CN112033339A - Three-dimensional measuring instrument and measuring method - Google Patents
Three-dimensional measuring instrument and measuring method Download PDFInfo
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- CN112033339A CN112033339A CN202011024004.5A CN202011024004A CN112033339A CN 112033339 A CN112033339 A CN 112033339A CN 202011024004 A CN202011024004 A CN 202011024004A CN 112033339 A CN112033339 A CN 112033339A
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- 238000005259 measurement Methods 0.000 abstract description 45
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention discloses a three-dimensional measuring instrument and a measuring method, wherein the three-dimensional measuring instrument comprises: the frame body is used for covering the submarine pipeline; the horizontal moving assembly is arranged on the frame body; the rotating assembly is arranged on the horizontal moving assembly; the probe is arranged on the rotating assembly and used for sensing data of a point to be measured in the circumferential direction of the submarine pipeline; the horizontal displacement sensor is arranged on the horizontal moving assembly and used for measuring horizontal moving distance data of the probe along the axial direction of the submarine pipeline; the vertical displacement sensor is arranged on the rotating assembly and used for measuring the data of the vertical movement distance of the probe along the radial direction of the submarine pipeline; the angle sensor is arranged on the rotating assembly and used for measuring circumferential angle data of the probe along the circumferential direction of the submarine pipeline; and the imaging equipment is used for obtaining a three-dimensional graph of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data and the circumferential angle data. The invention improves the measurement precision and reliability of submarine pipeline measurement.
Description
Technical Field
The invention relates to the technical field of submarine pipeline measuring equipment, in particular to a three-dimensional measuring instrument and a measuring method.
Background
The submarine pipeline is an important tool for developing and transporting marine resources, and various marine phenomena are difficult to predict and pose certain threats to the safe burying of the submarine pipeline. Once the submarine pipeline is damaged, accurate measurement needs to be carried out, so that a reliable basis is provided for later-stage pipeline repair.
Currently, there are generally three ways to measure subsea pipelines: 1. the method comprises the following steps of laser imaging measurement, namely, by utilizing the principle of laser ranging, a three-dimensional model of a measured object and various drawing data such as lines, surfaces and bodies can be quickly reconstructed by recording information such as three-dimensional coordinates, reflectivity and texture of a large number of dense points on the surface of the measured object, the three-dimensional model has non-contact property, and a large amount of space point location information can be acquired with high density and high precision, but the requirement on the environment is high, clean air or water is required, otherwise, light reflection is influenced, accurate measurement cannot be carried out, and even measurement cannot be carried out; 2. ultrasonic imaging measurement, namely performing computer processing on two-dimensional images of continuous different planes to obtain a reconstructed three-dimensional figure, wherein the three-dimensional ultrasound figure is non-contact and can acquire a large amount of space point location information at high density, but the error of sonar imaging in an underwater environment is large, and the accurate measurement requirement cannot be met; 3. the method comprises the steps of performing demoulding measurement, namely manufacturing a sealing mould to wrap a pipeline to be measured, then filling a plastic injection material into the mould, cutting and disassembling the mould after the material is hardened and formed, wherein the demoulding measurement can completely measure the appearance of the pipeline, but when a long pipeline is measured, the mould is filled with the plastic material, the pipeline is possibly not filled with the plastic material (particularly underwater environment), and the model is possibly damaged when the injection mould is disassembled due to the fact that the reliable underwater plastic injection material does not exist. Therefore, the existing submarine pipeline measuring method has low reliability and poor measuring accuracy.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a three-dimensional measuring instrument and a measuring method thereof, so as to improve the measuring accuracy and reliability of the submarine pipeline measurement.
The technical scheme of the invention is as follows:
the invention provides a three-dimensional measuring instrument, which is used for measuring a submarine pipeline and comprises:
the frame body is used for covering the submarine pipeline;
the horizontal moving assembly is arranged on the frame body;
a rotating assembly disposed on the horizontal moving assembly;
the probe is arranged on the rotating assembly and used for sensing data of a point to be measured in the circumferential direction of the submarine pipeline;
a horizontal displacement sensor provided on the horizontal movement assembly for measuring horizontal movement distance data of the probe in an axial direction of the subsea pipeline;
a vertical displacement sensor disposed on the rotating assembly for measuring vertical movement distance data of the probe in a radial direction of the subsea pipeline;
an angle sensor disposed on the rotating assembly for measuring circumferential angle data of the probe in a circumferential direction of the subsea pipeline;
and the imaging equipment is respectively electrically connected with the horizontal displacement sensor, the vertical displacement sensor, the angle sensor and the probe, and obtains a three-dimensional graph of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data and the circumferential angle data.
In a further aspect of the present invention, the horizontal movement assembly comprises:
the sliding rail is arranged on the frame body;
the mounting seat is connected to the sliding rail in a sliding manner;
the rotating assembly is connected with the mounting seat;
the horizontal movement sensor is installed on the slide rail.
In a further aspect of the invention, the rotating assembly comprises:
the gear ring is arranged on the mounting seat;
the first gear is rotationally connected to the gear ring;
the second gear is arranged on the gear ring and meshed with the first gear and is used for driving the first gear to rotate;
a mounting bracket disposed on the first gear and rotating with the first gear around the subsea pipeline;
the angle sensor is installed on the second gear, the probe is arranged at the bottom of the installation support, and the vertical displacement sensor is arranged at the top of the installation support.
According to the further arrangement of the invention, a first opening is formed in the bottom of the frame body, and a second opening is formed in the position, corresponding to the first opening, of the gear ring.
According to the invention, a first accommodating groove is formed in the gear ring, and the first gear is arranged in the first accommodating groove; a plurality of third openings are arranged on the gear ring at intervals, and the second gear is meshed with the first gear through the third openings.
According to a further development of the invention, the three-dimensional measuring device further comprises a stylus which is arranged on the mounting bracket and on the side of the probe for determining the position of the probe.
According to the further arrangement of the invention, the three-dimensional measuring instrument further comprises an attitude sensor, wherein the attitude sensor is arranged on the slide rail, is electrically connected with the imaging equipment and is used for acquiring the three-dimensional pose data of the frame body.
According to the further arrangement of the invention, the three-dimensional measuring instrument further comprises a plurality of radial clamping devices, wherein the radial clamping devices are arranged at intervals along the circumferential direction of the frame body and are used for adjusting the three-dimensional pose of the frame body through the three-dimensional pose data acquired by the attitude sensor.
According to the further arrangement of the invention, the three-dimensional measuring instrument further comprises a counter, wherein the counter is arranged on the gear ring and is electrically connected with the imaging equipment, and is used for recording the number of turns of the probe in rotation.
According to the further arrangement of the invention, the three-dimensional measuring instrument further comprises a plurality of anti-settling devices, and the anti-settling devices are arranged at the bottom of the frame body at intervals.
Based on the same inventive concept, the invention also provides a measuring method of the three-dimensional measuring instrument, which is applied to the three-dimensional measuring instrument, and the method comprises the following steps:
the rotating assembly is driven to rotate so as to drive the probe to rotate along the circumferential direction of the submarine pipeline, data of each point to be measured are sensed through the probe, and the horizontal moving distance data, the vertical moving distance data and the circumferential angle data which are respectively measured by the horizontal displacement sensor, the vertical displacement sensor and the angle sensor are transmitted to the imaging equipment; wherein, the probe measures 10-30 points in total from the zero point;
after the probe rotates for a circle, driving the horizontal moving assembly to drive the rotating assembly to horizontally move for a certain distance, and then reversely driving the rotating assembly to rotate to drive the probe to circumferentially rotate along the submarine pipeline, sensing data of each point to be measured through the probe, and transmitting the horizontal moving distance data, the vertical moving distance data and the circumferential angle data which are respectively measured by the horizontal displacement sensor, the vertical displacement sensor and the angle sensor to the imaging equipment;
and the imaging equipment generates a three-dimensional image of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data and the circumferential angle data.
The invention provides a three-dimensional measuring instrument and a measuring method, wherein the three-dimensional measuring instrument is used for measuring a submarine pipeline and comprises the following components: the frame body is used for covering the submarine pipeline; the horizontal moving assembly is arranged on the frame body; a rotating assembly disposed on the horizontal moving assembly; the probe is arranged on the rotating assembly and used for sensing data of a point to be measured in the circumferential direction of the submarine pipeline; a horizontal displacement sensor provided on the horizontal movement assembly for measuring horizontal movement distance data of the probe in an axial direction of the subsea pipeline; a vertical displacement sensor disposed on the rotating assembly for measuring vertical movement distance data of the probe in a radial direction of the subsea pipeline; an angle sensor disposed on the rotating assembly for measuring circumferential angle data of the probe in a circumferential direction of the subsea pipeline; and the imaging equipment is respectively electrically connected with the horizontal displacement sensor, the vertical displacement sensor, the angle sensor and the probe, and obtains a three-dimensional graph of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data and the circumferential angle data. The invention improves the measurement precision and reliability of submarine pipeline measurement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of the three-dimensional measuring instrument of the present invention.
Fig. 2 is a schematic view of another angle of the three-dimensional measuring instrument according to the present invention.
Fig. 3 is a flow chart of a measuring method of the three-dimensional measuring instrument in the invention.
The various symbols in the drawings: 1. a frame body; 2. a horizontal movement assembly; 21. a slide rail; 22. a mounting seat; 3. a rotating assembly; 31. a ring gear; 32. a first gear; 33. a second gear; 34. mounting a bracket; 4. a probe; 5. a horizontal displacement sensor; 6. a vertical displacement sensor; 7. an angle sensor; 8. an imaging device; 9. a stylus; 10. an attitude sensor; 11. a radial clamping device; 12. a counter; 13. an anti-settling device; 14. a first opening; 15. a subsea pipeline.
Detailed Description
The invention provides a three-dimensional measuring instrument and a measuring method, wherein the three-dimensional measuring instrument provided by the invention adopts a mechanical dotting type measuring method, realizes three-dimensional imaging measurement of a pipeline by measuring three dimensions of a horizontal straight line, a circumferential angle and a vertical straight line through the three-dimensional measuring instrument, and is mainly used for accurately measuring the pipeline when a submarine pipeline is damaged, so as to provide a reliable basis for later repair. In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiments and claims, the terms "a" and "an" can mean "one or more" unless the article is specifically limited.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 2, the present invention provides a three-dimensional measuring instrument according to a preferred embodiment.
As shown in fig. 1 and 2, the present invention provides a three-dimensional measuring instrument for measuring a submarine pipeline 15, wherein the three-dimensional measuring instrument comprises: the device comprises a frame body 1, a horizontal moving component 2, a rotating component 3, a probe 4, a horizontal displacement sensor 5, a vertical displacement sensor 6, an angle sensor 7 and an imaging device 8, wherein the frame body 1 is used for covering the submarine pipeline 15, the horizontal moving component 2 is arranged on the frame body 1, the rotating component 3 is arranged on the horizontal moving component 2, the probe 4 is arranged on the rotating component 3 and is used for sensing data of a point to be measured in the circumferential direction of the submarine pipeline 15, the horizontal sensor is arranged on the horizontal moving component 2 and is used for measuring data of the horizontal moving distance of the probe 4 in the axial direction of the submarine pipeline 15, the vertical displacement sensor 6 is arranged on the rotating component 3 and is used for measuring data of the vertical moving distance of the probe 4 in the radial direction of the submarine pipeline 15, the angle sensor 7 is disposed on the rotating assembly 3, and is configured to measure circumferential angle data of the probe 4 along a circumferential direction of the submarine pipeline 15, the imaging device 8 is electrically connected to the horizontal displacement sensor 5, the vertical displacement sensor 6, the angle sensor 7, and the probe 4, respectively, and obtains a three-dimensional graph of the submarine pipeline 15 according to the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data measured by the horizontal displacement sensor 5, the vertical displacement sensor 6, and the angle sensor 7, respectively, so as to obtain a deformation condition of the submarine pipeline 15.
Specifically, during data measurement, a point measurement needs to be performed in a three-dimensional space of the submarine pipeline 15, and when a point is measured, the imaging device 8 records a relative spatial position according to the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data respectively measured by the horizontal displacement sensor 5, the vertical displacement sensor 6, and the angle sensor 7, and after the required points are measured, the imaging device 8 displays a three-dimensional graph according to all measured three-dimensional data.
Generally, when the submarine pipeline 15 is measured three-dimensionally, 10 to 30 points are measured per circle, specifically, the outer diameter of the submarine pipeline 15 is determined, for example, the submarine pipeline 15 with the circumference of 4000mm, 21 points may be measured in the circumferential direction of the submarine pipeline 15, wherein 0 to 900mm measures one point per 300mm, 4 points measures, 900mm to 3000mm measures one point per 150mm, 14 points measures, 3000mm to 4000mm measures one point per 300mm, and 3 points measures, for a total of 21 points. The measurement length of the submarine pipeline 15 can be measured by 2-4 meters generally, and the larger the measurement length is, the higher the measurement accuracy is.
In practical implementation, after the underwater worker is ready and the imaging device 8 on the water is normally started, the worker needs to dive underwater to drive the rotating assembly 3 to rotate so as to drive the probe 4 to rotate circumferentially along the submarine pipeline 15, and the data of each measurement point is sensed by the probe 4 so as to transmit the horizontal movement distance data, the vertical movement distance data and the circumferential angle data, which are respectively measured by the horizontal displacement sensor 5, the vertical displacement sensor 6 and the angle sensor 7, to the imaging device 8, and when the rotating assembly 3 rotates one circle, that is, after the probe 4 rotates one circle, the measurement is completed 21 points in the circumferential direction of the submarine pipeline 15. Thereafter, the horizontal movement assembly 2 is driven to drive the rotation assembly 3 to move horizontally for a distance, for example, 150mm or 300mm, and then the rotation assembly 3 is driven to rotate in reverse to drive the probe 4 to rotate circumferentially along the submarine pipeline 15, wherein the rotation assembly 3 is driven to rotate in reverse to avoid data wire winding, and sense data of each measurement point through the probe 4, and transmit the horizontal movement distance data, the vertical movement distance data, and the circumferential angle data measured by the horizontal displacement sensor 5, the vertical displacement sensor 6, and the angle sensor 7, respectively, to the imaging device 8. Likewise, the second measurement turn of the probe 4 is also 21 points. And then, driving the probe 4 to move for a certain distance in the horizontal direction again through the horizontal moving assembly 2, and then carrying out dotting measurement, and repeating the process until 2-4 meters of dotting measurement is completed on the submarine pipeline 15.
After all the positions needing dotting are measured, the imaging device 8 stores and compares the horizontal movement distance data, the vertical movement distance data and the circumferential angle data, wherein all the measured data are three-dimensional positions relative to the zero position of the three-dimensional measuring instrument, so that the imaging device 8 processes the horizontal movement distance data, the vertical movement distance data and the circumferential angle data to obtain a three-dimensional graph, namely the generated three-dimensional graph is a three-dimensional image of the submarine pipeline 15, the deformation condition of the submarine pipeline 15 can be visually observed, the specific deformation and deformation points can be observed according to the measured data, namely the damaged point of the submarine pipeline 15 can be found out by observing the three-dimensional graph and the data recording table, if the measurement of a certain point is in question, the measuring point can be measured again, until the question is resolved.
Compared with the prior art, the three-dimensional measuring instrument provided by the invention is in contact type measurement, has low requirement on environment, can accurately measure the point position to be measured, has high measurement reliability, and provides effective accurate data support for the later repair of the submarine pipeline 15 and the manufacture and installation of the pipe clamp.
Referring to fig. 1 and fig. 2, in a further embodiment of an embodiment, the horizontal moving assembly 2 includes a slide rail 21 and a mounting seat 22, the slide rail 21 is disposed on the frame body 1, and the mounting seat 22 is slidably connected to the slide rail 21. Wherein, the rotating assembly 3 is connected with the mounting seat 22, and the horizontal movement sensor is mounted on the slide rail 21. After the submarine pipeline 15 measures one circle, the installation seat 22 is pushed to slide on the slide rail 21 to drive the rotating assembly 3 to move axially along the submarine pipeline 15, and the horizontal movement sensor can measure the distance of the rotating assembly 3 moving horizontally, namely the distance of the probe 4 moving horizontally.
Continuing to refer to fig. 1 and 2, in a further embodiment of an embodiment, the rotating element 3 includes: a gear ring 31, a first gear 32, a second gear 33 and a mounting bracket 34, wherein the gear ring 31 is arranged on the mounting seat 22, the first gear 32 is rotatably connected to the gear ring 31, the second gear 33 is arranged on the gear ring 31 and meshed with the first gear 32 for driving the first gear 32 to rotate, and the mounting bracket 34 is arranged on the first gear 32 and rotates around the submarine pipeline 15 along with the first gear 32. Wherein the angle sensor 7 is mounted on the second gear 33, the probe 4 is arranged at the bottom of the mounting bracket 34, and the vertical displacement sensor 6 is arranged at the top of the mounting bracket 34. When the second gear 33 drives the first gear 32 to rotate, the probe 4 moves circumferentially along the submarine pipeline 15, and simultaneously, the angle sensor 7 and the vertical displacement sensor 6 rotate along with the first gear 32 to measure the vertical movement distance and the rotation angle of the probe 4.
It should be noted that the angle sensor 7 is also called an encoder, and the encoder is provided with an optical code disc with a shaft at the center, and the optical code disc is provided with an annular through and dark scribed line, and has the function of reading by an optical transmitting and receiving device, and four groups of sine wave signals can be obtained to be combined into A, B, C, D. Wherein, can be through comparing A looks before or B looks before to differentiate the positive rotation and the reversal of encoder, through the zero bit pulse, can obtain the zero bit reference bit of encoder. Generally speaking, the measurement accuracy of the encoder can reach +/-0.022 degrees. In addition, in one embodiment, the displacement sensor can be selected from AMT brand magnetostrictive displacement sensors, and the magnetostrictive displacement sensor is used as a novel non-contact high-precision high-reliability sensor which has the advantage of no substitution in the high-end position measurement field. The working principle of the displacement sensor is not complex, and during measurement, an excitation module in an electronic bin applies excitation current pulses to two ends of a magnetostrictive waveguide material, and the pulses form a circumferential ampere annular pulse magnetic field around the waveguide material at the light speed. When the annular magnetic field is coupled with the bias permanent magnetic field of the vernier magnetic ring, Wednman effect torsional stress waves are formed on the surface of the waveguide material and are transmitted to two ends of the waveguide wire from a generating point, the torsional waves transmitted to the tail end are absorbed by the damping device, signals transmitted to the excitation end are received by the wave detection device, the control module in the electronic bin calculates the time difference between the query pulse and the received signals and then multiplies the time difference by the intrinsic rate to calculate the distance between the position where the torsional waves occur and the measurement reference point, namely the absolute distance between the vernier magnetic ring and the measurement reference point at the moment, and therefore the real-time accurate measurement of the position of the vernier magnetic ring is achieved. Generally speaking, the measurement accuracy of the displacement sensor can reach +/-50 μm.
Referring to fig. 1 and fig. 2, in a further embodiment of an embodiment, the bottom of the frame body 1 has a first opening 14, and the gear ring 31 has a second opening corresponding to the first opening 14. Specifically, when measuring the submarine pipeline 15, since the submarine pipeline 15 is cylindrical, when installing the three-dimensional measurement instrument to the submarine pipeline 15, the first opening 14 needs to be formed at the bottom of the frame body 1 so that the frame body 1 can be sleeved on the submarine pipeline 15, and similarly, the gear ring 31 should also be provided with a second opening so as to ensure that the three-dimensional measurement instrument is installed. It should be noted that the ring gears 31 in this embodiment are two semicircular ring gears 31, when the three-dimensional measurement instrument is installed, one half of the ring gears 31 launch with the three-dimensional measurement instrument, and after the three-dimensional measurement instrument is fixed, the diver completes the assembly of the two ring gears 31.
Furthermore, a first accommodating groove is formed in the gear ring 31, the first gear 32 is disposed in the first accommodating groove, a plurality of third openings are formed in the gear ring 31 at intervals, and the second gear 33 is engaged with the first gear 32 through the third openings. In particular, the first gear 32 is shaped similarly to the gear ring 31, wherein the first gear 32 has an outer diameter that is larger than the size of the first opening 14, so as to ensure that the first gear 32 can pass through the first opening 14 when rotating on the gear ring 31, so that the probe 4 can rotate one turn around the subsea pipeline 15. More specifically, the second gear 33 is provided in several numbers and is arranged on the outer wall of the gear ring 31 at intervals, and correspondingly, the third opening is arranged on the gear ring 31 at a position corresponding to the second gear 33, so that when measuring, the second gear 33 can be driven to drive the first gear 32 to rotate, thereby completing the measuring operation of each point to be measured in the circumferential direction of the submarine pipeline 15.
With continued reference to fig. 1 and 2, in a further embodiment of an embodiment, the three-dimensional measuring apparatus further includes a stylus 9, and the stylus 9 is disposed on the mounting bracket 34 and located at a side of the probe 4 for determining a position of the probe 4, so as to ensure accuracy of data reading of the probe 4 and protect the probe 4.
With continuing reference to fig. 1 and fig. 2, in a further implementation manner of an embodiment, the three-dimensional measuring apparatus further includes an attitude sensor 10, and the attitude sensor 10 is disposed on the slide rail 21 and electrically connected to the imaging device 8, and is configured to acquire three-dimensional pose data of the rack 1. Furthermore, the three-dimensional measuring instrument further comprises a plurality of radial clamping devices 11, wherein the radial clamping devices 11 are arranged at intervals along the circumferential direction of the frame body 1 and are used for adjusting the three-dimensional pose of the frame body 1 through the three-dimensional pose data acquired by the attitude sensor 10. During the measurement, the diver can be instructed to adjust the radial clamping device 11 to adjust the attitude of the three-dimensional measuring apparatus by the display of the attitude sensor 10 to ensure that the apparatus is in a horizontal position during the measurement. It should be noted that the radial clamping device 11 is prior art and will not be described in detail herein.
The attitude sensor 10 is a high-performance three-dimensional motion attitude measurement system based on the MEMS technology. The attitude sensor 10 comprises motion sensors such as a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass and the like, and data such as a three-dimensional attitude, an azimuth and the like subjected to temperature compensation are obtained through an embedded low-power-consumption ARM processor. And outputting zero-drift three-dimensional attitude and azimuth data expressed by quaternion and Euler angle in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology. The LPMS series and the iAHRS-M0 attitude sensor 10 can be widely embedded into product equipment which needs to independently measure three-dimensional attitude and orientation, such as model airplane unmanned aerial vehicles, robots, mechanical holders, vehicles and ships, ground and underwater equipment, virtual reality, human motion analysis and the like.
With continuing reference to fig. 1 and fig. 2, in a further implementation manner of an embodiment, the three-dimensional measuring apparatus further includes a counter 12, and the counter 12 is disposed on the gear ring 31 and electrically connected to the imaging device 8, and is used for recording the number of turns of the probe 4, so as to ensure that each point to be measured can be detected when the probe 4360 rotates, thereby achieving an accurate reading. It should be noted that the counter 12 is a prior art, and is not described herein again.
In a further implementation manner of an embodiment, the three-dimensional measuring instrument further includes a plurality of anti-settling devices 13, and the plurality of anti-settling devices 13 are arranged at the bottom of the rack 1 at intervals. Specifically, the dustproof device may be a support rod, and the support rod is installed around the bottom of the frame body 1 to support the frame body 1 and prevent the three-dimensional measuring instrument from settling.
Referring to fig. 3, to better understand the present invention, the present invention further provides a measuring method of a three-dimensional measuring apparatus, the method is applied to the three-dimensional measuring apparatus, and the method includes the steps of:
s100, driving the rotating assembly to rotate under the action of external force so as to drive the probe to rotate along the circumferential direction of the submarine pipeline, sensing data of each point to be measured through the probe, and transmitting the horizontal moving distance data, the vertical moving distance data and the circumferential angle data which are respectively measured by the horizontal displacement sensor, the vertical displacement sensor and the angle sensor to the imaging equipment; wherein, the probe measures 10-30 points in total from the zero point; as described above, the details are not repeated herein.
S200, after the probe rotates for a circle, the horizontal moving assembly is driven under the action of external force to drive the rotating assembly to horizontally move for a certain distance, then the rotating assembly is driven to rotate reversely under the action of external force to drive the probe to circumferentially rotate along the submarine pipeline, data of each point to be measured are sensed through the probe, and the horizontal moving distance data, the vertical moving distance data and the circumferential angle data which are respectively measured by the horizontal displacement sensor, the vertical displacement sensor and the angle sensor are transmitted to the imaging equipment; as described above, the details are not repeated herein.
S300, the imaging equipment generates a three-dimensional image of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data and the circumferential angle data. As described above, the details are not repeated herein.
In summary, the three-dimensional measuring instrument and the measuring method provided by the present invention are used for measuring a submarine pipeline, and the three-dimensional measuring instrument includes: the frame body is used for covering the submarine pipeline; the horizontal moving assembly is arranged on the frame body; a rotating assembly disposed on the horizontal moving assembly; the probe is arranged on the rotating assembly and used for sensing data of a point to be measured in the circumferential direction of the submarine pipeline; a horizontal displacement sensor provided on the horizontal movement assembly for measuring horizontal movement distance data of the probe in an axial direction of the subsea pipeline; a vertical displacement sensor disposed on the rotating assembly for measuring vertical movement distance data of the probe in a radial direction of the subsea pipeline; an angle sensor disposed on the rotating assembly for measuring circumferential angle data of the probe in a circumferential direction of the subsea pipeline; and the imaging equipment is respectively electrically connected with the horizontal displacement sensor, the vertical displacement sensor, the angle sensor and the probe, and obtains a three-dimensional graph of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data and the circumferential angle data. The invention improves the measurement precision and reliability of submarine pipeline measurement.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (10)
1. A three-dimensional surveying instrument for surveying subsea pipelines, comprising:
the frame body is used for covering the submarine pipeline;
the horizontal moving assembly is arranged on the frame body;
the rotating assembly is arranged on the horizontal moving assembly;
the probe is arranged on the rotating assembly and used for sensing data of a point to be measured in the circumferential direction of the submarine pipeline;
the horizontal displacement sensor is arranged on the horizontal moving assembly and used for measuring horizontal moving distance data of the probe along the axial direction of the submarine pipeline;
a vertical displacement sensor arranged on the rotating assembly for measuring vertical movement distance data of the probe along the radial direction of the submarine pipeline;
the angle sensor is arranged on the rotating assembly and used for measuring circumferential angle data of the probe along the circumferential direction of the submarine pipeline;
and the imaging equipment is respectively electrically connected with the horizontal displacement sensor, the vertical displacement sensor, the angle sensor and the probe, and obtains a three-dimensional graph of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data and the circumferential angle data.
2. The three-dimensional measuring instrument according to claim 1, wherein the horizontal movement assembly comprises:
the sliding rail is arranged on the frame body;
the mounting seat is connected to the sliding rail in a sliding manner;
the rotating assembly is connected with the mounting seat;
the horizontal movement sensor is installed on the slide rail.
3. The three-dimensional measuring instrument according to claim 2, wherein the rotating assembly comprises:
the gear ring is arranged on the mounting seat;
the first gear is rotationally connected to the gear ring;
the second gear is arranged on the gear ring and meshed with the first gear and is used for driving the first gear to rotate;
a mounting bracket disposed on the first gear and rotating with the first gear around the subsea pipeline;
the angle sensor is arranged on the second gear, the probe is arranged at the bottom of the mounting bracket, and the vertical displacement sensor is arranged at the top of the mounting bracket.
4. The three-dimensional measuring instrument as claimed in claim 3, wherein the bottom of the frame body has a first opening, and the gear ring has a second opening corresponding to the first opening.
5. The three-dimensional measuring instrument according to claim 4, wherein a first receiving groove is formed in the gear ring, and the first gear is disposed in the first receiving groove; a plurality of third openings are arranged on the gear ring at intervals, and the second gear is meshed with the first gear through the third openings.
6. A three dimensional measuring instrument according to claim 3, further comprising a stylus disposed on the mounting bracket and on a side of the probe for determining the position of the probe.
7. The three-dimensional measuring instrument as claimed in claim 2, further comprising an attitude sensor disposed on the slide rail and electrically connected to the imaging device for acquiring three-dimensional pose data of the rack.
8. The three-dimensional measuring instrument as claimed in claim 7, further comprising a plurality of radial clamping devices arranged at intervals along the circumference of the frame body and used for adjusting the three-dimensional pose of the frame body by the three-dimensional pose data acquired by the pose sensor.
9. The three-dimensional measuring instrument according to claim 3, further comprising a counter disposed on the gear ring and electrically connected to the imaging device for recording the number of rotations of the probe;
the three-dimensional measuring instrument further comprises a plurality of anti-sinking devices, and the anti-sinking devices are arranged at the bottom of the frame body at intervals.
10. A measuring method of a three-dimensional measuring instrument, which is applied to the three-dimensional measuring instrument according to any one of claims 1 to 9, characterized by comprising the steps of:
the rotating assembly is driven to rotate so as to drive the probe to rotate along the circumferential direction of the submarine pipeline, data of each point to be measured are sensed through the probe, and the horizontal moving distance data, the vertical moving distance data and the circumferential angle data which are respectively measured by the horizontal displacement sensor, the vertical displacement sensor and the angle sensor are transmitted to the imaging equipment; wherein, the probe measures 10-30 points in total from the zero point;
after the probe rotates for a circle, driving the horizontal moving assembly to drive the rotating assembly to horizontally move for a certain distance, and then reversely driving the rotating assembly to rotate to drive the probe to circumferentially rotate along the submarine pipeline, sensing data of each point to be measured through the probe, and transmitting the horizontal moving distance data, the vertical moving distance data and the circumferential angle data which are respectively measured by the horizontal displacement sensor, the vertical displacement sensor and the angle sensor to the imaging equipment;
and the imaging equipment generates a three-dimensional image of the submarine pipeline according to the horizontal movement distance data, the vertical movement distance data and the circumferential angle data.
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