CN109186487A - A kind of pipeline ovality automatic checkout equipment and its detection method - Google Patents
A kind of pipeline ovality automatic checkout equipment and its detection method Download PDFInfo
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- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000035772 mutation Effects 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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Abstract
本发明涉及一种管道椭圆度自动检测设备及其检测方法，该检测设备包括工业机器人、用于固定管道的V型装置，工业机器人通讯连接有的工控机，工业机器人的末端连接有激光测距装置，工控机控制工业机器人动作并通讯接收激光测距装置采集的数据；该检测方法，包括一：工业机器人自动调整姿态，可使激光测距装置进入管道且方向垂直管道所测面；二：工业机器人末端将激光测距装置伸入管道内旋转一周，测量周向多个点的坐标值，并在工控机内保存和计算；三：经工控机计算拟合出椭圆曲线，得出该椭圆曲线的长轴和短轴的长度数据。本发明以测量管道内部多个坐标点的形式，拟合出椭圆方程并求取椭圆度，测量精度和效率更高、操作更简单。
The invention relates to an automatic detection device for the ovality of a pipeline and a detection method thereof. The detection device comprises an industrial robot, a V-shaped device for fixing a pipeline, an industrial computer connected to the industrial robot for communication, and a laser ranging is connected to the end of the industrial robot. The device, the industrial computer controls the action of the industrial robot and communicates to receive the data collected by the laser ranging device; the detection method includes: 1: the industrial robot automatically adjusts the posture, so that the laser ranging device can enter the pipeline and the direction is perpendicular to the measured surface of the pipeline; 2: At the end of the industrial robot, the laser distance measuring device is inserted into the pipeline and rotated for a circle, and the coordinate values of multiple points in the circumferential direction are measured, and saved and calculated in the industrial computer; 3: The ellipse curve is calculated and fitted by the industrial computer, and the ellipse is obtained. Length data for the major and minor axes of the curve. The invention fits the ellipse equation and obtains the ellipticity in the form of measuring a plurality of coordinate points inside the pipeline, so that the measurement accuracy and efficiency are higher and the operation is simpler.
Description
Technical field
The present invention relates to large diameter pipeline detection technique field, specifically a kind of pipeline ovality automatic checkout equipment
And its detection method.
Background technique
It is well known that pipeline is connected into pipe, pipe connector and valve etc. for conveying the stream such as gas, liquid
The device of body.Pipeline it is widely used, large-scale pipeline is also the important component of pipeline-like product, and ovality is as Large Tube
Tube end important parameter index in road is of great significance to guarantee pipeline construction progress and quality aspect.
With being constantly progressive for pipeline field construction technology, the requirement to large-scale pipeline caliber is also continuously improved, especially
To pipe end, ovality requirement is extremely stringent, because when two pipelines carry out piping welding procedure in field or ocean, if
The pipe end ovality of large-scale pipeline meets the requirements, and welding can favorably accomplish；Conversely, will cause two pipe butt welding difficulties, i.e., it is enabled
Reluctantly to being welded together, very big residual stress can be also generated, causes the mechanical performance of commissure to decline, reduces the safety of pipeline
Property.Therefore, measuring to large-scale pipeline is an essential measure.
Currently, the hand dippings measurer such as traditional slide calliper rule, micrometer, by production environment, measurer accuracy and operator because
Element is affected, and measurement accuracy is low, speed is slow, low efficiency, and labor intensity of workers is big, can not accurately reflect pipeline ovality feelings
Condition, the patent of invention that China Patent No. is CN102650516B disclose a kind of pipe end outer diameter and ovality on-line measurement side
Method and device first obtain the nominal data of steel pipe to be measured, then measure shaft core position；Reset outer diameter laser displacement sensor
Spacing, the alignment probe axle center of sensor, starts to measure, and obtains the diameter D of steel pipe to be measured, and rotate 180 degree and obtain circle
The average diameter and ovality of steel pipe to be measured is obtained by calculation in the outer diameter in direction；Its on-line measurement device includes industrial machine
People, external diameter measuring device and axle center detection device.
But above-mentioned detection device is only used to detect outer diameter tube, can not be suitable for having in internal diameter of the pipeline or pipeline
The detection of step, while it is also just related to measurement by finding pipeline shaft core position traverse measurement, the precision that axle center is found accurately accurately
Precision, and above-mentioned detection method axis position is obtained by finding two perpendicular bisector interleaved modes, accuracy is low, low efficiency,
And in such a way that sensor directly measures pipeline largest outside diameter value and minimum value seeks ovality, the precision of measurement is low, accurately
Property is poor, and cumbersome, time-consuming.
Summary of the invention
In order to avoid with solve above-mentioned technical problem, the invention proposes a kind of pipeline ovality automatic checkout equipment and its
Detection method.
The technical problems to be solved by the invention are realized using following technical scheme:
A kind of pipeline ovality automatic checkout equipment, it is described including industrial robot, for the V-type device of fixed -piping
The industrial personal computer that industrial robot communication connection has, the end of the industrial robot are connected with laser ranging system, the industry control
Machine control industrial machine human action simultaneously communicates the data for receiving laser ranging system acquisition.
Preferably, the V-type device is the fixing seat that V-shaped groove is arranged in top.
Preferably, the laser ranging system is laser range sensor
Preferably, the industrial personal computer has analog acquisition card.
Preferably, the industrial personal computer is connected with the display of data for rendering.
A kind of detection method using pipeline ovality automatic checkout equipment, comprising the following steps:
Step 1: industrial robot adjust automatically posture can make laser ranging system enter pipeline and direction vertical pipe
Surveyed face.
Step 2: industrial robot end, which protrudes into laser ranging system in pipeline, to rotate a circle, the circumferential multiple points of measurement
Coordinate value, and in industrial personal computer save and calculate.
Step 3: go out elliptic curve through industrial personal computer digital simulation, obtain the long axis of the elliptic curve and the length number of short axle
According to.
Preferably, the industrial robot adjust automatically posture in the step 1 includes:
1) in industrial robot end, initial position establishes space coordinates O1.
2) to the Z-direction of coordinate system O1, the direction X1 along coordinate system O1 is stretched for the Laser emission end face of laser ranging system
Enter first Sudden Changing Rate of duct survey, obtain point A, coordinate is (xa, 0, za).
3) industrial robot returns to initial position and protrudes into duct survey second mutation again after end rotates 120 °
Amount obtains point B, coordinate (xb, yb, zb).
4) industrial robot returns to initial position and protrudes into duct survey second mutation again after end rotates 120 °
Amount obtains point C, coordinate (xc, yc, zc).
5) after industrial personal computer handles 3 points of A, B, C, the central coordinate of circle and normal vector of circle, adjust industrial machine where finding at 3 points
The posture of people end.
Preferably, when industrial robot rotates in the step 2, by every defined angle acquisition point.
Preferably, the point acquisition is N number of, and the number acquired is more, and the precision of measurement is higher.
Preferably, in the step 3 difference of long axis and short axle be pipeline in the detection process ovality.
The beneficial effects of the present invention are: the present invention in such a way that triangle determines circumscribed circle, finds pipeline institute side circle
The heart, accuracy is high, while in the form of measuring the multiple coordinate points in pipeline inside, fitting elliptic equation and seeking ovality, surveying
Accuracy of measurement and it is more efficient, operation is simpler, high degree of automation, greatly facilitate the measurement of pipeline.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the schematic diagram of industrial robot adjust automatically posture in the present invention；
Fig. 3 is that industrial robot acquires pipeline millet cake schematic diagram data in the present invention；
Fig. 4 is that the present invention passes through surveyed each point coordinate fitting oval schematic diagram out.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 4, a kind of pipeline ovality automatic checkout equipment, including industrial robot, be used for fixed -piping
V-type device, the industrial personal computer that the industrial robot communication connection has, the end of the industrial robot is connected with laser ranging
Device, the industrial personal computer control industrial machine human action and communicate the data for receiving laser ranging system acquisition.
The V-type device is the fixing seat that V-shaped groove is arranged in top.
The laser ranging system is laser range sensor.
The industrial personal computer has analog acquisition card, and the industrial personal computer is connected with the display of data for rendering.At this
In embodiment, the industrial personal computer preferably such as can grind the original-pack industrial control computer of China, IPC-610L cabinet, AIMB-710 master
Plate, I3 processor, 8G memory, and have and grind magnificent capture card, data collecting card, PCIE-1812-AE (sync card).
Pipeline when in use, is placed on the V-shaped groove of fixed work, so that the position of pipeline be consolidated by the detection device first
It is fixed, its rolling is prevented, then laser ranging system is mounted on to the end of industrial robot, wherein the industrial robot is six
Laser ranging system is protruded into pipeline internal rotating one week by free end robot, industrial robot, realizes detection after acquiring data.
The present invention before detecting, industrial robot can adjust automatically posture capturing position, wherein industrial robot
Adjust automatically posture process are as follows:
A kind of detection method using pipeline ovality automatic checkout equipment, comprising the following steps:
Step 1: industrial robot can adjust automatically posture, calibration of laser range unit protrudes into position, then restore to
The initial point of industrial robot end, then Laser Measuring is made as benchmark face using plane where the end face of pipeline or pipeline interior step
Enter pipeline and the surveyed face of direction vertical pipe away from device.
Step 2: after industrial robot end protrudes into laser ranging system in pipeline, the end of industrial robot rotates
One week, the coordinate value of the circumferential multiple points of measurement, and save and calculate in industrial personal computer.
At measurement process midpoint, the number of acquisition is more, and the precision of measurement is higher；Therefore, in this embodiment, preferably take
12 point measurements, and measure first point is denoted as S1, when the end of industrial robot rotates a circle, every defined angle
Degree, acquires the data of a point, finally measures point S1, S2, S3 ... S12, and record point simultaneously converts in the seat in setting coordinate system
Scale value.
Step 3: by the coordinate of collected point, go out elliptic curve through the software algorithm digital simulation in industrial personal computer, obtain
The difference of the long axis of the elliptic curve and the length data of short axle, long axis and short axle is the ovality of pipeline in the detection process.
In above-mentioned detection method, the industrial robot adjust automatically posture includes:
1) it firstly, industrial robot perpendicular end surface pose adjustment, industry of recording workpoints robot initial point are O1 (0,0,0), establishes
Space coordinates O1.
2) by the Laser emission end face of laser ranging system to the Z-direction of coordinate system O1, the end edge of industrial robot
Pipeline is protruded into the direction X1 of coordinate system O1, and laser ranging system is scanned measurement during entrance, in the mistake for entering pipeline
Cheng Zhong, institute's measured data can have accidental data at step in ducting side edge or pipeline, by data processing, take first number
According to the point of mutation as A point, coordinate is (xa, 0, za).
3) industrial robot returns again to initial position, after end rotates 120 °, according to the step A for taking A point, obtains B point,
Coordinate is (xb, yb, zb).
4) then, industrial robot returns again to initial position, and after end rotates 120 °, same step obtains C point,
Coordinate is (xc, yc, zc).
5) after industrial personal computer handles 3 points of A, B, C, the central coordinate of circle and normal vector of circle, adjust industrial machine where finding at 3 points
The posture of people end.
Wherein, a triangle of 3 points of A, B, C of acquirement compositions, if the central coordinate of circle of triangle ABC circumscribed circle O2 is
O2 (x, y, z), because of O2A=O2B=O2C, so point O2 point coordinate can be acquired by conversion, if xa^2-xb^2+ya^2-yb^2+
Za^2-zb^2=A1；
Again by reduction formula:
2* (xa-xb)=B1,
2* (ya-yb)=C1,
2* (za-zb)=D1,
Xb^2-xc^2+yb^2-yc^2+zb^2-zc^2=A2,
2* (xb-xc)=B2,
2* (yb-yc)=C2,
2* (zb-zc)=D2,
Xc^2-xa^2+yc^2-ya^2+zc^2-za^2=A3,
2* (xc-xa)=B3,
2* (yc-ya)=C3,
2* (zc-za)=D3,
X=A1/B1- { C1* [(B1*A2-A1*B2) * (B1*D3-B3*D1)-(B1*D2-B2*D1) * (B1*A3-A1*
B3)]}/{B1*[(B1*D2-B2*D1)*(B3*C1-B1*C3)-(B2*C1-B1*C2)*(B1*D3-B3*D1)]}-{D1*
[(A1*B2-B1*A2)*(B2*C1-B1*C3)-(A1*B3-B1*A3)*(B2*C1-B1*C2)]}/{B1*[(B1*D3-B3*
D1)*(B2*C1-B1*C2)-(B1*D2-B2*D1)*(B3*C1-B1*C3)]}；
Y=[(B1*A2-A1*B2) * (B1*D3-B3*D1)-(B1*D2-B2*D1) * (B1*A3-A1*B3)]/[(B1*D2-
B2*D1)*(B3*C1-B1*C3)-(B2*C1-B1*C2)*(B1*D3-B3*D1)]；
Z=[(A1*B2-B1*A2) * (B2*C1-B1*C3)-(A1*B3-B1*A3) * (B2*C1-B1*C2)] }/[(B1*
D3-B3*D1)*(B2*C1-B1*C2)-(B1*D2-B2*D1)*(B3*C1-B1*C3)]
In above-mentioned calculating process, try vector as n (xn, yn, zn), therefore n*AB=0, n*AC=0, wherein each conversion is public
* in formula is " multiplying " number, to be converted to find out its normal line vector n by engineering machine.By data reduction at industrial robot
Posture coordinate, industrial robot make industrial robot end into pipeline end face according to the posture Coordinate Adjusting posture after conversion
Direction is close to the surveyed face of vertical pipe.
In conclusion the present invention in such a way that triangle determines circumscribed circle, finds the pipeline institute side center of circle, accuracy
It is high, high-efficient, while in the form of measuring the multiple coordinate points in pipeline inside, it fits elliptic equation and seeks ovality, measure
Precision is higher, operation is simpler, high degree of automation,
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of pipeline ovality automatic checkout equipment, it is characterised in that: including industrial robot, for the V-type of fixed -piping
Device, the industrial personal computer that the industrial robot communication connection has, the end of the industrial robot are connected with laser ranging system,
The industrial personal computer controls industrial machine human action and communicates the data for receiving laser ranging system acquisition.
2. a kind of pipeline ovality automatic checkout equipment according to claim 1, it is characterised in that: the V-type device is
The fixing seat of top setting V-shaped groove.
3. a kind of pipeline ovality automatic checkout equipment according to claim 1, it is characterised in that: the laser ranging dress
It is set to laser range sensor.
4. a kind of pipeline ovality automatic checkout equipment according to claim 1, it is characterised in that: band in the industrial personal computer
There is analog acquisition card.
5. a kind of pipeline ovality automatic checkout equipment according to claim 1, it is characterised in that: the industrial personal computer connection
There is the display of data for rendering.
6. a kind of detection method using pipeline ovality automatic checkout equipment described in any one of any one of claims 1 to 55, special
Sign is: the following steps are included:
Step 1: industrial robot adjust automatically posture makes that laser ranging system enters pipeline and direction is surveyed perpendicular to pipeline
Face；
Step 2: industrial robot end, which protrudes into laser ranging system in pipeline, to rotate a circle, the seat of the circumferential multiple points of measurement
Scale value, and save and calculate in industrial personal computer；
Step 3: go out elliptic curve through industrial personal computer digital simulation, obtain the long axis of the elliptic curve and the length data of short axle.
7. a kind of detection method using pipeline ovality automatic checkout equipment according to claim 6, it is characterised in that:
Industrial robot adjust automatically posture in the step 1 includes:
1) in industrial robot end, initial position establishes space coordinates O1；
2) to the Z-direction of coordinate system O1, pipe is protruded into the direction X1 along coordinate system O1 for the Laser emission end face of laser ranging system
Road measures first Sudden Changing Rate, obtains point A, and coordinate is (xa, 0, za)；
3) industrial robot returns to initial position and protrudes into second Sudden Changing Rate of duct survey again after end rotates 120 °, take
Invocation point B, coordinate are (xb, yb, zb)；
4) industrial robot returns to initial position and protrudes into second Sudden Changing Rate of duct survey again after end rotates 120 °, take
Invocation point C, coordinate are (xc, yc, zc)；
5) after industrial personal computer handles 3 points of A, B, C, the central coordinate of circle and normal vector of circle where finding at 3 points, adjustment industrial robot end
The posture at end.
8. a kind of detection method using pipeline ovality automatic checkout equipment according to claim 6, it is characterised in that:
When industrial robot rotates in the step 2, by every defined angle acquisition point.
9. a kind of detection method using pipeline ovality automatic checkout equipment according to claim 6, it is characterised in that:
The point acquisition is N number of, and the number acquired is more, and the precision of measurement is higher.
10. a kind of detection method using pipeline ovality automatic checkout equipment according to claim 6, feature exist
In: the difference of long axis and short axle is the ovality of pipeline in the detection process in the step 3.
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| CN109883328A (en) * | 2019-04-10 | 2019-06-14 | 中国计量科学研究院 | Pipe Inner Wall Measurement System |
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| CN111795651A (en) * | 2020-07-06 | 2020-10-20 | 安徽工程大学 | A method and equipment for measuring parameters of large-scale revolving bodies by using a mechanical arm |
| CN112525132A (en) * | 2020-11-11 | 2021-03-19 | 中国石油天然气集团有限公司 | Petroleum pipe inner wall ovality measuring instrument and measuring method thereof |
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| CN114577137A (en) * | 2020-11-30 | 2022-06-03 | 宝山钢铁股份有限公司 | Device and method for measuring ovality of pipe end of large-diameter steel pipe |
| CN114812436A (en) * | 2022-05-27 | 2022-07-29 | 水利部交通运输部国家能源局南京水利科学研究院 | Device for measuring ovality of in-service buried operating large-diameter pipeline and using method |
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