 can also be set to be connected to two groups of automatic telescopic units 222 respectively. Figure 2 As shown, during the measurement process, one group of automatic telescopic units 222 may be in an extended state, while another group of automatic telescopic units 222 may be in a retracted state.

[0057] Reference Figure 2 and Figure 3 As shown, the pipe miter elbow angle measuring device 2 can also include a marking component 24. The marking component 24 is fixedly arranged on the moving mechanism 21 and can mark the trajectory line 3 of the moving mechanism 21 moving on the outer wall surface of the pipe 1. For example, a fixing member for fixing the marking component 24 can be provided on the main body 211 of the moving mechanism 21, and the marking component 24 can be fixed to the moving mechanism through the fixing member. The marking component 24 can be a marking pen. When the marking pen is fixed to the moving mechanism 21 through the fixing member, one end of the marking pen is in contact with the outer wall surface of the pipe 1. The marking component is provided here for the following purposes: (1) to verify the moving direction of the moving mechanism 21 on the outer wall surface of the pipe 1. After the moving mechanism moves one circle, if the trajectory line 3 is connected end to end, it proves that the moving mechanism has not deviated. (2) The accuracy of the distance measuring mechanism can be calibrated by measuring the distance from the trajectory line to the center axis of the miter ring weld.

[0058] In one embodiment, the control module 23 is connected to the mobile mechanism 21 and / or the distance measuring mechanism 22 via wireless or wired communication. Figure 3 As shown, the pipeline miter elbow angle measuring device 2 further includes a data transmission line 25 , and the control module 23 is communicatively connected with the moving mechanism 21 and / or the distance measuring mechanism 22 via the data transmission line 25 .

[0059] The technical solution of the embodiment of the present invention is to arrange the pipeline miter elbow angle measuring device on the outer wall surface of the pipeline, so that the moving mechanism of the pipeline miter elbow angle measuring device is attached to the outer wall surface of the pipeline on one side of the miter ring weld and moves circumferentially around the outer wall surface of the pipeline; a distance measuring mechanism arranged on the moving mechanism measures the distance from the moving mechanism to the miter ring weld of the pipeline in real time; and the movement of the moving mechanism around the pipeline is controlled by a control module communicated with the moving mechanism and / or the distance measuring mechanism, and the maximum and minimum distances from the moving mechanism to the miter ring weld of the pipeline are extracted according to the distance measured by the distance measuring mechanism, and the miter elbow angle of the pipeline is calculated, so that the miter elbow angle of the pipeline can be accurately detected, thereby solving the problems of difficult orientation, complicated operation, and low measurement efficiency in on-site excavation verification of pipeline miter angle detection in the prior art.

[0060] The present invention also provides a method for measuring the angle of a pipe miter elbow. Figure 5 , the measurement method includes steps S1, S2 and S3:

[0061] S1: The moving mechanism is adsorbed on the outer wall of the pipeline and the moving mechanism does not come into contact with the miter ring weld of the pipeline during the movement around the pipeline. That is, there is no contact between the side of the moving mechanism close to the miter ring weld (the magnetic wheel or the outer wall of the main body on this side) and the miter ring weld. In the specific measurement, there is a minimum distance between the central axis of the moving mechanism and the miter ring weld on the side of the pipeline, so that the moving mechanism does not come into contact with the miter ring weld of the pipeline during the movement. In one embodiment, the minimum distance L min It can be half of the length of the moving mechanism in the width direction when the moving mechanism moves around the circumference of the pipeline and is tangent to the oblique ring weld on one side (for example, it is assumed to be 100 mm in this application).

[0062] S2: Adjust the distance measuring mechanism so that it is positioned directly above the center axis of the miter ring weld and automatically locks. That is, the distance measuring mechanism can automatically lock directly above the center axis of the miter ring weld during the measurement process, thereby measuring the distance between the moving mechanism and the miter ring weld in real time.

[0063] S3: The control module starts the moving mechanism to move along the circumference of the pipeline and measures the distance from the moving mechanism to the miter ring weld in real time. The distance is automatically plotted as a clock position-distance curve. The maximum and minimum distances from the moving mechanism to the miter ring weld are extracted to automatically calculate the miter elbow angle of the pipeline.

[0064] In an exemplary embodiment, referring to the above description, the control module calculates the miter elbow angle of the pipe by the following formula:

[0065]

[0066] Wherein, D is the diameter of the pipe, in mm; θ is the angle of the miter elbow of the pipe, in degrees; L max L is the maximum distance from the mobile mechanism to the miter ring weld of the pipeline, in mm; min The minimum distance from the moving mechanism to the miter ring weld of the pipeline, in mm.

[0067] In some embodiments, continue to refer to Figure 5 The method for measuring the angle of a pipe miter elbow of the present invention further comprises the steps of:

[0068] S0: Before measurement, excavate the leaking pipe and leave sufficient clearance around the pipe to ensure that the entire circumference of the pipe is free of dirt and obstructions. In one example, the clearance can be at least 30 cm, ensuring that the pipe miter elbow angle measurement device can be placed and measurement operations can be performed.

[0069] Further, continue to refer to Figure 5The method for measuring the angle of a pipe miter elbow of the present invention further comprises the steps of:

[0070] S4: Check whether the moving trajectory of the moving mechanism is connected end to end and determine whether the measurement results are accurate.

[0071] Furthermore, the pipeline miter elbow angle measurement method of the present invention may further include:

[0072] If the moving trajectory lines of the moving mechanism are connected end to end, it means that there is no deviation in the movement of the moving mechanism during the measurement process, and the measurement result of the miter elbow angle of the pipeline is accurate.

[0073] If the moving trajectory of the moving mechanism is not connected end to end, it means that the movement of the moving mechanism is offset during the measurement process, and the measurement result of the miter elbow angle of the pipeline is inaccurate. It is necessary to re-measure until the moving trajectory of the moving mechanism is connected end to end.

[0074] It is understandable that in actual applications, long-distance oil and gas pipelines are generally buried. After the detection data of the long-distance oil and gas pipelines are collected by the internal detector, verification measurement of the accuracy of the detection data of the long-distance oil and gas pipelines is required.

[0075] The existing method for verifying the accuracy of pipe miter angles involves determining the target pipe location, excavating the target pipe, and directly measuring the miter angle at the joint using a protractor to verify the accuracy of the miter angle captured by the internal detector. However, after the pipe is excavated, the miter bend orientation is difficult to accurately determine, specifically the location of the maximum angle. This requires repeated measurements at multiple locations to confirm the maximum angle, leading to difficulties in determining orientation, complex operations, and low measurement efficiency.

[0076] Moreover, when measuring the miter angle of the pipe using an angle ruler, due to the excess height of the miter ring weld at the miter joint of the pipe, the angle ruler is raised, which reduces the measuring angle, resulting in inaccurate actual miter angle of the pipe measured, thereby causing the problem of low accuracy in verifying the accuracy of the miter angle of the pipe.

[0077] The technical solution of the embodiment of the present invention is to install a pipe miter elbow angle measuring device on the outer wall of the pipe, so that the mobile mechanism of the pipe miter elbow angle measuring device is attached to the outer wall of the pipe on the side of the miter ring weld and moves circumferentially around the outer wall of the pipe; a distance measuring mechanism provided on the mobile mechanism measures the distance from the mobile mechanism to the miter ring weld of the pipe in real time; and a control module in communication with the mobile mechanism and / or the distance measuring mechanism controls the movement of the mobile mechanism around the pipe. Based on the distance measured by the distance measuring mechanism, the maximum and minimum distances between the mobile mechanism and the miter ring weld of the pipe are extracted and the miter elbow angle of the pipe is calculated. This method can accurately detect the miter elbow angle of the pipe, solving the problems of difficult positioning, complicated operation, and low measurement efficiency in on-site excavation verification of pipe miter angle detection in the prior art. In addition, this measurement method has the advantages of high automation, full visualization, and wide application range.

[0078] Application Examples

[0079] Taking a buried long-distance pipeline as an example, the pipeline has a diameter of 1016mm and a wall thickness of 14.2mm. Geometric internal inspection reported that the pipeline had a 5° miter elbow, which exceeded the construction design standard requirement of no more than 3°. The pipeline operator excavated the miter elbow and used the pipeline miter elbow angle measurement device and method of the present invention to test the angle of the miter elbow to verify the accuracy of the geometric internal inspection method. The inspection steps include:

[0080] (1) After excavation, the leaking pipe is exposed and sufficient space is left around the pipe to ensure that there is no dirt or obstruction around the entire circumference.

[0081] (2) The pipe miter elbow angle measuring device is adsorbed on the surface of the steel pipe, ensuring that the neutral plane of the pipe miter elbow angle measuring device is at least 100 mm on one side of the entire miter ring weld, and connecting the data transmission line to the data storage and analysis system.

[0082] (3) Adjust the telescopic unit until the automatic positioning unit is directly above the center axis of the miter ring weld and is automatically locked.

[0083] (4) The control module starts the pipe miter elbow angle measuring device to move along the circumference and automatically measure, transmits the distance data back, and automatically draws a circumferential clock position-moving component center to miter ring weld center distance curve, such as Figure 6 As shown in the figure, by extracting the maximum distance of 144.5mm and the minimum distance of 100mm, and manually verifying the distance measurement by extracting the trajectory line of the moving component, the system automatically calculates and outputs the miter elbow angle of 5.016°, verifying the quantitative accuracy of the geometric detection.

[0084] In some embodiments, the pipe miter bend angle measurement method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a memory unit. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the pipe miter bend angle measurement method described above can be performed. Alternatively, in other embodiments, the processor can be configured to execute the pipe miter bend angle measurement method in any other suitable manner (e.g., via firmware).

[0085] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0086] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0087] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0088] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0089] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0090] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0091] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0092] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A device for measuring the angle of a pipe miter elbow, characterized in that: The measuring device comprises: a moving mechanism capable of being attached to an outer wall surface of the pipe on one side of the miter ring weld and circumferentially moving around the outer wall surface of the pipe; a distance measuring mechanism, the distance measuring mechanism being arranged on the moving mechanism and capable of measuring the distance from the moving mechanism to the miter ring weld of the pipeline in real time; a control module, the control module being in communication with the moving mechanism and / or the distance measuring mechanism to control the movement of the moving mechanism around the pipeline, and extracting a maximum distance and a minimum distance from the moving mechanism to the miter girth weld of the pipeline based on the distance measured by the distance measuring mechanism, and calculating a miter elbow angle of the pipeline; The control module calculates the miter elbow angle of the pipeline using the following formula: Wherein, D is the diameter of the pipe, in mm; θ is the angle of the miter elbow of the pipe, in degrees; L max L is the maximum distance from the mobile mechanism to the miter ring weld of the pipeline, in mm; min The minimum distance from the moving mechanism to the miter ring weld of the pipeline, in mm.

2. The measuring device according to claim 1, characterized in that The moving mechanism includes a main body, a magnetic wheel and a power unit. The main body is provided with an output shaft that drives the magnetic wheel to rotate. The magnetic wheel can be magnetically adsorbed on the outer wall surface of the pipe. The power unit is arranged in the main body and drives the output shaft to rotate.

3. The measuring device according to claim 1, characterized in that The distance measuring mechanism includes a distance measuring unit, an automatic telescopic unit and an automatic positioning unit. The distance measuring unit is arranged on the mobile mechanism. The automatic positioning unit can automatically locate the central axis of the miter ring weld. One end of the automatic telescopic unit is connected to the distance measuring unit, and the other end is connected to the automatic positioning unit. The distance measuring unit can measure the length of the automatic telescopic unit in real time to obtain the distance from the mobile mechanism to the miter ring weld of the pipeline.

4. The measuring device according to claim 3, characterized in that The distance measuring mechanism includes two groups of automatic telescopic units. The distance measuring unit is arranged at the center position of the moving mechanism. The two groups of automatic telescopic units are symmetrically arranged on opposite sides of the distance measuring unit.

5. The measuring device according to claim 1, characterized in that The measuring device further includes a marking member, which is provided on the moving mechanism and can mark a trajectory of the moving mechanism moving on the outer wall surface of the pipe.

6. A method for measuring the angle of a pipe miter elbow, characterized in that: The measuring method comprises the steps of: S1: adsorbing the moving mechanism onto the outer wall surface of the pipeline, and the moving mechanism does not contact the miter ring weld of the pipeline during the process of moving around the pipeline; S2: Adjust the distance measuring mechanism so that it is positioned directly above the central axis of the miter ring weld and automatically locked; S3: The control module starts the movement of the moving mechanism along the circumference of the pipeline and measures the distance from the moving mechanism to the miter ring weld in real time, automatically plots the distance into a clock position-distance curve, extracts the maximum and minimum distances from the moving mechanism to the miter ring weld, and automatically calculates the miter elbow angle of the pipeline.

7. The measuring method according to claim 6, characterized in that The method further comprises step S4: Check whether the moving trajectory of the moving mechanism is connected end to end and determine whether the measurement result is accurate.

8. The measuring method according to claim 7, characterized in that: The checking whether the moving trajectory of the moving mechanism is connected end to end and judging whether the measurement result is accurate includes: If the moving trajectory of the moving mechanism is connected end to end, it means that the movement of the moving mechanism has not deviated during the measurement process, and the measurement result of the miter elbow angle of the pipeline is accurate; If the moving trajectory of the moving mechanism is not connected end to end, it means that the movement of the moving mechanism is offset during the measurement process, and the measurement result of the miter elbow angle of the pipeline is inaccurate, and re-measurement is required until the moving trajectory of the moving mechanism is connected end to end.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the pipeline miter elbow angle measurement method according to any one of claims 6 to 8 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the pipeline miter elbow angle measurement method according to any one of claims 6 to 8.

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