Pipe diameter measuring device and method
By using the collaborative work of the attitude adjustment module and the laser ranging module, combined with the triangle circumcircle algorithm, the accuracy and safety issues of eccentric manhole diameter measurement were solved, achieving efficient and low-cost pipe diameter measurement.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-18
- Publication Date
- 2026-03-24
AI Technical Summary
In existing technologies, the measurement of the drainage pipe diameter of eccentric inspection wells suffers from problems such as limited measurement accuracy, high labor intensity, high safety risks, and high costs.
A pipe diameter measuring device is used, which includes a controller, a support, an attitude adjustment module, an attitude sensor, and a laser ranging module. The attitude of the laser ranging module is adjusted by the attitude adjustment module, and the pipe diameter is calculated by combining the triangle circumcircle algorithm.
It achieves non-contact measurement, avoids the safety risks of manual well entry, improves measurement efficiency and accuracy, and reduces costs.
Smart Images
Figure CN121720394A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of municipal drainage pipeline surveying technology, and in particular to a pipe diameter measuring device and method. Background Technology
[0002] Drainage pipes are a core component of urban underground infrastructure, undertaking crucial functions such as rainwater and sewage discharge and flood control. Accurate acquisition of their basic information is essential for urban planning, construction, and maintenance. Currently, the measurement of basic information such as pipe diameter and burial depth in ordinary inspection wells is often conducted on the ground using traditional measuring instruments such as tape measures and laser rangefinders. However, for eccentric inspection wells, the inlet and outlet pipes are often significantly off-center from the center of the manhole cover, making it difficult to directly observe their positions from the ground, thus limiting the accuracy of pipe diameter measurement.
[0003] In existing technologies, manual measurement is typically performed downhole. However, manual measurement is not only labor-intensive and inefficient, but also poses significant safety risks due to the complex and confined environment of the well. To avoid the problems of low safety and high labor intensity in downhole measurement, three-dimensional laser scanning is also used. However, while three-dimensional laser scanning can measure pipe diameter, the equipment is expensive.
[0004] Therefore, it is necessary to develop a pipe diameter measurement device and method to reduce the cost of pipe diameter measurement. Summary of the Invention
[0005] The purpose of this invention is to provide a pipe diameter measuring device and method to solve the problem of high cost of existing pipe diameter measuring devices and methods.
[0006] To address the aforementioned technical problems, this invention provides a pipe diameter measuring device, comprising a controller, a support, an attitude adjustment module, an attitude sensor, and a laser ranging module. The attitude adjustment module is mounted on the support, and the attitude sensor and laser ranging module are mounted on the output end of the attitude adjustment module. The controller is connected to the attitude adjustment module, the attitude sensor, and the laser ranging module. The attitude sensor is used to detect the attitude information of the pipe opening edge measuring point relative to the center point of the laser ranging module. The laser ranging module is used to detect the distance from the pipe opening edge measuring point to the center point of the laser ranging module. The controller is used to establish a relative coordinate system, control the attitude adjustment module to adjust the laser ranging module to different attitudes, calculate the position coordinates of the corresponding pipe opening edge measuring point in the relative coordinate system based on the attitude information and distance information corresponding to the respective attitudes, and calculate the final pipe diameter based on the position coordinates of the measuring point in the relative coordinate system combined with the triangle circumcircle algorithm.
[0007] Optionally, the attitude adjustment module includes a horizontal rotator and a vertical rotator. The horizontal rotator is mounted on the bracket, and the vertical rotator is mounted on the output end of the horizontal rotator. The attitude sensor and the laser ranging module are mounted on the output end of the vertical rotator.
[0008] Optionally, the bracket includes a mounting bracket and a telescopic bracket, the telescopic bracket being mounted on the mounting bracket, and the attitude adjustment module being mounted on the telescopic bracket.
[0009] This invention also provides a pipe diameter measurement method using the aforementioned pipe diameter measuring device, comprising: establishing a relative coordinate system; adjusting the laser ranging module to different orientations; detecting the orientation information of the pipe opening edge measurement point relative to the center point of the laser ranging module under different orientations; detecting the distance information from the pipe opening edge measurement point to the center point of the laser ranging module under different orientations; calculating the position coordinates of the corresponding pipe opening edge measurement point in the relative coordinate system based on the orientation information and distance information corresponding to the respective orientations; and calculating the final pipe diameter based on the position coordinates of the measurement point in the relative coordinate system combined with the triangle circumcircle algorithm.
[0010] Optionally, establishing a relative coordinate system includes: taking the connection point O between the attitude adjustment module and the telescopic bracket as the origin, and the due north direction as the positive y-axis, establishing a relative coordinate system. After the telescopic bracket is fixed by the mounting bracket, point O is the fixed point. Let the center point of the output end of the attitude adjustment module be E, and the center point of the laser ranging module be O'. Then the vertical distance k and the horizontal distance m between O and E, and the distance d between E and O' are all fixed values.
[0011] Optionally, the attitude information includes the horizontal tilt angle α of the line connecting the measurement point and the center point O' of the laser ranging module relative to the horizontal plane, and the azimuth angle β relative to the predetermined direction.
[0012] Optionally, the distance information includes the length l from the measuring point at the edge of the pipe opening to the center point O' of the laser ranging module.
[0013] Optionally, the position coordinates of the measuring point at the edge of the pipe opening in the relative coordinate system can be calculated using the following formula: Among them, (X) i Y i Z i ) represents the coordinates of the measurement point in the relative coordinate system, m represents the horizontal distance between the center point E of the attitude adjustment module's output and the origin O, k represents the vertical distance between the center point E of the attitude adjustment module's output and the origin O, d represents the distance between the center point O' of the laser ranging module and the center point E of the attitude adjustment module's output, and l represents the distance between the center point O' of the laser ranging module and the center point E of the attitude adjustment module's output. iα is the length from the measurement point to the center point O' of the laser ranging module. i β is the horizontal inclination angle of the line connecting the measurement point and the center point O' of the laser ranging module relative to the horizontal plane. i The azimuth angle of the line connecting the measurement point and the center point O' of the laser ranging module relative to the predetermined direction.
[0014] Optionally, calculating the final pipe diameter based on the position coordinates of the measurement points in the relative coordinate system and the circumcircle of a triangle algorithm includes: selecting three measurement points as a group; calculating the pipe diameter based on the position coordinates of each group of measurement points in the relative coordinate system and the circumcircle of a triangle algorithm; and calculating the average pipe diameter to obtain the final pipe diameter.
[0015] Optionally, the pipe diameter can be calculated using the following formula: Where D is the diameter of the pipe, a is the distance from the first to the second measurement point in each group of measurement points, b is the distance from the second to the third measurement point in each group of measurement points, c is the distance from the third to the first measurement point in each group of measurement points, and S... △ABC Let the area of the triangle formed by the first, second, and third measurement points in each set of measurement points be the area of the triangle formed by the first, second, and third measurement points.
[0016] The pipe diameter measuring device and method provided by this invention have the following beneficial effects: First, by adopting a non-contact measurement method, the relative coordinates of the pipe opening edge point can be obtained on the ground through the attitude adjustment module, attitude sensor and laser ranging module, and then the pipe diameter can be calculated. This avoids the safety risks of manual measurement in the well, and at the same time, it eliminates the need to clean up water or debris in the well, thus improving measurement efficiency.
[0017] Secondly, this invention achieves rapid calculation of pipe diameter through the collaborative work of an attitude sensor and a laser ranging module, combined with the triangle circumcircle algorithm. The entire calculation process is highly automated, allowing for immediate measurement and results, and the cost is much lower than that of three-dimensional laser scanning. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the pipe diameter measuring device measuring the diameter of an eccentric well pipe in an embodiment of the present invention; Figure 2 This is a top view of the measuring and mounting bracket of the pipe diameter measuring device in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the measuring telescopic support of the pipe diameter measuring device in an embodiment of the present invention; Figure 4 This is a schematic diagram of the attitude adjustment module, attitude sensor, and laser ranging module of the pipe diameter measuring device in this embodiment of the invention; Figure 5 This is a schematic diagram of the horizontal rotator of the attitude adjustment module of the pipe diameter measuring device in an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the working principle of the pipe diameter measuring device in an embodiment of the present invention; Figure 7 This is a schematic diagram of the measuring points at the edge of the pipe opening in an embodiment of the present invention.
[0019] Explanation of reference numerals in the attached figures: 100-Controller; 200-Bracket; 210-Mounting bracket; 211-First telescopic sleeve; 212-First sleeve locking element; 220-Telescopic bracket; 221-Second telescopic sleeve; 222-Second sleeve locking element; 223-Support rod; 300-Attitude adjustment module; 310-Horizontal rotator; 311-Horizontal rotary motor; 312-Horizontal output shaft; 320-Vertical rotator; 321-Upper support; 322-Vertical motor; 323-Lower support; 400-Attitude sensor; 500-Laser ranging module; 600-Camera; 700-Lighting lamp; 810-Signal transmitter; 820-Power supply; 900-Pipeline. Detailed Implementation
[0020] 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.
[0021] 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.
[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0023] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0024] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0025] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0026] refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 , Figure 1 This is a schematic diagram of the pipe diameter measuring device measuring the diameter of an eccentric well pipe in an embodiment of the present invention. Figure 2 This is a top view of the measuring and mounting bracket 210 of the pipe diameter measuring device in an embodiment of the present invention. Figure 3 This is a schematic diagram of the measuring telescopic bracket 220 of the pipe diameter measuring device in an embodiment of the present invention. Figure 4 This is a schematic diagram of the attitude adjustment module 300, attitude sensor 400, and laser ranging module 500 of the pipe diameter measuring device in this embodiment of the invention. Figure 5 This is a schematic diagram of the horizontal rotator 310 of the attitude adjustment module 300 of the pipe diameter measuring device in this embodiment of the invention. Figure 6 This is a schematic diagram illustrating the working principle of the pipe diameter measuring device in an embodiment of the present invention. Figure 7This is a schematic diagram of the pipe end edge measurement point of pipe 900 in an embodiment of the present invention. This embodiment provides a pipe diameter measuring device, including a controller 100, a support 200, an attitude adjustment module 300, an attitude sensor 400, and a laser ranging module 500. The attitude adjustment module 300 is mounted on the support 200. The attitude sensor 400 and the laser ranging module 500 are mounted on the output end of the attitude adjustment module 300. The controller 100 is connected to the attitude adjustment module 300, the attitude sensor 400, and the laser ranging module 500 respectively. The attitude sensor 400 is used for detection. The attitude information of the measuring point at the edge of the pipe 900 opening relative to the center point of the laser ranging module 500 is obtained. The laser ranging module 500 is used to detect the distance from the measuring point at the edge of the pipe 900 opening to the center point of the laser ranging module 500. The controller 100 is used to establish a relative coordinate system and control the attitude adjustment module to adjust the laser ranging module 500 to different attitudes. The position coordinates of the corresponding measuring point at the edge of the pipe 900 opening in the relative coordinate system are calculated based on the attitude information and distance information corresponding to the respective attitudes. The final diameter of the pipe 900 is calculated based on the position coordinates of the measuring point in the relative coordinate system combined with the triangle circumcircle algorithm.
[0027] First, by employing a non-contact measurement method, using the attitude adjustment module 300, attitude sensor 400, and laser ranging module 500, the relative coordinates of the pipe opening edge point can be obtained on the ground, thereby calculating the pipe diameter. This avoids the safety risks of manual measurement in the well and eliminates the need to clean accumulated water or debris from the well, improving measurement efficiency. Second, through the collaborative work of the attitude sensor 400 and laser ranging module 500, combined with the triangle circumcircle algorithm, this invention achieves rapid pipe diameter calculation. The entire calculation process is highly automated, providing immediate measurement results.
[0028] The attitude adjustment module 300 includes a horizontal rotator 310 and a vertical rotator 320. The horizontal rotator 310 is mounted on the bracket 200, and the vertical rotator 320 is mounted on the output end of the horizontal rotator 310. The attitude sensor 400 and the laser ranging module 500 are mounted on the output end of the vertical rotator 320.
[0029] Furthermore, the horizontal rotator 310 includes a horizontal motor 311 and a horizontal output shaft 312. The horizontal motor 311 is mounted on the frame, and the horizontal output shaft 312 is fixed to and coaxially arranged with the output shaft of the motor. The vertical rotator 320 is mounted on the horizontal output shaft 312.
[0030] Furthermore, the vertical rotator 320 includes an upper support 321, a vertical motor 322, and a lower support 323. The upper support 321 is connected to the output end (horizontal output shaft 312) of the horizontal rotator 310. The vertical motor 322 is fixed on the upper support 321, and the lower support 323 is fixed on the output shaft of the vertical motor 322. The attitude sensor 400 and the laser ranging module 500 are mounted on the lower support 323.
[0031] In this embodiment, there are two vertical motors 322, which are symmetrically arranged about the lower support 323. This improves the stability of the movement of the lower support 323.
[0032] Preferably, the pipe diameter measuring device further includes a camera 600, which is mounted on the attitude adjustment module 300 (lower support 323).
[0033] Preferably, the pipe diameter measuring device further includes a lighting lamp 710, which is mounted on the attitude adjustment module 300 (lower support 323).
[0034] Preferably, the pipe diameter measuring device further includes a battery, which is connected to the horizontal motor, the vertical motor 322, the attitude sensor 400, the laser ranging module 500, the camera 600, and the lighting lamp 710.
[0035] Preferably, the pipe diameter measuring device further includes a signal transmitter 810 installed on the attitude adjustment module 300 (lower support 323) for connecting the controller 100 with the attitude sensor 400 and the laser ranging module 500.
[0036] Preferably, the bracket 200 includes a mounting bracket 210 and a telescopic bracket 220, the telescopic bracket 220 is mounted on the mounting bracket 210, and the attitude adjustment module 300 (horizontal rotator 310) is mounted on the telescopic bracket 220.
[0037] Specifically, the mounting bracket 210 includes multiple fixedly connected first telescopic sleeves 211 and multiple first sleeve locking members 212, wherein the first sleeve locking members 212 are used to lock the first telescopic sleeves 211 after telescopic extension. The first telescopic sleeves 211 can provide support for the telescopic bracket 220. As a support structure, the mounting bracket 210 can be adjusted in length according to the manhole cover to ensure measurement stability.
[0038] Preferably, there are four first telescopic sleeves 211, which are arranged in a cross shape.
[0039] Specifically, the telescopic bracket 220 includes a second telescopic sleeve 221 and a plurality of second sleeve locking members 222, the second sleeve locking members 222 being used to lock the telescopic sleeve 221 after telescopic extension. The second telescopic sleeve 221 can be used to mount the attitude adjustment module 300. The second telescopic sleeve 221 can extend and retract axially, facilitating the adjustment of the position of the attitude adjustment module 300.
[0040] In this embodiment, the second telescopic sleeve 221 is arranged perpendicular to the mounting bracket 210 (the first telescopic sleeve 211).
[0041] In this embodiment, the telescopic support 220 further includes a support rod, which is connected to the lower end of the second telescopic sleeve 221 to support the second telescopic sleeve 221. This allows the support rod to contact the bottom of the well, supporting the second telescopic sleeve 221 and preventing the attitude sensor 400 and laser ranging module 500 from shaking during measurement, thus improving the accuracy of the measurement results.
[0042] In this embodiment, the controller 100 can be a terminal, such as a mobile phone.
[0043] Preferably, the second telescopic sleeve 221 is disposed through the cross center of the first telescopic sleeve 211.
[0044] The working process of the pipe diameter measuring device is as follows: 1) Place the mounting bracket 210 above the inspection well and adjust the length of the mounting bracket 210 according to the size of the inspection well.
[0045] 2) Assemble the telescopic bracket 220 and the attitude adjustment module 300, connect the controller 100, and install the telescopic bracket 220 in the middle of the mounting bracket 210, extending it vertically into the inspection well. During the installation process, the telescopic bracket 220 can be adjusted to ensure that the camera 600 on the attitude adjustment module 300 can observe the pipe opening.
[0046] 3) Turn on the lighting 710 via the controller 100 and control the attitude adjustment module 300 to rotate horizontally and vertically so that the laser ranging module 500 can measure the edge point of the pipe opening. During the rotation, the downhole image can be viewed in real time through the control terminal to ensure that the laser ranging spot is aligned with the edge of the pipe opening.
[0047] 4) The controller 100 records the distance measured by the laser ranging module 500 and the horizontal tilt angle and azimuth angle measured by the attitude sensor 400, and calculates the position coordinates of the measuring point at the edge of the pipe opening 900.
[0048] 5) Repeat steps 3) and 4) to measure the relative coordinates of any three pipe edge points in sequence.
[0049] 6) In the control terminal, calculate the diameter D of pipe 900 based on the position coordinates of at least three measurement points and the triangle circumcircle algorithm.
[0050] 7) During the measurement process, steps 3) to 6) can be repeated multiple times to measure and calculate the pipe edge at different locations. The average value of the multiple measurement results is taken as the final pipe diameter measurement value to improve the accuracy and reliability of the measurement.
[0051] 8) After the measurement is completed, disassemble the measuring device and clean and inspect each component for future use.
[0052] In the above embodiment, the controller 100 of the pipe diameter measuring device calculates the diameter of the pipe 900 according to the following principle: With the center point O of the telescopic bracket 220 in the attitude adjustment module 300 as the origin and the positive y-axis direction as due north, a relative coordinate system is established. After the telescopic bracket 220 is fixed by the mounting bracket 210, the connection point O between the telescopic bracket 220 and the attitude adjustment module 300 is a fixed point and does not move with the rotation of the attitude adjustment module 300. Let the center point of the vertical rotator 320 in the attitude adjustment module 300 be E, and the center point of the laser ranging module 500 be O'. Then the vertical distance k and horizontal distance m between O and E, and the distance d between E and O' are all fixed values, determined during the production of the device.
[0053] During measurement, let the measurement point at the edge of the pipe opening be A. The attitude sensor 400 measures the horizontal tilt angle as α and the azimuth angle as β. The laser rangefinder measures the distance O'A as l. At this time, for: according to Figure 6 Therefore, the center point of the laser ranging module 500 is O'. Let the line connecting the measuring points A at the pipe edge be the ranging line. for: Since the vertical rotator 320 rotates by a certain angle, the distance measuring line also has a certain angle with the horizontal direction, and the horizontal vector of the distance measuring line is always perpendicular to the vertical plane, Projected unit vector in the horizontal direction It is also a horizontal vector located in the vertical plane, therefore, The horizontal projection unit vector of the distance measuring line is rotated 90° in the horizontal plane, i.e.: Since the mounting plane of the laser ranging module 500 is always perpendicular to the laser emitted by the laser ranging module 500, that is, O'E is perpendicular to the ranging line, therefore... unit vector for unit vector Rotate 90° in the vertical plane, that is: according to Figure 5 Combining equations (3) and (4), we can obtain: for: Combining equations (1), (2), and (5), we can obtain: for: By controlling the terminal and rotating the measuring probe, combined with formula (6), the following can be obtained: Figure 7 Given the relative coordinates of three points A, B, and C at any pipe opening edge, let's assume that when measuring point A, the inclination angle, azimuth angle, and distance are α1, β1, and l1, and the coordinates of point A are (X1, Y1, Z1); when measuring point B, the inclination angle, azimuth angle, and distance are α2, β2, and l2, and the coordinates of point B are (X2, Y2, Z2); and when measuring point C, the inclination angle, azimuth angle, and distance are α3, β3, and l3, and the coordinates of point C are (X3, Y3, Z3). Then, according to equation (6), the coordinates of points A, B, and C are respectively: according to Figure 7 The side lengths a, b, and c of the triangle formed by points A, B, and C are: According to the formula for calculating the diameter of the circumcircle of a triangle, the diameter D of the 900mm pipe is: Among them, S △ABC Let be the area of triangle ABC. According to Heron's formula, we have: By combining formulas (7) to (10), the diameter D of the pipe 900 can be calculated.
[0054] This embodiment also provides a pipe diameter measurement method for measuring a pipe diameter of 900 using the pipe diameter measuring device in the above embodiment, including: Establish a relative coordinate system; Adjust the laser ranging module 500 to different orientations; Detect the attitude information of the measuring point at the edge of the pipe 900 nozzle relative to the center point of the laser ranging module 500 under different attitudes; Detect the distance information from the measuring point at the edge of the pipe 900 nozzle to the center point of the laser ranging module 500 under different postures; Calculate the position coordinates of the corresponding pipe 900 pipe opening edge measurement point in the relative coordinate system based on the posture information and distance information corresponding to the corresponding posture. The final pipe diameter of 900 is calculated based on the position coordinates of the measurement point in the relative coordinate system and the circumcircle algorithm of the triangle.
[0055] The establishment of the relative coordinate system includes: taking the connection point O between the attitude adjustment module 300 and the telescopic bracket 220 as the origin and the positive y-axis direction as due north, the relative coordinate system is established. After the telescopic bracket 220 is fixed by the mounting bracket 210, point O is the fixed point. Let the center point of the output end of the attitude adjustment module 300 be E, and the center point of the laser ranging module 500 be O'. Then the vertical distance k and the horizontal distance m between O and E, and the distance d between E and O' are all fixed values.
[0056] The attitude information includes the horizontal tilt angle α of the line connecting the measurement point and the center point O' of the laser ranging module 500 relative to the horizontal plane, and the azimuth angle β relative to the predetermined direction.
[0057] The distance information includes the length l from the measuring point at the edge of the pipe 900 nozzle to the center point O' of the laser ranging module 500.
[0058] The position coordinates of the measuring point at the edge of the pipe 900mm inlet in the relative coordinate system are calculated using the following formula: Among them, (X) i Y i Z i Let ) represent the coordinates of the measurement point in the relative coordinate system, m represent the horizontal distance between the center point E of the output end of the attitude adjustment module 300 and the origin O, k represent the vertical distance between the center point E of the output end of the attitude adjustment module 300 and the origin O, d represent the distance between the center point O' of the laser ranging module 500 and the center point E of the output end of the attitude adjustment module 300, and l represent the distance between the center point O' of the laser ranging module 500 and the center point E of the output end of the attitude adjustment module 300. i α is the length from the measurement point to the center point O' of the laser ranging module 500. i β is the horizontal inclination angle of the line connecting the measurement point and the center point O' of the laser ranging module 500 relative to the horizontal plane. i The azimuth angle of the line connecting the measurement point and the center point O' of the laser ranging module 500 relative to a predetermined direction.
[0059] The final pipe diameter of 900 mm is calculated based on the position coordinates of the measurement point in the relative coordinate system and the circumcircle algorithm of the triangle, including: Select three measurement points as a group; The diameter of pipe 900 is calculated based on the position coordinates of each set of measurement points in the relative coordinate system and the circumcircle algorithm of the triangle. Calculate the average diameter of pipe 900 to obtain the final pipe 900 diameter.
[0060] The diameter of pipe 900 is calculated using the following formula: Where D is the diameter of the 900mm pipe, a is the distance from the first to the second measurement point in each group of measurement points, b is the distance from the second to the third measurement point in each group of measurement points, c is the distance from the third to the first measurement point in each group of measurement points, and S... △ABC Let the area of the triangle formed by the first, second, and third measurement points in each set of measurement points be the area of the triangle formed by the first, second, and third measurement points.
[0061] In the above embodiments, the pipe diameter measuring device and method can be used to measure the pipe diameter of the pipe 900 in the eccentric inspection well.
[0062] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.
Claims
1. A pipe diameter measuring device, characterized by, The application relates to a pipe diameter measuring device, which comprises a controller, a support, a posture adjusting module, a posture sensor and a laser ranging module, the posture adjusting module is installed on the support, the posture sensor and the laser ranging module are installed on the output end of the posture adjusting module, the controller is connected with the posture adjusting module, the posture sensor and the laser ranging module respectively, the posture sensor is used for detecting the posture information of a pipe mouth edge measuring point relative to the center point of the laser ranging module, the laser ranging module is used for detecting the distance from the pipe mouth edge measuring point to the center point of the laser ranging module, the controller is used for establishing a relative coordinate system, controlling the posture adjusting module to adjust the laser ranging module to be located at different postures, calculating the position coordinates of the corresponding pipe mouth edge measuring point in the relative coordinate system according to the posture information and the distance information corresponding to the corresponding posture, and calculating the final pipe diameter according to the position coordinates of the measuring point in the relative coordinate system in combination with a triangle circumcircle algorithm.
2. The pipe diameter measuring device of claim 1, wherein, The posture adjusting module comprises a horizontal rotator and a vertical rotator, the horizontal rotator is installed on the support, and the vertical rotator is installed on the output end of the horizontal rotator, and the posture sensor and the laser ranging module are installed on the output end of the vertical rotator.
3. The pipe diameter measuring device of claim 1, wherein, The support comprises a mounting support and a telescopic support, the telescopic support is installed on the mounting support, and the posture adjusting module is installed on the telescopic support.
4. A pipe diameter measuring method for measuring a pipe diameter using the pipe diameter measuring apparatus according to any one of claims 1 to 3, characterized by, The application relates to a pipe diameter measuring device, which comprises a controller, a support, a posture adjusting module, a posture sensor and a laser ranging module, the posture adjusting module is installed on the support, the posture sensor and the laser ranging module are installed on the output end of the posture adjusting module, the controller is connected with the posture adjusting module, the posture sensor and the laser ranging module respectively, the posture sensor is used for detecting the posture information of a pipe mouth edge measuring point relative to the center point of the laser ranging module, the laser ranging module is used for detecting the distance from the pipe mouth edge measuring point to the center point of the laser ranging module, the controller is used for establishing a relative coordinate system, controlling the posture adjusting module to adjust the laser ranging module to be located at different postures, calculating the position coordinates of the corresponding pipe mouth edge measuring point in the relative coordinate system according to the posture information and the distance information corresponding to the corresponding posture, and calculating the final pipe diameter according to the position coordinates of the measuring point in the relative coordinate system in combination with a triangle circumcircle algorithm. The establishment of the relative coordinate system comprises the following steps: taking the connecting point O of the posture adjusting module and the telescopic support as the origin, taking the north direction as the positive direction of the y axis, and establishing the relative coordinate system; when the telescopic support is fixed through the mounting support, the point O is a fixed point; the center point of the output end of the posture adjusting module is E, and the center point of the laser ranging module is O'; the vertical distance k between O and E, the horizontal distance m and the distance d between E and O' are all fixed values. The posture information comprises the horizontal inclination angle alpha of the connecting line of the measuring point and the center point O' of the laser ranging module relative to the horizontal plane and the azimuth angle beta relative to the predetermined direction. The distance information comprises the length l of the pipe mouth edge measuring point to the center point O' of the laser ranging module. The position coordinates of the pipe mouth edge measuring point in the relative coordinate system are calculated by the following formula: The calculation of the final pipe diameter according to the position coordinates of the measuring point in the relative coordinate system in combination with the triangle circumcircle algorithm comprises the following steps: three measuring points are selected as a group; 5. The pipe diameter measurement method according to claim 4, wherein the diameter of the pipe is calculated according to the position coordinates of each group of measuring points in the relative coordinate system in combination with the triangle circumcircle algorithm; 6. The pipe diameter measurement method according to claim 4, wherein the average value of the diameters of the pipes is calculated to obtain the final pipe diameter.
7. The pipe diameter measurement method according to claim 4, wherein The diameter of the pipe is calculated by the following formula:
8. The pipe diameter measurement method as recited in claim 4, wherein, wherein (X i , Y i , Z i ) are coordinates of the measuring point in the relative coordinate system, m is a horizontal distance between the center point E of the output end of the posture adjustment module and the origin O, k is a vertical distance between the center point E of the output end of the posture adjustment module and the origin O, d is a distance between the center point O' of the laser ranging module and the center point E of the output end of the posture adjustment module, l i is a length of the measuring point to the center point O' of the laser ranging module, α i is a horizontal inclination angle of the line connecting the measuring point and the center point O' of the laser ranging module relative to the horizontal plane, and β i is an azimuth angle of the line connecting the measuring point and the center point O' of the laser ranging module relative to the predetermined direction.
9. The pipe diameter measurement method as recited in claim 4, wherein, 10. The pipe diameter measurement method as recited in claim 9, wherein, wherein D is the diameter of the pipe, a is the distance from the first measuring point to the second measuring point in each group of measuring points, b is the distance from the second measuring point to the third measuring point in each group of measuring points, c is the distance from the third measuring point to the first measuring point in each group of measuring points, S △ABC is the area of the triangle formed by the first measuring point, the second measuring point and the third measuring point in each group of measuring points.