Pressure pipeline axonometric mapping system
By using laser ranging assembly and three-axis gyroscope in the pressure pipeline axial mapping system, combined with a two-dimensional gimbal and an angle calibration module, the problem of difficulty in accurately measuring long pipes or complex structures in the prior art is solved. It achieves efficient and accurate surveying and mapping results and reduces external interference effects.
Patent Information
- Application Number
- CN202422671191.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-04
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2034-11-04
AI Technical Summary
The existing pressure pipeline axial mapping and mapping devices are difficult to accurately measure the spatial distance information of long pipes or complex structures, and are easily disturbed by external magnetic fields, resulting in low integrity and accuracy of surveying and mapping results.
Using a system including a bracket, a two-dimensional gimbal, a measurement module and an angle calibration module, the measurement module consists of a laser ranging component and a three-axis gyroscope, which is used to measure horizontal azimuth and pitch angles, and a two-dimensional gimbal Rotation is performed by servo motor drive, reducing external interference, and efficient data acquisition and processing is achieved through the touch screen and data communication unit.
It improves surveying and mapping efficiency and accuracy, reduces external interference, adapts to more application scenarios, and enhances the integrity and accuracy of the pressure pipeline axonometry diagram.
Smart Images
Figure CN222144061U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of pipeline surveying and mapping, in particular to a pressure pipeline axonometric surveying and mapping system. Background Art
[0002] The pressure pipeline axonometric drawing is an important reference material in the pressure pipeline inspection process. It uses wireframe symbols and text to intuitively display the pressure pipeline direction, pipeline components, pipeline properties and other information. In the actual pipeline inspection work, it is often the case that the original pressure pipeline axonometric drawing of the enterprise is lost, or the axonometric drawing exists but does not match the actual pipeline, so the inspectors need to conduct surveying and mapping on the pressure pipeline site.
[0003] When drawing an axonometric diagram of a pressure pipeline, it is necessary to reflect the spatial distance information between the pressure pipeline components. In the case of a long pressure pipeline, or a complex spatial structure of the pipeline, and there is mutual obstruction, it is difficult for one surveying and mapping site to measure the node coordinates of all pipeline components on the pipeline, and multiple surveying and mapping sites need to be set up. Using the existing pressure pipeline axonometric mapping surveying and mapping device or system, the drawn axonometric diagram of the pressure pipeline fails to reflect the spatial distance information of the pipeline, and only indicates the spatial direction of the pressure pipeline and the category of pipeline components. It does not involve the spatial coordinates of the pipeline components, resulting in low integrity and accuracy of the pressure pipeline axonometric diagram. Moreover, this type of surveying and mapping device uses an electronic compass to obtain the horizontal azimuth of the pressure pipeline, but most pressure pipelines are made of steel, which can easily cause magnetic field interference to the electronic compass, resulting in confusion in the acquired pipeline direction data. Utility Model Content
[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a pressure pipeline axonometric mapping system, which can measure the node distance, horizontal azimuth and pitch angle of pipeline nodes, is not easily disturbed by the external environment, has an efficient and simple operation process, improves the mapping efficiency, and is suitable for more application scenarios.
[0005] The embodiment of the utility model provides a pressure pipeline axonometric mapping system, including a bracket, a two-dimensional gimbal, a measurement module and an angle calibration module. The two-dimensional gimbal is installed on the bracket, and the two-dimensional gimbal includes a first driving member and a second driving member; the measurement module is installed on the two-dimensional gimbal, and the measurement module is driven by the first driving member to rotate horizontally, and the measurement module is driven by the second driving member to rotate vertically, and the measurement module includes a laser ranging component, a three-axis gyroscope and a processor, and the processor is electrically connected to the laser ranging component and the three-axis gyroscope respectively, the laser ranging component is used to measure the distance between the pipeline node and the measurement module, and the three-axis gyroscope is used to measure the horizontal azimuth and pitch angle of the measurement module pointing to the pipeline node; the angle calibration module is installed on the measurement module, and the angle calibration module is used to calibrate the horizontal azimuth and pitch angle of the three-axis gyroscope.
[0006] According to some embodiments of the present invention, the measuring module further includes a touch screen, and the touch screen is electrically connected to the processor.
[0007] According to some embodiments of the present utility model, the measuring module is provided with a plurality of pipeline element buttons, and the plurality of pipeline element buttons include a straight pipe button, a valve button, a flange button, a reducer button, an elbow button and a tee button.
[0008] According to some embodiments of the present invention, the pipeline element button is a physical button, or the pipeline element button is a virtual button arranged on the touch screen.
[0009] According to some embodiments of the present invention, the measurement module is further provided with a plurality of function keys, and the plurality of function keys include a start key, an end key and a coordinate offset key.
[0010] According to some embodiments of the present invention, the rotation angle range of the first driving member is 0°~360°, and the rotation angle range of the second driving member is -90°~90°.
[0011] According to some embodiments of the present invention, the bracket is a tripod, and a supporting foot is provided at the bottom of the tripod.
[0012] According to some embodiments of the present invention, the measurement module further includes a data storage unit, and the data storage unit is electrically connected to the processor.
[0013] According to some embodiments of the present invention, the measurement module further includes a data communication unit, and the data communication unit is electrically connected to the processor.
[0014] According to some embodiments of the present invention, the data communication unit includes at least one of a wired communication component and a wireless communication component.
[0015] The embodiments of the present invention have at least the following beneficial effects:
[0016] The pressure pipeline axonometric mapping system provided by the utility model includes a bracket, a two-dimensional pan-tilt platform, a measuring module and an angle calibration module; the measuring module is installed on the two-dimensional pan-tilt platform, the two-dimensional pan-tilt platform includes a first driving member and a second driving member, the first driving member drives the measuring module to rotate horizontally, and the second driving member drives the measuring module to rotate vertically, and the measuring module includes a laser ranging component and a three-axis gyroscope. The measurement accuracy of the three-axis gyroscope for the change in horizontal azimuth angle and the change in pitch angle is not affected by the external magnetic field. Compared with the electronic compass, the three-axis gyroscope has a higher angle measurement accuracy; it can accurately measure the node distance, horizontal azimuth angle and pitch angle of the pipeline node, is not easily affected by the external environment, and the operation process is efficient and simple, realizing the on-site rapid mapping of the pressure pipeline axonometric map, improving the mapping efficiency, adapting to more application scenarios, and improving the integrity and accuracy of the pressure pipeline axonometric map.
[0017] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
[0019] Figure 1 It is a structural schematic diagram of a pressure pipeline axonometric mapping system according to an embodiment of the utility model;
[0020] Figure 2 It is a module diagram of the pressure pipeline axonometric mapping system of the embodiment of the utility model;
[0021] Figure 3 It is a structural schematic diagram of a two-dimensional pan-tilt and a measuring module of a pressure pipeline axonometric mapping system according to an embodiment of the utility model;
[0022] Figure 4 It is a schematic diagram of the structure of the pressure pipeline to be measured according to an embodiment of the utility model;
[0023] Figure 5 This is a schematic diagram of the pressure pipeline axonometric mapping system of the utility model when in use.
[0024] Reference numerals:
[0025] The bracket 100 , the two-dimensional gimbal 200 , the first driving member 210 , the second driving member 220 , the measuring module 300 , the laser ranging component 310 , the three-axis gyroscope 320 , the touch screen 330 , the processor 340 , the data storage unit 350 , the data communication unit 360 , the angle calibration module 400 , and the pressure pipeline 500 . DETAILED DESCRIPTION
[0026] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.
[0027] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and 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 orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0028] In the description of the present utility model, "several" means one or more, "multiple" means more than two, greater than, less than, and exceeding are understood as not including the number itself, and "above", "below", and "within" are understood as including the number itself. If there is a description of "first", "second", etc., it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.
[0029] In the description of the present utility model, unless otherwise clearly defined, the words “set”, “install”, “connect” and “connected” should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above words in the present utility model based on the specific content of the technical solution.
[0030] The pressure pipeline axonometric drawing is an important reference material in the pressure pipeline inspection process, and is usually used to assist in identifying the inspection data of various parts of the pipeline. However, many pipelines reported for inspection, especially old pipelines with a long service life, often have lost or incomplete pipeline axonometric drawing files; and some companies provide pipeline axonometric drawings that do not match the actual pipeline direction and cannot be used for on-site inspection. In the case of the above-mentioned axonometric drawing being lost or the axonometric drawing being available but not matching the actual pipeline, the inspector needs to conduct surveying and mapping on the pipeline site.
[0031] The technical solution of the utility model is described in detail below through the accompanying drawings and specific embodiments.
[0032] Please refer to Figure 1 and Figure 2 The present embodiment discloses a pressure pipeline isometric mapping system, including a bracket 100, a two-dimensional pan-tilt platform 200, a measuring module 300 and an angle calibration module 400; the two-dimensional pan-tilt platform 200 is mounted on the bracket 100, and the two-dimensional pan-tilt platform 200 includes a first driving member 210 and a second driving member 220; the measuring module 300 is mounted on the two-dimensional pan-tilt platform 200, and the measuring module 300 is driven by the first driving member 210 to rotate horizontally, and the measuring module 300 is driven by the second driving member 220 to rotate vertically, and the measuring module 300 includes The laser distance measuring component 310, the three-axis gyroscope 320 and the processor 340 are electrically connected to the laser distance measuring component 310 and the three-axis gyroscope 320 respectively. The laser distance measuring component 310 is used to measure the distance between the pipeline node and the measuring module 300, and the three-axis gyroscope 320 is used to measure the horizontal azimuth and pitch angle of the measuring module 300 pointing to the pipeline node; the angle calibration module 400 is installed on the measuring module 300, and the angle calibration module 400 is used to calibrate the horizontal azimuth and pitch angle of the three-axis gyroscope 320. The measurement accuracy of the change in the horizontal azimuth and the change in the pitch angle of the three-axis gyroscope 320 is not affected by the external magnetic field. Compared with the electronic compass, the three-axis gyroscope 320 has a higher angle measurement accuracy. It can accurately measure the node distance, horizontal azimuth and pitch angle of the pipeline node, is not easily affected by the external environment, and the operation process is efficient and simple, which improves the mapping efficiency, adapts to more application scenarios, and improves the integrity and accuracy of the pressure pipeline axonometric drawing.
[0033] It should be noted that the three-axis gyroscope 320 can obtain the horizontal azimuth change and the pitch angle change, but cannot obtain the absolute horizontal azimuth data and the absolute pitch angle data. Before performing the pressure pipeline axonometric mapping, the 0° horizontal azimuth and 0° pitch angle of the three-axis gyroscope 320 in the measurement module 300 need to be calibrated using the angle calibration module 400, so that the azimuth measured by the three-axis gyroscope 320 is the absolute horizontal azimuth, and the measured pitch angle is the pitch angle relative to the horizontal plane. Exemplarily, the first drive member 210 and the second drive member 220 are both servo motors or stepper motors.
[0034] Please refer to Figure 2 The measurement module 300 further includes a touch screen 330, and the touch screen 330 is electrically connected to the processor 340. The integrated structure is adopted, and the touch screen 330 and the processor 340 interact with each other. The processor 340 receives the distance information measured by the laser ranging component 310 and the posture data provided by the three-axis gyroscope 320, and outputs the result after processing, thereby realizing an efficient and convenient measurement function and realizing convenient integration of data collection, processing and display.
[0035] Please refer to Figure 2 The measurement module 300 is provided with a plurality of pipeline component buttons, and the plurality of pipeline component buttons include a straight pipe button, a valve button, a flange button, a reducer button, an elbow button, and a tee button. The pipeline component button is a physical button, or the pipeline component button is a virtual button provided on the touch screen 330. The pipeline node includes a weld node and a turn node.
[0036] The pipeline component category includes the first component category, the second component category and the third component category. The first component category has 2 weld nodes, the second component category has 2 weld nodes and 1 turning node in the middle, and the third component category has 3 weld nodes and 1 turning node in the middle. The first component category includes straight pipes, valves, flanges, and reducers, the second component category includes elbows, and the third component category includes tees.
[0037] Please refer to Figure 2 The measurement module 300 is also provided with a plurality of function buttons, including a start button, an end button, and a coordinate shift button. The measurement is started by pressing the start button, and the measurement is ended by pressing the end button. The position of the measurement start coordinate is adjusted by the coordinate shift button, so as to realize flexible control of the measurement range and coordinates, thereby improving the measurement efficiency and accuracy.
[0038] Please refer to Figure 3 The rotation angle range of the first driving member 210 is 0°~360°, and the rotation angle range of the second driving member 220 is -90°~90°. The first driving member 210 drives the measuring module 300 to rotate horizontally, accurately controls the horizontal rotation angle, and realizes 360-degree scanning in the horizontal direction; the second driving member 220 drives the measuring module 300 to rotate vertically, accurately controls the pitch angle, and realizes up and down position measurement.
[0039] Please refer to Figure 2 The bracket 100 is a tripod, and a support foot is arranged at the bottom of the tripod. The bracket 100 adopts a tripod structure, which can provide a stable support structure, and a support foot is arranged at the bottom to better contact the ground and enhance stability, thereby improving the bearing capacity and use safety of the bracket.
[0040] Please refer to Figure 2 The measurement module 300 further includes a data storage unit 350, which is electrically connected to the processor 340. The data storage unit 350 stores the measured pressure pipeline axonometric data and can be retrieved by the processor 340.
[0041] Please refer to Figure 2The measurement module 300 further includes a data communication unit 360, which is electrically connected to the processor 340. The data communication unit 360 includes at least one of a wired communication component and a wireless communication component. The wireless communication module uses a Bluetooth or Wi-Fi communication module, which is conducive to system integration. The measured pressure pipeline axonometric drawing is shared to a terminal device with a data storage function such as a USB flash drive, a smart phone, a laptop computer, and a tablet computer through the data communication unit 360.
[0042] When measuring, please refer to Figure 5 , fix the measurement module 300 and the angle calibration module 400 on the two-dimensional gimbal 200. Turn the two-dimensional gimbal 200 to point the angle calibration module 400 to a position where the horizontal azimuth angle is 0° and the pitch angle is 0°. Perform angle calibration on the measurement module 300 so that the horizontal azimuth angle of the three-axis gyroscope 320 is 0° and the pitch angle is 0°; the horizontal azimuth angle measured subsequently is the absolute horizontal azimuth angle, and the pitch angle is the absolute azimuth angle. Please refer to Figure 4 , according to the pipeline element type of the pressure pipeline 500, the corresponding pipeline element button is operated on the measurement module 300, the two-dimensional pan-tilt platform 200 is rotated, the laser distance measuring component 310 is used to measure the distance between the pipeline node and the measurement module 300, and the three-axis gyroscope 320 is used to measure the horizontal azimuth and pitch angle of the pipeline node to obtain the node distance, horizontal azimuth and pitch angle of the pipeline node. If the pipeline element type is the first element type, the node distance, horizontal azimuth and pitch angle of the two weld nodes of the measured pipeline element relative to the origin of the surveying station coordinate system are obtained in sequence along the surveying direction. If the pipeline element type is the second element type, the node distance, horizontal azimuth and pitch angle of the two weld nodes and one steering node of the pipeline element relative to the origin of the surveying station coordinate system are measured in sequence along the surveying direction. If the pipeline element type is the third element type, the node distance, horizontal azimuth and pitch angle of the three weld nodes and one steering node of the pipeline element relative to the origin of the surveying station coordinate system are measured in sequence along the surveying direction. By measuring the node distance, horizontal azimuth and pitch angle of the pipeline node, the three-dimensional coordinates of the pipeline node are calculated and the coordinate transformation is performed. Combined with the selected pipeline element type, the pressure pipeline axonometric drawing is finally generated.
[0043] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.
Claims
1. A pressure pipeline axonometric mapping system, comprising a bracket (100), characterized in that: Also includes: A two-dimensional pan-tilt platform (200), the two-dimensional pan-tilt platform (200) being mounted on the bracket (100), the two-dimensional pan-tilt platform (200) comprising a first driving member (210) and a second driving member (220); A measuring module (300), the measuring module (300) being mounted on the two-dimensional pan-tilt platform (200), the measuring module (300) being driven by the first driving member (210) to rotate horizontally, and the measuring module (300) being driven by the second driving member (220) to rotate vertically, the measuring module (300) comprising a laser distance measuring component (310), a three-axis gyroscope (320) and a processor (340), the processor (340) being electrically connected to the laser distance measuring component (310) and the three-axis gyroscope (320), respectively, the laser distance measuring component (310) being used to measure the distance between a pipeline node and the measuring module (300), and the three-axis gyroscope (320) being used to measure the horizontal azimuth and pitch angle of the measuring module (300) pointing to the pipeline node; An angle calibration module (400), the angle calibration module (400) being mounted on the measurement module (300), the angle calibration module (400) being used to calibrate the horizontal azimuth angle and the pitch angle of the three-axis gyroscope (320).
2. The pressure pipeline axonometric mapping system according to claim 1, characterized in that: The measurement module (300) further comprises a touch screen (330), wherein the touch screen (330) is electrically connected to the processor (340).
3. The pressure pipeline axonometric mapping system according to claim 2, characterized in that: The measurement module (300) is provided with a plurality of pipeline element buttons, the plurality of pipeline element buttons comprising a straight pipe button, a valve button, a flange button, a reducer button, an elbow button and a tee button.
4. The pressure pipeline axonometric mapping system according to claim 3 is characterized in that: The pipeline element button is a physical button, or the pipeline element button is a virtual button arranged on the touch screen (330).
5. The pressure pipeline axonometric mapping system according to claim 1 or 3, characterized in that: The measurement module (300) is also provided with a plurality of function keys, the plurality of function keys comprising a start key, an end key and a coordinate offset key.
6. The pressure pipeline axonometric mapping system according to claim 1, characterized in that: The rotation angle range of the first driving member (210) is 0° to 360°, and the rotation angle range of the second driving member (220) is -90° to 90°.
7. The pressure pipeline axonometric mapping system according to claim 1, characterized in that: The support (100) is a tripod, and a supporting foot is provided at the bottom of the tripod.
8. The pressure pipeline axonometric mapping system according to claim 2, characterized in that: The measurement module (300) further comprises a data storage unit (350), wherein the data storage unit (350) is electrically connected to the processor (340).
9. The pressure pipeline axonometric mapping system according to claim 2 or 8, characterized in that: The measurement module (300) further comprises a data communication unit (360), wherein the data communication unit (360) is electrically connected to the processor (340).
10. The pressure pipeline axonometric mapping system according to claim 9, characterized in that: The data communication unit (360) comprises at least one of a wired communication component and a wireless communication component.