Steel pipe final inspection automatic measurement system and measurement method

Abstract

The invention relates to the technical field of steel pipe detection, in particular to a steel pipe final inspection automatic measurement system and a measurement method, and aims to solve the problems of low manual measurement precision, poor consistency and high measurement difficulty. The steel pipe final inspection automatic measurement system provided by the invention comprises a first measurement mechanism and a second measurement mechanism, the first measuring mechanism and the second measuring mechanism are arranged at the two ends of the steel pipe, and each of the first measuring mechanism and the second measuring mechanism comprises a measuring unit; the measuring units of the first measuring mechanism and the second measuring mechanism can move oppositely in the axis direction of the steel pipe and can rotate along the circumference of the steel pipe. According to the automatic measuring system for final inspection of the steel pipe, automatic measurement of the pipe end of the steel pipe is achieved by means of the laser sensor through opposite movement and circumferential rotation of the measuring units, the problems that manual measurement is low in precision, poor in consistency and large in measurement difficulty are solved, and the measurement efficiency and stability are improved.

Description

Technical Field

[0001] This invention relates to the field of steel pipe testing technology, and in particular to an automated measurement system and method for final inspection of steel pipes. Background Technology

[0002] Currently, in the final inspection process of welded pipe production lines, workers use measuring tapes, micrometers, dial indicators, diameter measuring tapes, steel rulers, angle gauges, and weighing and length measuring instruments to manually or semi-automatically measure data such as wall thickness, angle, out-of-roundness, length, and weight of steel pipes. However, the objectivity and accuracy of the measured data are insufficient. The dimensional accuracy of the steel pipe ends is a crucial parameter for ensuring the efficiency and quality of circumferential welding during on-site pipeline construction. This is especially true for large-diameter submerged arc welded pipes, which are trending towards higher steel grades, larger diameters, and thicker walls; the dimensional accuracy of the welded pipe ends has a more significant impact on on-site circumferential welding. However, the existing method of workers measuring the circumference and out-of-roundness of steel pipes using diameter measuring tapes suffers from poor measurement consistency, difficulty in ensuring objectivity, and low measurement accuracy. This is particularly evident as the diameter of welded pipes increases, making individual measurement more difficult and data inconsistency more pronounced. Summary of the Invention

[0003] The purpose of this invention is to provide an automated measurement system and method for the final inspection of steel pipes, so as to solve the problems of low accuracy, poor consistency and high measurement difficulty of manual measurement.

[0004] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0005] An automated measurement system for final inspection of steel pipes includes a first measuring mechanism and a second measuring mechanism;

[0006] The first measuring mechanism and the second measuring mechanism are disposed at both ends of the steel pipe, and both the first measuring mechanism and the second measuring mechanism include a measuring unit;

[0007] The measuring units of the first measuring mechanism and the second measuring mechanism can move towards each other along the axial direction of the steel pipe and can rotate around the circumference of the steel pipe;

[0008] The measurement unit includes a first laser sensor, a second laser sensor, and a third laser sensor;

[0009] During measurement, the first laser sensor and the second laser sensor are arranged along the axial direction of the steel pipe and located on the outside of the steel pipe, while the third laser sensor is located on the inside of the steel pipe and is in the same vertical plane as the second laser sensor.

[0010] Furthermore, the automated measurement system for final inspection of steel pipes also includes a weighing mechanism, which comprises two weighing units arranged along the axial direction of the steel pipe to support it.

[0011] Furthermore, the weighing unit includes a weighing platform support plate, a weighing sensor, and a weighing platform under support plate;

[0012] One end of the weighing sensor is connected to the upper support plate of the weighing platform, and the other end is connected to the lower support plate of the weighing platform;

[0013] The support plate on the weighing platform is used to support the steel pipe.

[0014] Furthermore, the weighing unit also includes a hydraulic lifting platform, and the lower support plate of the weighing platform is connected to the hydraulic lifting platform. The hydraulic lifting platform is used to drive the upper support plate of the weighing platform, the weighing sensor and the lower support plate of the weighing platform to move in the vertical direction.

[0015] Furthermore, the measuring unit also includes a measuring bracket, on which the first laser sensor, the second laser sensor, and the third laser sensor are mounted;

[0016] The measuring support can rotate along the circumference of the steel pipe.

[0017] Furthermore, the first measuring mechanism further includes an industrial robot and a mobile unit, and the second measuring mechanism further includes the industrial robot and the mobile unit;

[0018] The measuring unit is mounted on the industrial robot, and the industrial robot is mounted on the moving unit;

[0019] The moving unit drives the industrial robot to move along the axis of the steel pipe, and the industrial robot drives the measuring unit to rotate around the circumference of the steel pipe.

[0020] Furthermore, the measuring unit also includes a contour detection sensor, which is used to detect weld seams in steel pipes.

[0021] In another aspect, the present invention proposes an automated measurement method for final inspection of steel pipes, employing the aforementioned automated measurement system for final inspection of steel pipes, comprising the following steps:

[0022] Length measurement: The measuring units of the first measuring mechanism and the second measuring mechanism move towards each other until the second laser sensor and the third laser sensor detect the tube end;

[0023] Morphology measurement: The measuring unit rotates one revolution along the circumference of the steel pipe.

[0024] Furthermore, in the length measurement step, the initial distance between the measuring units of the first measuring mechanism and the second measuring mechanism is S, the moving distance of the measuring unit of the first measuring mechanism is A1, the moving distance of the measuring unit of the second measuring mechanism is A2, and the length of the steel pipe L = S - A1 - A2.

[0025] Furthermore, the morphology measurement step includes the following steps:

[0026] Pipe end dimension measurement: The pipe end contour data collected by fitting the least squares circle method is used to obtain the pipe end contour equation, thereby obtaining the center coordinates, average radius and circumference of the pipe end, and the average wall thickness of the steel pipe, which is the difference between the average radius of the outer circle and the average radius of the inner circle.

[0027] Pipe end ovality measurement: Substitute the measurement data into the formula

[0028]

[0029] Find the length of the major axis l max and minor axis length l min and its corresponding position coordinates, x i and x i+180 The x-coordinate of the profile data points that are 180° apart at the pipe ends is y. i and y i+180 The ordinate of the contour data points that are 180° apart at the pipe ends; the pipe end out-of-roundness is l. max -l min .

[0030] In summary, the technical effects achieved by this invention are as follows:

[0031] The automated measurement system for final inspection of steel pipes provided by this invention includes a first measuring mechanism and a second measuring mechanism. The first and second measuring mechanisms are disposed at both ends of the steel pipe, and both the first and second measuring mechanisms include measuring units. The measuring units of the first and second measuring mechanisms can move towards each other along the axial direction of the steel pipe and can rotate along the circumference of the steel pipe. The measuring unit includes a first laser sensor, a second laser sensor, and a third laser sensor. During measurement, the first and second laser sensors are arranged along the axial direction of the steel pipe and located on the outside of the steel pipe, while the third laser sensor is located on the inside of the steel pipe and is located in the same vertical plane as the second laser sensor.

[0032] The automated measurement system for final inspection of steel pipes provided by this invention achieves automatic measurement of the pipe ends through the opposing movement and circumferential rotation of the measuring units, and with the aid of laser sensors. This avoids the problems of low accuracy, poor consistency, and high measurement difficulty associated with manual measurement, thus improving measurement efficiency and stability. When measuring the length of the steel pipe, the opposing movement of the first and second measuring mechanisms is used. The first laser sensor detects the outer surface of the steel pipe and then slows down. The movement stops when the second and third laser sensors detect the pipe ends. To measure the shape and dimensions of the pipe ends, the measuring unit rotates one full circle around the steel pipe. During this rotation, the second and third laser sensors obtain the coordinate parameters of the inner and outer contours of the pipe ends. The pipe end shape can then be fitted using the least squares circle method to calculate the required dimensions. Attached Figure Description

[0033] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the automated measurement system for final inspection of steel pipes provided in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of the first measuring mechanism;

[0036] Figure 3 This is a schematic diagram of the measurement unit.

[0037] Icons: 100-First measuring mechanism; 200-Second measuring mechanism; 110-Measuring unit; 120-Industrial robot; 130-Moving unit; 111-First laser sensor; 112-Second laser sensor; 113-Third laser sensor; 114-Measuring bracket; 115-Contour detection sensor; 116-Photoelectric sensor; 10-Steel pipe. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0040] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0041] The existing method of workers measuring the circumference and out-of-roundness of steel pipes using calipers has problems such as poor measurement consistency, difficulty in ensuring objectivity, and low measurement accuracy. This is especially true as the diameter of welded pipes increases, making it more difficult for a single person to measure and causing data inconsistency to become more obvious.

[0042] In view of this, the present invention provides an automated measurement system for final inspection of steel pipes, including a first measuring mechanism 100 and a second measuring mechanism 200; the first measuring mechanism 100 and the second measuring mechanism 200 are disposed at both ends of the steel pipe, and both the first measuring mechanism 100 and the second measuring mechanism 200 include a measuring unit 110; the measuring units 110 of the first measuring mechanism 100 and the second measuring mechanism 200 can move towards each other along the axial direction of the steel pipe and can rotate along the circumference of the steel pipe; the measuring unit 110 includes a first laser sensor 111, a second laser sensor 112 and a third laser sensor 113; during measurement, the first laser sensor 111 and the second laser sensor 112 are arranged along the axial direction of the steel pipe and located on the outside of the steel pipe, and the third laser sensor 113 is located on the inside of the steel pipe and is located in the same vertical plane as the second laser sensor 112.

[0043] The automated measurement system for final inspection of steel pipes provided by this invention achieves automatic measurement of the pipe ends through the opposing movement and circumferential rotation of the measuring unit 110, and with the aid of laser sensors. This avoids the problems of low accuracy, poor consistency, and high measurement difficulty associated with manual measurement, thus improving measurement efficiency and stability. When measuring the length of the steel pipe, the opposing movement of the first measuring mechanism 100 and the second measuring mechanism 200 is used. First, the first laser sensor 111 detects the outer surface of the steel pipe and then reduces its movement speed. When the second laser sensor 112 and the third laser sensor 113 detect the pipe ends, the movement stops. To measure the shape and dimensions of the pipe ends, the measuring unit 110 rotates one full circle around the steel pipe. During this rotation, the second laser sensor 112 and the third laser sensor 113 obtain the inner and outer contour coordinate parameters of the pipe ends. The pipe end shape can then be fitted using the least squares circle method to calculate the required dimensions.

[0044] The following combination Figures 1-3The structure and shape of the automated measurement system for final inspection of steel pipes provided in this embodiment are described in detail below:

[0045] In the optional embodiment, the first measuring mechanism 100 and the second measuring mechanism 200 have the same structure, such as... Figure 1 As shown. The following explanation uses the first measuring mechanism 100 as an example:

[0046] In this embodiment, the first measuring mechanism 100 includes a measuring unit 110, an industrial robot 120, and a moving unit 130, such as... Figure 2 As shown, the measuring unit 110 is mounted on the industrial robot 120, and the industrial robot 120 is mounted on the moving unit 130; the moving unit 130 drives the industrial robot 120 to move along the axis of the steel pipe 10, and the industrial robot 120 drives the measuring unit 110 to rotate around the circumference of the steel pipe 10.

[0047] Specifically, the measurement unit 110 includes a first laser sensor 111, a second laser sensor 112, a third laser sensor 113, a measurement bracket 114, a contour detection sensor 115, and a photoelectric sensor 116, such as... Figure 3 As shown, the first laser sensor 111, the second laser sensor 112, and the third laser sensor 113 are arranged in an L-shape. A photoelectric sensor 116 is positioned between the first laser sensor 111 and the second laser sensor 112, and a contour detection sensor 115 is positioned on the side of the second laser sensor 112 furthest from the steel pipe 10. The first laser sensor 111, the second laser sensor 112, and the third laser sensor 113 can be multi-purpose analog laser sensors used to detect the shape and dimensions of the steel pipe end and the length of the steel pipe. The contour detection sensor 115 can be a high-speed 2D laser contour measuring instrument used to detect the weld seam at the pipe end and assist in determining the contour dimension parameters of the pipe end. The photoelectric sensor 116 is a multi-task photoelectric sensor used to assist in detection and ensure operational safety, avoiding false alarms from the laser sensor. Each sensor is mounted on a measuring bracket 114, which is connected to an industrial robot 120 and can rotate along the circumference of the steel pipe 10 under the drive of the industrial robot 120.

[0048] The first laser sensor 111 can be used to detect weld data at the pipe end, the second laser sensor 112 can be used to calculate the outer circumference and out-of-roundness of the pipe end, and the third laser sensor 113 can be used to detect the inner circular shape. The measuring bracket 114 has an F-shaped structure, and the distance between the second and third sensors is set to 200mm. In this embodiment, when collecting circumferential information, 1440 coordinate points are collected in one revolution.

[0049] In this embodiment, the moving unit 130 includes a base and a slide table. The industrial robot 120 is mounted on the slide table, and the base and the slide table are connected by a linear guide rail to ensure smooth operation. Furthermore, the moving unit 130 can use a synchronous belt drive or a lead screw drive to move the industrial robot 120 along the axis of the steel pipe 10 to accurately obtain the initial distance and moving distance between the first measuring mechanism 100 and the second measuring mechanism 200. This transmission method is conventional and will not be described in detail here.

[0050] In an optional embodiment, the automated measurement system for final inspection of steel pipes further includes a weighing mechanism, which comprises two weighing units arranged along the axial direction of the steel pipe 10 to support the steel pipe 10.

[0051] Specifically, the weighing unit includes a hydraulic lifting platform, an upper support plate, a load cell, and a lower support plate. The lower support plate is connected to the hydraulic lifting platform, and one end of the load cell is connected to the upper support plate, while the other end is connected to the lower support plate. The upper support plate supports the steel pipe 10, and the hydraulic lifting platform moves the upper support plate, load cell, and lower support plate vertically.

[0052] In this embodiment, the weighing mechanism supports the steel pipe 10 through two weighing units, forming a simply supported beam structure during weighing to achieve stable support. This avoids measurement inaccuracies caused by factors such as vibration of the steel pipe 10 and center of gravity shift when using a single weighing platform. Specifically, the weighing sensors are cantilever beam type, with each weighing unit including four weighing sensors arranged in a 2×2 configuration, located at the four corners of a rectangle. Furthermore, the weighing sensors can employ a floating ball structure internally or a floating structure between the weighing sensors and the platform support plate, allowing the steel pipe 10 to return to equilibrium when unbalanced, thus avoiding any impact on measurement accuracy.

[0053] In this embodiment, to achieve automated measurement, the automated measurement system for final inspection of steel pipes also includes a PLC control system, an industrial computer, a data acquisition module, and a management module. The industrial computer serves as the host computer, and the PLC control system and industrial robot 120 serve as slave computers. Communication between the host computer and slave computers is achieved via industrial Ethernet.

[0054] Based on the automated measurement system for final inspection of steel pipes provided in this embodiment, an automated measurement method for final inspection of steel pipes is proposed. The method using the aforementioned automated measurement system includes the following steps:

[0055] S100 Length Measurement: The measuring units 110 of the first measuring mechanism 100 and the second measuring mechanism 200 move toward each other until the second laser sensor 112 and the third laser sensor 113 detect the tube end.

[0056] During operation, the moving unit 130 drives the industrial robot 120 and the measuring unit 110 to move along the axial direction of the steel pipe so that each sensor approaches the pipe end. When the first laser sensor 111 detects the pipe end, the moving speed decreases. When the second laser sensor 112 detects the pipe end, the moving distance of the measuring unit 110 of the first measuring mechanism 100 is read as A1 and the moving distance of the measuring unit 110 of the second measuring mechanism 200 is read as A2. The initial distance between the first measuring mechanism 100 and the measuring unit 110 of the second measuring mechanism 200 is S, and the length of the steel pipe L = S - A1 - A2. The moving distance can be calculated using encoder data and related transmission data.

[0057] S200 Shape Measurement: Measurement unit 110 rotates one revolution along the circumference of the steel pipe to obtain the contour data of the pipe end. i y i This allows us to obtain the pipe end dimensions and ovality. Specifically:

[0058] S210 pipe end dimension measurement: The collected pipe end contour data x were fitted using the least squares circle method. i y i The pipe end profile equation is obtained, thus yielding the center coordinates A and B of the pipe end, the average radius, and the pipe end circumference. The average wall thickness of the steel pipe is the difference between the average radius of the outer circle and the average radius of the inner circle. Specifically, the second laser sensor 112 and the third laser sensor 113 measure the dimensions of a uniform cross-section at the pipe end. The second laser sensor 112 measures the outer wall profile data, and the third laser sensor 113 measures the inner wall profile data, which are used to calculate the inner and outer circle dimensions, respectively.

[0059] S220 pipe end ovality measurement: Substitute the measurement data into the formula

[0060]

[0061] Find the length of the major axis l max and minor axis length l min and its corresponding position coordinates, x i and x i+180 The x-coordinate of the profile data points that are 180° apart at the pipe ends is y. i and y i+180 The ordinate of the contour data points that are 180° apart at the pipe ends; the pipe end out-of-roundness is l. max -l min .

[0062] S230: The first laser sensor 111 analyzes and obtains the position of the outer weld of the steel pipe during measurement. After the measurement is completed, the measurement unit 110 returns to the original path and slows down to measure 1600 points at a position of 10cm on both sides of the weld for analysis of weld misalignment and pursing. The contour detection sensor 115 is used to analyze the bevel shape and cutting angle of the steel pipe end.

[0063] S300 steel pipe weighing: The hydraulic lifting platform raises all components to lift the steel pipe placed on the weighing platform's support plate. Once the steel pipe is stable, the weight can be read. After weighing, the hydraulic lifting platform returns to its original position.

[0064] The automated measurement system for final inspection of steel pipes provided in this embodiment has achieved automatic measurement of data such as steel pipe quality, length, pipe end circumference, ovality, wall thickness, and beveling in field applications. The measurement accuracy and efficiency meet production requirements, significantly improving the automation and intelligence level of large-diameter submerged arc welded pipe production lines. It has improved the current situation of low automation of auxiliary equipment, high labor intensity, harsh working environment, and reliance on manual measurement of pipe end quality parameters, which are common in large-diameter submerged arc welded pipe production lines. Through the systematic application of technologies such as industrial robots, advanced industrial control, laser vision inspection, and network communication, product quality has been improved, the working environment has been improved, labor intensity has been reduced, and the automation level of the production line has been greatly enhanced.

[0065] The automated measurement system for final inspection of steel pipes provided in this embodiment obtains the spatial coordinate data of the steel pipe end profile by rotating a sensor around the pipe wall. The system then uses the least squares circle method to obtain the actual center and radius of the steel pipe end, and further calculates data such as circumference, ellipticity, and wall thickness. The system can also detect the profile data of different sections of the steel pipe by moving the measurement unit 110 to correct the measurement error caused by improper placement of the steel pipe. This system realizes the automatic measurement of data such as steel pipe length, pipe end circumference, out-of-roundness, wall thickness, and slant, improving the consistency and accuracy of the measurement data.

[0066] The automated measurement system for final inspection of steel pipes provided in this embodiment integrates weighing, length measurement, and pipe end measurement functions, and is integrated with the MES system. It also incorporates engineer-station management software with parameter setting, data analysis and display, storage and query functions. This software can perform big data analysis on weld misalignment, bulging, ellipticity, etc., providing technical support for optimizing manufacturing process parameters. It can automatically measure the pipe end dimensions of straight seam welded pipes and spiral welded pipes, with ellipticity measurement repeatability ≤0.5mm, circumference measurement repeatability ≤0.5mm, beveling measurement repeatability ≤0.2mm, and steel pipe length measurement repeatability ≤5mm. The measurement speed meets production cycle requirements.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated measurement system for final inspection of steel pipes, characterized in that, It includes a first measuring mechanism (100) and a second measuring mechanism (200); The first measuring mechanism (100) and the second measuring mechanism (200) are disposed at both ends of the steel pipe, and both the first measuring mechanism (100) and the second measuring mechanism (200) include a measuring unit (110); The measuring units (110) of the first measuring mechanism (100) and the second measuring mechanism (200) can move towards each other along the axial direction of the steel pipe and can rotate around the circumference of the steel pipe; The measurement unit (110) includes a first laser sensor (111), a second laser sensor (112), and a third laser sensor (113); During measurement, the first laser sensor (111) and the second laser sensor (112) are arranged along the axial direction of the steel pipe and located on the outside of the steel pipe, while the third laser sensor (113) is located on the inside of the steel pipe and is in the same vertical plane as the second laser sensor (112).

2. The automated measurement system for final inspection of steel pipes according to claim 1, characterized in that, It also includes a weighing mechanism, which comprises two weighing units arranged along the axial direction of the steel pipe to support the steel pipe.

3. The automated measurement system for final inspection of steel pipes according to claim 2, characterized in that, The weighing unit includes a weighing platform support plate, a weighing sensor, and a weighing platform under support plate; One end of the weighing sensor is connected to the upper support plate of the weighing platform, and the other end is connected to the lower support plate of the weighing platform; The support plate on the weighing platform is used to support the steel pipe.

4. The automated measurement system for final inspection of steel pipes according to claim 3, characterized in that, The weighing unit also includes a hydraulic lifting platform, and the lower support plate of the weighing platform is connected to the hydraulic lifting platform. The hydraulic lifting platform is used to drive the upper support plate of the weighing platform, the weighing sensor and the lower support plate of the weighing platform to move in the vertical direction.

5. The automated measurement system for final inspection of steel pipes according to claim 1, characterized in that, The measuring unit (110) further includes a measuring bracket (114), on which the first laser sensor (111), the second laser sensor (112), and the third laser sensor (113) are mounted; The measuring bracket (114) can rotate around the circumference of the steel pipe.

6. The automated measurement system for final inspection of steel pipes according to claim 5, characterized in that, The first measuring mechanism (100) further includes an industrial robot (120) and a moving unit (130), and the second measuring mechanism (200) further includes the industrial robot (120) and the moving unit (130); The measuring unit (110) is mounted on the industrial robot (120), and the industrial robot (120) is mounted on the moving unit (130); The moving unit (130) drives the industrial robot (120) to move along the axis of the steel pipe, and the industrial robot (120) drives the measuring unit (110) to rotate along the circumference of the steel pipe.

7. The automated measurement system for final inspection of steel pipes according to claim 1, characterized in that, The measuring unit (110) also includes a contour detection sensor (115) for detecting steel pipe welds.

8. An automated measurement method for final inspection of steel pipes, employing the automated measurement system for final inspection of steel pipes as described in any one of claims 1-7, characterized in that, Includes the following steps: Length measurement: The measuring units (110) of the first measuring mechanism (100) and the second measuring mechanism (200) move toward each other until the second laser sensor (112) and the third laser sensor (113) detect the tube end; Morphology measurement: The measuring unit (110) rotates one revolution along the circumference of the steel pipe.

9. The automated measurement method for final inspection of steel pipes according to claim 8, characterized in that, In the length measurement step, the initial distance between the measuring units (110) of the first measuring mechanism (100) and the second measuring mechanism (200) is S, the moving distance of the measuring unit (110) of the first measuring mechanism (100) is A1, the moving distance of the measuring unit (110) of the second measuring mechanism (200) is A2, and the length of the steel pipe is L = S - A1 - A2.

10. The automated measurement method for final inspection of steel pipes according to claim 8, characterized in that, The morphology measurement step includes the following steps: Pipe end dimension measurement: The collected pipe end contour data (x) was fitted using the least squares circle method. i y i The pipe end profile equation is obtained, thus yielding the center coordinates (A, B), average radius, and circumference of the pipe end. The average wall thickness of the steel pipe is the difference between the average radius of the outer circle and the average radius of the inner circle. Pipe end ovality measurement: Substitute the measurement data into the formula Find the length of the major axis l max and minor axis length l min and its corresponding position coordinates, x i and x i+180 The x-coordinate of the profile data points that are 180° apart at the pipe ends is y. i and y i+180 The ordinate of the contour data points that are 180° apart at the pipe ends; the pipe end out-of-roundness is l. max -l min .

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