CN114964118A - Pipeline recess detection method, processor and pipeline recess identification device - Google Patents
Pipeline recess detection method, processor and pipeline recess identification device Download PDFInfo
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- CN114964118A CN114964118A CN202210569665.9A CN202210569665A CN114964118A CN 114964118 A CN114964118 A CN 114964118A CN 202210569665 A CN202210569665 A CN 202210569665A CN 114964118 A CN114964118 A CN 114964118A
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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
- G01B21/18—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring depth
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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
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
Abstract
The embodiment of the invention provides a pipeline depression detection method, a processor and a pipeline depression recognition device, wherein the pipeline depression detection method comprises the following steps: acquiring three-dimensional coordinate data of a central axis of a pipeline; performing data extraction operation on the three-dimensional coordinate data of the central axis to determine the initial point coordinate, the termination point coordinate and the concave peak point coordinate of the concave pipe section; determining the depth of the recess by using a vector method according to the initial point coordinate, the end point coordinate and the recess peak point coordinate; determining a reference vector; the depth and reference vectors are calculated using a vector method to determine the clock orientation of the recess location. The method in the embodiment of the invention is simple and easy to realize, and can conveniently and quickly calculate the depth of the pipeline recess and the clock direction.
Description
Technical Field
The invention relates to the technical field of pipeline dent identification, in particular to a pipeline dent detection method, a processor and a pipeline dent identification device.
Background
Due to the reasons that the laying operation process is not standard, the third-party construction management is not strict, the pipeline protection work is not in place and the like, the long oil and gas pipeline has the defects of recess, ellipticity change and other geometric deformation, the pipeline is unstable or the material is damaged when the pipeline is serious, particularly the defect of recess is caused, the bearing capacity of the pipeline can be reduced due to the recess, and the bending rigidity of the pipeline can be influenced.
In addition, because the method for detecting the pipeline dent defect by the geometric deformation internal detector is to detect by a plurality of probes in a circle of the internal detector, only the internal diameters of a plurality of points in a circle of the pipeline section can be detected, the detected pipeline section is fitted by the internal diameter data in a circle, if the pipeline dent passes through the gap between the probes, the detection result of the geometric deformation internal detector may have certain errors, and at the moment, other detection methods or devices are needed to assist in judging the specific situation of the pipeline dent.
Disclosure of Invention
The embodiment of the invention aims to provide a pipeline dent detection method, a processor and a pipeline dent identification device, which can conveniently and quickly calculate the depth and the clock direction of a pipeline dent.
In order to achieve the above object, a first aspect of the present invention provides a pipe dent detection method including:
acquiring three-dimensional coordinate data of a central axis of a pipeline;
performing data extraction operation on the three-dimensional coordinate data of the central axis to determine the initial point coordinate, the termination point coordinate and the concave peak point coordinate of the concave pipe section;
determining the depth of the recess by using a vector method according to the initial point coordinate, the end point coordinate and the recess peak point coordinate;
determining a reference vector;
the depth and reference vectors are calculated using a vector method to determine the clock orientation of the recess location.
In an embodiment of the present invention, determining the depth of the recess using a vector method according to the initial point coordinate, the end point coordinate, and the recess peak point coordinate includes:
determining a first vector according to the initial point coordinate and the end point coordinate;
determining a second vector according to the initial point coordinate and the depression peak point coordinate;
the first vector and the second vector are calculated using a vector method to determine the depth.
In an embodiment of the invention, determining the reference vector comprises:
determining the maximum section of the pipeline where the coordinates of the depression peak points are located;
determining the central point of the largest section of the pipeline;
determining a vertical vector according to the central point;
from the vertical vector, a reference vector is determined using a vector method.
In an embodiment of the present invention, determining the reference vector using a vector method based on the vertical vector includes:
determining a normal vector of a plane where the vertical vector and the first vector are located;
the normal vector and the first vector are calculated using a vector method to determine a reference vector.
In an embodiment of the invention, calculating the depth and projection vectors using a vector method to determine the clock orientation of the recess location comprises:
determining the projection point coordinates of the depressed peak point on the straight line where the initial point coordinates and the terminal point coordinates are located;
determining a third vector according to the projection point coordinate and the depression peak point coordinate;
the depth, third vector and projection vector are calculated using a vector method to determine the clock orientation.
In an embodiment of the present invention, the pipe dent detection method further includes:
the initial point coordinates and the end point coordinates are calculated using a vector method to determine the length of the depression.
In an embodiment of the present invention, the pipe dent detection method further includes:
acquiring the inner diameter of the pipeline;
and determining the deformation rate of the pipeline according to the inner diameter and the depth.
A second aspect of the invention provides a processor configured to perform the pipe sag detection method described above.
A third aspect of the invention provides a pipe sag recognition apparatus comprising the processor described above.
In an embodiment of the present invention, the pipe dent identification device further includes:
and the pipeline central line inner detector is used for detecting the central axis position of the pipeline.
Through the technical scheme, data extraction is carried out on the pipeline on the basis of obtaining the three-dimensional coordinate data of the central axis of the pipeline so as to determine the initial point coordinate, the termination point coordinate and the depression peak point coordinate of the depressed pipeline section, and then the depth of the depression can be calculated based on a vector method; and determining a reference vector, and calculating the depth and the reference vector by using a vector method to determine the clock position of the sunken position, wherein the method is simple and easy to implement, can quickly calculate the sunken depth and the clock position of the pipeline, is very important for the structural integrity and safe operation of the pipeline, and has great significance for preventing the safety of the pipeline body.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic flow chart of a pipeline sag detection method according to an embodiment of the present invention;
FIG. 2 is a schematic view of the central axis of a recessed tube section in an embodiment of the present invention;
FIG. 3 is a schematic diagram of the orientation of the clock at the location of the recess in an embodiment of the present invention;
fig. 4 is a schematic central axis view of an in-service buried steel gas pipeline in an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The pipeline dent defect is local elastic-plastic deformation of the pipe body with obvious surface curvature change caused by external force impact or extrusion, and the pipeline dent is caused by collision, rock obstacle and mechanical damage in transportation, hoisting and backfilling in the construction period or later excavation of a third party. The sink seriously threatens the safe operation of the pipeline, reduces the pressure bearing capacity of the pipeline and influences the operation of the pipeline cleaner; local stress and strain concentration of the pipe body are caused, for example, the pipe body is easy to crack and lose efficacy due to the fact that the pipe body is sunken and is related to welding seams, scratches or cracks, and the safe operation of the pipeline is seriously threatened; the bearing capacity of the pipeline can be reduced by the depression, the bending rigidity of the pipeline can be influenced, and the bearing capacity of the pipeline can be obviously reduced by increasing the depth and the width of the depression; and when the depth of the concave part is larger, the load bearing capacity of the concave part is more obviously reduced along with the increase of the width of the concave part.
The embodiment of the invention provides a pipeline dent detection method, which is used for detecting pipeline dents and comprises the following steps as shown in figure 1:
step S101: and acquiring three-dimensional coordinate data of the central axis of the pipeline.
Specifically, the pipeline sag detection method in this embodiment is applied to a pipeline sag detection device, where the pipeline sag detection device includes a processor connected with a signal and a pipeline centerline inner detector, where the pipeline centerline inner detector is movably disposed in a pipeline cavity so as to detect a central axis position of a pipeline, and a trajectory (i.e., a central axis of the pipeline) traveled by the pipeline centerline inner detector forms a space curve in a space coordinate system, and the space curve function can be expressed as the following function:
v(a)＝(x a ,y a ,z a ) (1)
wherein v (a) is a space curve function, x a Is the coordinate of a point on the central axis of the pipeline on the x axis, y a Is the coordinate of a point on the central axis of the pipeline on the y axis, z a Is the coordinate of the point a on the central axis of the pipeline on the z-axis.
As shown in fig. 2, the deformation position of the pipe (such as bend, dent, change of cross section center) may change the operation state of the detector in the center line of the pipe, that is, the center line when there is dent in the pipe may be offset from the center line of the ideal state when there is no dent, so that by analyzing the detection data of the detector in the center line of the pipe, it can be known whether there is geometric deformation. Further, the pipeline centerline internal detector comprises an Inertial Measurement Unit (IMU) for detecting IMU coordinate data of the pipeline, the Inertial Measurement Unit sends the data to the processor after detection is completed, and the processor performs filtering, fitting and other processing on the IMU coordinate data to obtain central axis three-dimensional coordinate data of the pipeline.
Step S102: and performing data extraction operation on the three-dimensional coordinate data of the central axis to determine the initial point coordinate, the end point coordinate and the concave peak point coordinate of the concave pipe section.
Specifically, the central axis three-dimensional coordinate data obtained from the detection result of the pipeline centerline internal detector includes central axis three-dimensional coordinate data at a non-depressed position and central axis three-dimensional coordinate data at a depressed position, taking the end points at two ends of the central axis three-dimensional coordinate data obtained by the detection result as straight lines, calculating the offset between each point in the central axis three-dimensional coordinate data and the straight lines, if the offset exceeds the preset offset range, determining that the coordinate point corresponding to the offset is at the concave position, extracting all the coordinate points at the concave position, the method can determine the sunken tube section of the pipeline, the coordinates of the two ends of the sunken tube section of the pipeline are respectively the initial point coordinates and the termination point coordinates, the coordinate point with the maximum offset in the sunken tube section is the sunken peak point, and the coordinate corresponding to the sunken peak point is the sunken peak point coordinate.
Step S103: and determining the depth of the recess by using a vector method according to the initial point coordinate, the end point coordinate and the recess peak point coordinate.
Further, in the embodiment of the present invention, step S103: determining the depth of the recess by using a vector method according to the initial point coordinate, the end point coordinate and the recess peak point coordinate further comprises steps S201 to S203, wherein:
step S201: and determining a first vector according to the initial point coordinate and the end point coordinate.
Specifically, in the present embodiment, the initial point coordinate is a (x) 1 ，y 1 ，z 1 ) The coordinate of the end point is B (x) 2 ，y 2 ，z 2 ) First vector is then
As shown in the following equation:
step S202: and determining a second vector according to the initial point coordinate and the concave peak point coordinate.
The coordinate of the depressed peak point is P (x) 3 ，y 3 ，z 3 ) Then the second vector
As shown in the following equation:
step S203: the first vector and the second vector are calculated using a vector method to determine the depth.
The straight line where the initial point coordinate and the end point coordinate are located is a straight line AB, the point O is a projection point of the depression peak point on the straight line AB, and the length of the line segment AO can be calculated by the following formula:
wherein | AO | is the length of the line segment AO,
is a second vector
And a first vector
The dot product of (a) is,
is a first vector
The die of (1).
The depth of the recess is d, which can be calculated by the following formula:
wherein | OP | is the length of the line segment OP,
is a second vector
The die of (1).
Step S104: a reference vector is determined.
Further, in the embodiment of the present invention, step S104: determining the reference vector comprises steps S301-S304, wherein:
step S301: and determining the maximum section of the pipeline where the coordinates of the depression peak points are located.
In this embodiment, the maximum cross section of the pipeline where the coordinates of the depression peak point are located is the cross section of the pipeline which passes through the coordinates of the depression peak point and is perpendicular to the straight line AB.
Step S302: determining the central point of the largest section of the pipeline;
in this embodiment, the central point of the largest cross section of the pipeline is the point O.
Step S303: and determining a vertical vector according to the central point.
Vertical vector in the present embodiment
A vector passing through the O point and upward in the vertical direction
Step S304: from the vertical vector, a reference vector is determined using a vector method.
As shown in fig. 3, the clock orientation is generally based on the twelve o 'clock direction, and although the normal direction of the largest cross section of the pipe is arbitrary, the direction taken as the reference on the cross section (i.e. the twelve o' clock direction of the cross section) is always a vector passing through the center point of the largest cross section of the pipe and vertically upward, and the projection of the vector on the plane where the largest cross section of the pipe is located can be taken as the reference vector, so as to determine the clock orientation at the position of the recess.
Due to the vector
Perpendicular to the plane of the maximum section of the pipeline, the reference vector is also the vertical vector
(Vector)
And determining the clock position at the sunken position according to the reference vector of the intersecting line vector of the plane where the pipeline is located and the plane where the maximum section of the pipeline is located.
Further, in the embodiment of the present invention, step S304: determining the reference vector using a vector method based on the vertical vector further comprises steps S401 to S402, wherein:
step S401: and determining a normal vector of a plane where the vertical vector and the first vector are located.
The plane where the vertical vector and the first vector are located is the vertical plane passing through the straight line AB, and the normal vector of the vertical plane is
Wherein
And because of
And
vertically, then there are:
x m (x 2 -x 1 )+y m (y 2 -y 1 )＝0 (6)
let x m When 1, the corresponding y can be obtained m Value, then obtain
Step S402: the normal vector and the first vector are calculated using a vector method to determine a reference vector.
Specifically, because the projection of the vertical vector on the plane where the maximum cross section of the pipeline is located is the reference vector, the reference vector is made to be
It can be calculated from the following formula:
namely, it is
Step S105: the depth and reference vectors are calculated using a vector method to determine the clock orientation of the recess location.
Further, step S105: the calculation of the depth and the projection vector using the vector method to determine the clock orientation of the recess position includes steps S501 to S503:
step S501: and determining the coordinates of the projection points of the coordinates of the depressed peak points on the straight line where the initial point coordinates and the terminal point coordinates are located.
The projection point of the concave peak point coordinate on the straight line of the initial point coordinate and the end point coordinate is O point, the O point coordinate is (a, b, c), according to the
And
in the same direction, there are:
due to the fact that
And
are perpendicular to each other, so
The following can be obtained:
(x 2 -x 1 )(a-x 3 )+(y 2 -y 1 )(b-y 3 )+(z 2 -z 1 )(c-z 3 )＝0 (10)
the values of a, b and c can be calculated by combining the formula (9) and the formula (10), and then the coordinates of the O point can be obtained.
Step S502: and determining a third vector according to the coordinates of the projection point and the coordinates of the depression peak point.
In the case of calculating the values of a, b and c, the third vector is
Calculated according to the following formula:
step S503: the depth, third vector and projection vector are calculated using a vector method to determine the clock orientation.
In obtaining
And
in the case of (2), it is calculated according to the following formula
And
the included angle between the clock and the clock is calculated, and the clock position at the concave position is calculated.
Wherein θ is
And
the included angle between the two parts is included,
is that
The die of (a) is used,
is that
The die of (1).
In the case where θ is obtained, then θ is converted into the clock orientation according to the conversion rule of "1 minute equals 0.5 °, 1 hour equals 30 °.
In an embodiment of the present invention, the pipe dent detection method further includes:
the initial point coordinates and the end point coordinates are calculated by using a vector method to determine the length of the recess.
Specifically, the length of the recess in this embodiment is l, and l can be calculated by the following formula:
in an embodiment of the present invention, the pipe dent detection method further includes steps S601 to S602, wherein:
step S601: the inner diameter of the pipe is obtained.
The inner diameter of the pipe can be measured in advance to be
Step S602: and determining the deformation rate of the pipeline according to the inner diameter and the depth.
At the obtained inner diameter
The deformation rate of the pipe can be calculated according to the following formula:
wherein ε represents the deformation rate.
Taking an actual pipeline as an example, the depth, the length, the deformation rate and the clock position of the recess of the actual pipeline are calculated, wherein the actual pipeline is a certain in-service buried steel gas transmission pipeline, and the inner diameter of the pipeline is obtained by measuring in advance
813mm, the total length of the pipe was 33.7km, the wall thickness of the pipe was 6.3mm, and the pipe was made of L360M steel. The geometric deformation internal detection of the pipeline is completed through the pipeline central line internal detector, and meanwhile, an inertial measurement unit is used in the internal detection process, so that the geometric deformation detection data of the pipeline and the IMU coordinate data of the pipeline are measured.
According to the analysis of the detection data, the deformation of 6 dents is detected in the geometric deformation of the pipeline, one dent is selected from the deformation to verify the method, and the geometric deformation internal detection data and the IMU coordinate data of the pipeline are as follows:
TABLE 1 internal detection data for geometric deformation of pipes
| Recording distance [ m ]] | Type of exception | Clock azimuth [ hh: mm] | Pipe diameter [ mm ]] | Length [ mm ]] | Deformation [% ]] |
| 8866.68 | Generally smooth concave | 12：04 | 813 | 30 | 1.8 |
TABLE 2 IMU coordinate data for pipelines
The curve is drawn based on the data, and as shown in fig. 4, it can be seen from fig. 4 that point 7 is greatly displaced, and it is considered that the point is deformed in a concave manner, point 7 is a concave peak point P, and point 7 and point 9 are initial and end points of the concave, that is, point a and point B, respectively, and coordinates of point 5, point 7 and point 9 are extracted, and coordinate data are simplified, and point a (point 5) is used as a reference origin to obtain point a (0, 0, 0), point B (26, -15, 1.46) and point P (22, 4, 0.52), where the unit is mm.
The depth, length and deformation rate of the recess can be calculated according to the measurement data, the formula (2) -the formula (5), the formula (13) and the formula (14):
the depth of the recess was 14.46mm, the length of the recess was 30.05mm, and the strain was 1.78%.
The clock orientation of the pit position can be calculated according to equation (6) to equation (12):
(x 2 -x 1 )+y m (y 2 -y 1 )＝0
y m ＝1.73
and calculating the coordinates of the O point to obtain O ═ 14.76, -8.52 and 0.83.
On the basis of the above-mentioned formula, the method can be used
Further, when θ is 6.98 °, θ is 6.98 ° and the clock azimuth is converted to about 00: 03.
another embodiment of the present invention provides a processor configured to perform the pipe dent detection method of the above embodiment.
Another embodiment of the present invention provides a pipe dent identification device, which includes the processor of the above embodiment.
In an embodiment of the present invention, the pipe dent identification device further includes:
and the pipeline centerline inner detector is movably arranged in the pipeline and used for detecting the centerline position of the pipeline.
According to the pipeline dent detection method, the processor and the pipeline dent identification device, data extraction is carried out on the pipeline on the basis of obtaining the three-dimensional coordinate data of the central axis of the pipeline so as to determine the initial point coordinate, the termination point coordinate and the dent peak point coordinate of a sunken pipeline section, and then the dent depth can be calculated based on a vector method; and then determining a reference vector, and calculating the depth and the reference vector by using a vector method to determine the clock position of the sunken position.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (10)
1. A pipe sag detection method, comprising:
acquiring three-dimensional coordinate data of a central axis of a pipeline;
performing data extraction operation on the three-dimensional coordinate data of the central axis to determine the initial point coordinate, the termination point coordinate and the sunken peak point coordinate of the sunken tube section;
determining the depth of the recess by using a vector method according to the initial point coordinate, the termination point coordinate and the recess peak point coordinate;
determining a reference vector;
the depth and the reference vector are calculated using the vector method to determine the clock orientation of the recess location.
2. The pipe sag detection method of claim 1, wherein determining the depth of the sag using a vector method based on the initial point coordinate, the end point coordinate, and the sag peak point coordinate comprises:
determining a first vector according to the initial point coordinate and the end point coordinate;
determining a second vector according to the initial point coordinate and the depression peak point coordinate;
calculating the first vector and the second vector using the vector method to determine the depth.
3. The pipe sag detection method of claim 2, wherein the determining a reference vector comprises:
determining the maximum section of the pipeline where the concave peak point coordinates are located;
determining the central point of the largest section of the pipeline;
determining a vertical vector according to the central point;
and determining the reference vector by using the vector method according to the vertical vector.
4. The pipe sag detection method of claim 3, wherein the determining, from the vertical vector, the reference vector using the vector method comprises:
determining a normal vector of a plane where the vertical vector and the first vector are located;
calculating the normal vector and the first vector using the vector method to determine the reference vector.
5. The pipe sag detection method of claim 2, wherein the computing the depth and the projection vector using the vector method to determine a clock orientation of a sag location comprises:
determining the projection point coordinates of the concave peak point coordinates on the straight line where the initial point coordinates and the end point coordinates are located;
determining a third vector according to the projection point coordinate and the depression peak point coordinate;
calculating the depth, the third vector, and the projection vector using the vector method to determine the clock orientation.
6. The pipe sag detection method according to claim 1, further comprising:
calculating the initial point coordinate and the end point coordinate by using the vector method to determine the length of the recess.
7. The pipe sag detection method according to claim 1, further comprising:
acquiring the inner diameter of the pipeline;
and determining the deformation rate of the pipeline according to the inner diameter and the depth.
8. A processor configured to perform the pipe sag detection method according to any one of claims 1 to 7.
9. A pipe sag recognition device, comprising the processor of claim 8.
10. The pipe dent identification device according to claim 9, further comprising:
and the pipeline central line inner detector is used for detecting the central axis position of the pipeline.
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| CN115712998A (en) * | 2022-11-11 | 2023-02-24 | 国能锅炉压力容器检验有限公司 | Repairability judgment method for cracking of inner wall of metal through-flow component of peak shaving unit |
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| CN115712998A (en) * | 2022-11-11 | 2023-02-24 | 国能锅炉压力容器检验有限公司 | Repairability judgment method for cracking of inner wall of metal through-flow component of peak shaving unit |
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