Pipe data acquisition method and apparatus

Abstract

The present application relates to the technical field of data acquisition, in particular to a pipe data acquisition method and apparatus. The method comprises: acquiring a pulse signal output by an encoder and a sampling frequency set by a user, the pulse signal comprising a zero-position pulse signal and an angle pulse signal; detecting the pulse signal to obtain a detection result of whether the pulse signal is a zero-position pulse signal; if the detection result indicates a zero-position pulse signal, receiving each angle pulse signal having an angle fixed and output by the encoder rotating for a circle around the inner wall of a pipe to be tested; and acquiring data of the inner wall of said pipe on the basis of each angle pulse signal and the sampling frequency to obtain all acquired data, the acquired data comprising distance data and angle data. The present application aims to solve the problem of low data acquisition precision caused by non-uniform pipe data acquired by existing methods.

Description

A pipeline data collection method and device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 2023112729365, filed on September 27, 2023, entitled “A Method and Apparatus for Collecting Pipeline Data,” which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates to the field of data acquisition technology, and in particular to a pipeline data acquisition method and device. Background Art

[0004] A pipeline is a device connected by pipe sections, fittings, and valves, used to transport gases, liquids, or fluids containing solid particles. Typically, fluids are pressurized by blowers, compressors, pumps, and boilers, flowing from high-pressure areas to low-pressure areas within the pipeline. Alternatively, the fluid's own pressure or gravity can be used for transport. Pipelines are used in various industrial applications, including water supply, drainage, heating, gas supply, long-distance transportation of oil and natural gas, agricultural irrigation, and hydraulic engineering.

[0005] Currently, scanning LiDAR collects pipeline distance and angle data by rotating or scanning a laser beam. Alternatively, it uses a pulsed laser to emit a single laser pulse and then receives the laser echo to measure distance and angle, thus collecting distance and angle data.

[0006] The data acquired by conventional laser scanning ranging equipment is uneven, with an accuracy error typically around 5 centimeters. This makes it impossible to meet the high-precision measurement requirements of precise modeling or fine-scale measurement. Furthermore, due to limitations in data acquisition accuracy, large measurement errors can significantly impact the resulting 3D images or surface reconstructions, resulting in poor quality. Consequently, existing pipeline data acquisition techniques suffer from low accuracy, leading to errors in data processing and analysis.

[0007] Summary of the Invention

[0008] The present application provides a pipeline data collection method and device to solve the problem that existing methods collect pipeline data unevenly, resulting in low data collection accuracy.

[0009] This application provides a pipeline data collection method, comprising:

[0010] Obtaining the pulse signal output by the encoder and the sampling frequency set by the user, wherein the pulse signal includes a zero position pulse signal and an angle pulse signal;

[0011] Detecting the pulse signal to determine whether it is a zero-position pulse signal;

[0012] If the detection result is a zero-position pulse signal, receiving the angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected;

[0013] Based on each of the angle pulse signals and the sampling frequency, data of the inner wall of the pipeline to be inspected is collected to obtain all collected data;

[0014] Wherein, the collected data includes distance data and angle data.

[0015] According to a pipeline data collection method provided by the present application, before the step of obtaining the pulse signal output by the encoder and the sampling frequency set by the user, the method further includes:

[0016] Get the motor speed set by the user;

[0017] Based on the motor speed, the motor is controlled to start, so that after the motor drives the encoder to rotate, the encoder outputs a pulse signal.

[0018] According to a pipeline data collection method provided by the present application, if the detection result is a zero-position pulse signal, before the step of receiving the angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected, the method further includes:

[0019] Detecting whether the zero-position pulse signal is the first zero-position pulse signal;

[0020] If the zero-position pulse signal is not the first zero-position pulse signal, the first or last collected data received is processed to obtain detection data of one rotation of the inner wall of the pipeline to be detected.

[0021] According to a pipeline data collection method provided by the present application, based on each of the angle pulse signals and the sampling frequency, data of the inner wall of the pipeline to be inspected is collected to obtain all the collected data, including:

[0022] Based on each of the angle pulse signals and the sampling frequency, the data of the inner wall of the pipeline to be detected acquired by the laser sensor is collected to obtain all the collected data.

[0023] According to a pipeline data collection method provided by the present application, based on each of the angle pulse signals and the sampling frequency, data of the inner wall of the pipeline to be detected acquired by the laser sensor is collected to obtain all the collected data, including:

[0024] Based on each of the angle pulse signals and the sampling frequency, the data of the inner wall of the pipeline to be detected is acquired by a laser sensor with a resolution of one ten-thousandth of the measuring stroke of the pipeline to be detected, so as to obtain all the collected data.

[0025] According to a pipeline data acquisition method provided by the present application, obtaining the pulse signal output by the encoder and the sampling frequency set by the user includes:

[0026] Get the pulse signal output by the encoder and the sampling frequency set by the user, which is 10 times greater than the frequency of the pulse signal.

[0027] The present application also provides a pipeline data collection device, comprising:

[0028] A signal acquisition module is used to obtain the pulse signal output by the encoder and the sampling frequency set by the user, wherein the pulse signal includes a zero position pulse signal and an angle pulse signal;

[0029] A first detection module is used to detect the pulse signal and obtain a detection result of whether it is a zero-position pulse signal;

[0030] A signal receiving module is used to receive the angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected if the detection result is a zero pulse signal;

[0031] An acquisition module, configured to acquire data of the inner wall of the pipeline to be inspected based on each of the angle pulse signals and the sampling frequency, and obtain all the acquired data;

[0032] Wherein, the collected data includes distance data and angle data.

[0033] A pipeline data collection device provided by the present application also includes:

[0034] Speed ​​acquisition module, used to obtain the motor speed set by the user;

[0035] The control module is used to control the start-up of the motor based on the motor speed, so that after the motor drives the encoder to rotate, the encoder outputs a pulse signal.

[0036] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the pipeline data collection method described above is implemented.

[0037] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the pipeline data collection method described in any one of the above pipeline data collection methods is implemented.

[0038] The pipeline data collection method and device provided in the present application detect the pulse signal output by the encoder. After detecting the zero-position pulse signal, the device receives the fixed-angle pulse signal output by the encoder when it rotates around the inner wall of the pipeline to be detected, thereby collecting data on the inner wall of the pipeline to be detected and obtaining distance data and angle data. Since the data is collected at a fixed angle, each piece of collected data is evenly distributed, which improves the quality and consistency of data collection, ensures the uniformity and fixity of the data, and thus improves the accuracy of data collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] FIG1 is a flow chart of a pipeline data collection method provided in an embodiment of the present application.

[0041] FIG2 is a schematic diagram of the structure of a pipeline data collection device provided in an embodiment of the present application.

[0042] FIG3 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0044] The following describes a pipeline data collection method of the present application with reference to FIG1 , including:

[0045] S1. Obtain the pulse signal output by the encoder and the sampling frequency set by the user, wherein the pulse signal includes a zero-position pulse signal and an angle pulse signal. In this embodiment, if an encoder with 800 pulses per rotation is selected, the encoder outputs 800 pulse signals. The pulse signal output by the encoder and the sampling frequency set by the user, which is 10 times greater than the frequency of the pulse signal, are obtained. This makes the sampling frequency much greater than the frequency of the pulse signal; for example, if the frequency of the pulse signal is 4000Hz, the sampling frequency is 125kHz, thereby achieving millimeter-level high-precision data acquisition.

[0046] S2. Detect the pulse signal to determine whether it is a zero-position pulse signal. Determine the starting position of the pipeline to be detected through the zero-position pulse signal.

[0047] S3. If the detection result is a zero-position pulse signal, receiving the angle pulse signal of each fixed angle output by the encoder as it rotates around the inner wall of the pipeline to be inspected. In this embodiment, if the initial detection result is not a zero-position pulse signal, the encoder continues to receive the angle pulse signal of each fixed angle output by the encoder as it rotates around the inner wall of the pipeline to be inspected until the detection result is a zero-position pulse signal.

[0048] S4. Based on each of the angle pulse signals and the sampling frequency, collect data of the inner wall of the pipeline to be inspected to obtain all collected data.

[0049] Wherein, the collected data includes distance data and angle data.

[0050] The present application acquires the pulse signal output by the encoder through detection. After the zero-position pulse signal is detected, the application receives the fixed-angle pulse signal output by the encoder when it rotates around the inner wall of the pipe to be detected, thereby collecting data on the inner wall of the pipe to be detected and obtaining collected data including distance data and angle data. By collecting data at a fixed angle, each collected data is evenly distributed, and high-density collected data is obtained, thereby improving the quality and consistency of data collection.

[0051] Based on the above embodiment, before the step of obtaining the pulse signal output by the encoder and the sampling frequency set by the user, the following steps are further included:

[0052] Get the motor speed set by the user.

[0053] Based on the motor speed, the motor is controlled to start, so that the motor drives the encoder to rotate, and the encoder outputs a pulse signal. Specifically, the motor speed is set to 5 r / s. When the encoder rotates one revolution and produces 800 pulses, the pulse frequency is 4000 Hz, and the angle between two adjacent pulses is 0.45 degrees. This ensures the quality and consistency of each sampled data, and evenly distributes the data collected.

[0054] On the basis of the above embodiment, if the detection result is a zero-position pulse signal, then after the encoder outputs the zero-position pulse signal, before the step of receiving the angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipe to be detected, the method further includes:

[0055] Detect whether the zero-position pulse signal is the first zero-position pulse signal.

[0056] If the zero-position pulse signal is not the first zero-position pulse signal, the first or last collected data is processed to obtain the detection data for one rotation of the inner wall of the pipeline to be inspected. By performing corresponding calculations and conversions on the collected data for one rotation of the inner wall of the pipeline to be inspected, the diameter of the pipeline wall is obtained, which can more quickly and accurately process the collected data, thereby ensuring the integrity and real-time nature of the collected data.

[0057] On the basis of the above embodiment, based on each of the angle pulse signals and the sampling frequency, data of the inner wall of the pipeline to be inspected is collected to obtain all collected data, including:

[0058] Based on each of the angle pulse signals and the sampling frequency, the data of the inner wall of the pipeline to be detected acquired by the laser sensor is collected to obtain all the collected data. In this embodiment, based on each of the angle pulse signals and the sampling frequency, the data of the inner wall of the pipeline to be detected acquired by the laser sensor with a resolution of one ten-thousandth of the measurement stroke of the pipeline to be detected is collected to obtain all the collected data. A laser sensor with a sampling accuracy of less than 0.05mm is selected. During measurement, the resolution of the selected laser sensor is 0.0001 of the measurement stroke of the pipeline to be detected. At the same time, the minimum number of bits sampled in this application is 14 bits, thereby satisfying the requirement that the sampling accuracy is greater than the resolution. The data of the inner wall of the pipeline to be detected is collected in real time by the laser sensor. When the angle pulse signal is obtained, the data of the inner wall of the pipeline to be detected collected by the laser sensor is obtained, so that the laser sensor can provide sufficient accuracy to ensure that the collected data has high precision at the millimeter level.

[0059] The pipeline data collection device provided in the present application is described below. The pipeline data collection device described below and the pipeline data collection method described above can be referenced to each other.

[0060] Please refer to FIG. 2 , which shows a pipeline data collection device including a signal acquisition module 210 , a first detection module 220 , a signal receiving module 230 and a collection module 240 .

[0061] The signal acquisition module 210 is used to acquire the pulse signal output by the encoder and the sampling frequency set by the user, wherein the pulse signal includes a zero pulse signal and an angle pulse signal. Specifically, the pulse signal output by the encoder and the sampling frequency set by the user that is 10 times greater than the frequency of the pulse signal are acquired.

[0062] The first detection module 220 is used to detect the pulse signal and obtain a detection result of whether it is a zero-position pulse signal.

[0063] The signal receiving module 230 is used to receive the angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected if the detection result is a zero-position pulse signal.

[0064] The acquisition module 240 is used to acquire data of the inner wall of the pipeline to be inspected based on each of the angle pulse signals and the sampling frequency, and obtain all the acquired data.

[0065] Wherein, the collected data includes distance data and angle data.

[0066] The pulse signal output by the encoder and the sampling frequency set by the user are obtained through the signal acquisition module 210. The first detection module 220 obtains the detection result of whether it is a zero-position pulse signal. The signal receiving module 230 receives the angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected. The acquisition module 240 obtains all the collected data, thereby achieving uniform distribution of each collected data, thereby improving the quality and consistency of data acquisition.

[0067] Based on the above embodiment, it further includes a rotation speed acquisition module and a control module.

[0068] The speed acquisition module is used to obtain the motor speed set by the user.

[0069] The control module is used to control the start-up of the motor based on the motor speed, so that after the motor drives the encoder to rotate, the encoder outputs a pulse signal.

[0070] The speed acquisition module obtains the motor speed set by the user, and the control module controls the motor to start, thereby realizing the encoder output pulse signal.

[0071] Based on the above embodiment, it further includes a second detection module and a processing module.

[0072] The second detection module is used to detect whether the zero-position pulse signal is the first zero-position pulse signal.

[0073] The processing module is used to process the first or last received collected data if the zero-position pulse signal is not the first zero-position pulse signal, and obtain detection data of one rotation of the inner wall of the pipeline to be detected.

[0074] After the second detection module detects whether the zero-position pulse signal is the first zero-position pulse signal, the processing module processes the collected data obtained for the first time or the last time to obtain the detection data of the inner wall of the pipeline to be detected for one rotation, thereby realizing efficient data collection and processing.

[0075] The acquisition module 240 is specifically configured to:

[0076] Based on each of the angle pulse signals and the sampling frequency, data on the inner wall of the pipeline to be inspected, acquired by the laser sensor, is collected to obtain all collected data. Specifically, based on each of the angle pulse signals and the sampling frequency, data on the inner wall of the pipeline to be inspected, acquired by the laser sensor with a resolution of one ten-thousandth of the measuring stroke of the pipeline to be inspected, is collected to obtain all collected data. The collection of data on the inner wall of the pipeline to be inspected is accomplished by the collection module 240.

[0077] FIG3 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG3 , the electronic device may include: a processor 310, a communications interface 320, a memory 330, and a communication bus 340. The processor 310, the communications interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 may call logic instructions in the memory 330 to execute a pipeline data collection method, which includes:

[0078] S1. Obtain the pulse signal output by the encoder and the sampling frequency set by the user, wherein the pulse signal includes a zero-position pulse signal and an angle pulse signal.

[0079] S2. Detect the pulse signal to determine whether it is a zero-position pulse signal;

[0080] S3. If the detection result is a zero-position pulse signal, receive the angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected.

[0081] S4. Based on each of the angle pulse signals and the sampling frequency, collect data of the inner wall of the pipeline to be inspected to obtain all collected data.

[0082] Wherein, the collected data includes distance data and angle data.

[0083] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0084] On the other hand, the present application further provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the pipeline data collection method provided by the above methods, which includes:

[0085] S1. Obtain the pulse signal output by the encoder and the sampling frequency set by the user, wherein the pulse signal includes a zero-position pulse signal and an angle pulse signal.

[0086] S2. Detect the pulse signal to determine whether it is a zero-position pulse signal;

[0087] S3. If the detection result is a zero-position pulse signal, receive the angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected.

[0088] S4. Based on each of the angle pulse signals and the sampling frequency, collect data of the inner wall of the pipeline to be inspected to obtain all collected data.

[0089] Wherein, the collected data includes distance data and angle data.

[0090] In another aspect, the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for collecting pipeline data provided by the above methods is implemented, and the method includes:

[0091] S1. Obtain the pulse signal output by the encoder and the sampling frequency set by the user, wherein the pulse signal includes a zero-position pulse signal and an angle pulse signal.

[0092] S2. Detect the pulse signal to determine whether it is a zero-position pulse signal;

[0093] S3. If the detection result is a zero-position pulse signal, receive the angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected.

[0094] S4. Based on each of the angle pulse signals and the sampling frequency, collect data of the inner wall of the pipeline to be inspected to obtain all collected data.

[0095] Wherein, the collected data includes distance data and angle data.

[0096] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0097] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A pipeline data collection method, comprising: Obtaining a pulse signal output by the encoder and a sampling frequency set by the user, wherein the pulse signal includes a zero position pulse signal and an angle pulse signal; Detecting the pulse signal to obtain a detection result of whether it is a zero-position pulse signal; If the detection result is a zero-position pulse signal, receiving an angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected; Based on each of the angle pulse signals and the sampling frequency, data of the inner wall of the pipeline to be inspected is collected to obtain all collected data; Wherein, the collected data includes distance data and angle data.

2. The pipeline data collection method according to claim 1, wherein: Before the step of obtaining the pulse signal output by the encoder and the sampling frequency set by the user, the method further includes: Get the motor speed set by the user; Based on the motor speed, the motor is controlled to start, so that after the motor drives the encoder to rotate, the encoder outputs a pulse signal.

3. The pipeline data collection method according to claim 1, wherein: If the detection result is a zero-position pulse signal, before the step of receiving the angle pulse signal of each fixed angle output by the encoder rotating around the inner wall of the pipeline to be detected, the method further includes: Detecting whether the zero-position pulse signal is the first zero-position pulse signal; If the zero-position pulse signal is not the first zero-position pulse signal, the first or last collected data received is processed to obtain detection data of one rotation of the inner wall of the pipeline to be detected.

4. The pipeline data collection method according to claim 1, wherein: Based on each of the angle pulse signals and the sampling frequency, data of the inner wall of the pipeline to be detected is collected to obtain all the collected data, including: Based on each of the angle pulse signals and the sampling frequency, the data of the inner wall of the pipeline to be detected acquired by the laser sensor is collected to obtain all the collected data.

5. The pipeline data collection method according to claim 4, wherein: Based on each of the angle pulse signals and the sampling frequency, the data of the inner wall of the pipeline to be detected acquired by the laser sensor is collected to obtain all the collected data, including: Based on each of the angle pulse signals and the sampling frequency, the data of the inner wall of the pipeline to be detected is acquired by a laser sensor having a collection resolution of one ten-thousandth of the measurement stroke of the pipeline to be detected, so as to obtain all the collected data.

6. The pipeline data collection method according to any one of claims 1 to 5, wherein: The step of obtaining the pulse signal output by the encoder and the sampling frequency set by the user includes: Get the pulse signal output by the encoder and the sampling frequency set by the user that is 10 times greater than the frequency of the pulse signal.

7. A pipeline data collection device, comprising: A signal acquisition module, used to acquire the pulse signal output by the encoder and the sampling frequency set by the user, wherein the pulse signal includes a zero position pulse signal and an angle pulse signal; A first detection module is used to detect the pulse signal and obtain a detection result of whether it is a zero-position pulse signal; A signal receiving module, for receiving, if the detection result is a zero-position pulse signal, an angle pulse signal of each fixed angle output by the encoder when it rotates around the inner wall of the pipeline to be detected; An acquisition module, used to acquire data of the inner wall of the pipeline to be detected based on each of the angle pulse signals and the sampling frequency, and obtain all the acquired data; Wherein, the collected data includes distance data and angle data.

8. The pipeline data collection device according to claim 7, further comprising: The speed acquisition module is used to obtain the motor speed set by the user; The control module is used to control the motor to start based on the motor speed, so that after the motor drives the encoder to rotate, the encoder outputs a pulse signal.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the pipeline data collection method according to any one of claims 1 to 6 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the pipeline data collection method according to any one of claims 1 to 6 is implemented.

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