CN117267518A - Device and method for measuring deformation and corrosion degree of pipeline by laser profile method - Google Patents

Device and method for measuring deformation and corrosion degree of pipeline by laser profile method Download PDF

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Publication number
CN117267518A
CN117267518A CN202311215547.9A CN202311215547A CN117267518A CN 117267518 A CN117267518 A CN 117267518A CN 202311215547 A CN202311215547 A CN 202311215547A CN 117267518 A CN117267518 A CN 117267518A
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CN
China
Prior art keywords
laser
pipeline
lens
crawler
deformation
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CN202311215547.9A
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Chinese (zh)
Inventor
李强
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Wuhan Trio Vision Technology Co ltd
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Wuhan Trio Vision Technology Co ltd
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Priority to CN202311215547.9A priority Critical patent/CN117267518A/en
Publication of CN117267518A publication Critical patent/CN117267518A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N17/00—Investigating resistance of materials to the weather, to corrosion, or to light
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • 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
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Abstract

The invention relates to a device and a method for measuring deformation and corrosion degree of a pipeline by a laser profile method, wherein the device comprises a crawler, a lens, a laser profile instrument and a controller, wherein the lens and the laser profile instrument are respectively arranged on the crawler, and the laser profile instrument is positioned at the front side of the lens and can move and be positioned along the crawling direction of the crawler; the crawler, the lens and the laser profiler are respectively connected with the controller in a communication way. The invention has the advantages of simple structure, reasonable design, capability of creeping in the pipeline, high accuracy, applicability to pipelines with different pipe diameters and materials and strong universality, and can deform and corrode the pipeline.

Description

Device and method for measuring deformation and corrosion degree of pipeline by laser profile method
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a device and a method for measuring deformation and corrosion degree of a pipeline by a laser profile method.
Background
The measurement results are qualitatively analyzed, and accurate data cannot be obtained. Other methods are generally used for detecting pipe walls and welding seams, and the use environment has certain limitations, for example, ultrasonic detection needs to be used in a liquid-filled environment, and X-ray and magnetic detection are only suitable for detecting the wall thickness and welding seams of steel pipes.
In the construction and detection of drainage pipelines, more than 95% of pipelines are made of nonmetallic materials, deformation of the pipelines and influence on water passing areas are required to be accurately measured and calculated, and accurate data of defects of the pipelines and corrosion damage of the pipelines are obtained.
Disclosure of Invention
The invention aims to solve the technical problem of providing a device and a method for measuring deformation and corrosion degree of a pipeline by a laser profile method, and aims to solve the problem in the prior art.
The technical scheme for solving the technical problems is as follows:
the device for measuring the deformation and corrosion degree of the pipeline by using the laser profile method comprises a crawler, a lens, a laser profile instrument and a controller, wherein the lens and the laser profile instrument are respectively arranged on the crawler, and the laser profile instrument is positioned at the front side of the lens and can move and be positioned along the crawling direction of the crawler; the crawler, the lens and the laser profiler are respectively in communication connection with the controller.
The beneficial effects of the invention are as follows: in the detection process, the crawler walks in the pipeline, the laser profiler emits a laser ring in the process, a corresponding laser profile is generated according to the inner profile of the pipeline, the laser profile of the inner profile of the pipeline is generated by projecting the laser profile onto the inner surface of the pipeline, meanwhile, the lens acquires an image in the pipeline and sends the image to the controller, and the controller receives and analyzes corresponding information, so that the deformation and corrosion degree of the pipeline are obtained, and the measurement is convenient.
The invention has simple structure, reasonable design, high accuracy, applicability to pipelines with different pipe diameters and materials and strong universality, and can creep in the pipelines, and the deformation and the corrosion degree of the pipelines can be improved.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the lens is fixedly arranged on the crawler through a support, a mounting frame is fixedly arranged on the support, and the laser profiler is fixedly arranged on the mounting frame.
The beneficial effect of adopting above-mentioned further scheme is simple structure, reasonable in design, installs camera lens and laser profiler through support and mounting bracket respectively, convenient assembling.
Further, the support comprises a plurality of connecting rods, the connecting rods are distributed on two sides of the crawler in a pairwise opposite mode, and two ends of the connecting rods are fixedly connected with the crawler and the lens respectively.
The further scheme has the beneficial effects that the bracket is arranged into a plurality of connecting rods, the assembly is convenient, and the assembly stability of the lens and the laser profiler can be ensured.
Further, the device also comprises a light source, wherein the light source is fixedly arranged on the bracket and is in communication connection with the controller.
The beneficial effect of adopting above-mentioned further scheme is that in the testing process, can increase the luminance in the pipeline through the light source, further guarantee the definition of the image that the camera lens gathered, guarantee the accuracy of detection.
Further, the mounting frame is a telescopic rod, the rear end of the telescopic rod is fixedly connected with the support, and the laser profiler is fixedly mounted at the front end of the telescopic rod.
The beneficial effect of adopting above-mentioned further scheme is simple structure, reasonable in design, but utilize the interval between telescopic link adjustable laser profiler and the camera lens to be applicable to the pipeline of different pipe diameters, the commonality is strong, convenient to use.
Further, the lens and the laser profiler are positioned on the same horizontal line.
The beneficial effect of adopting above-mentioned further scheme is simple structure, reasonable in design, further guarantees the accuracy of detecting.
Further, the lens is a high-definition camera.
The adoption of the further scheme has the beneficial effects that the definition of image acquisition can be ensured by the high-definition camera, and the detection accuracy is further improved.
Further, the telescopic rod is a carbon fiber telescopic rod.
The carbon fiber telescopic rod has the beneficial effects of light weight, high rigidity and long service life.
Further, the rear end of the crawler is fixedly provided with a navigation plug, one end of the navigation plug is connected with the controller through a circuit, and the other end of the navigation plug is used for connecting a cable.
The advantage of adopting above-mentioned further scheme is simple structure, reasonable in design, can realize the connection of crawler and ground equipment through the avionics plug, and is convenient to connect.
The invention also relates to a method for measuring the deformation and corrosion degree of the pipeline by using the laser profile method, which is realized by using the device for measuring the deformation and corrosion degree of the pipeline by using the laser profile method, and comprises the following specific steps of:
s1: the laser profiler emits a laser ring and generates a corresponding laser profile according to the inner contour of the pipe,
generating a laser profile of the inner contour of the pipe by projecting the laser profile onto the inner surface of the pipe;
s2: the lens acquires an image in the pipeline and performs size calibration on the image at the same position of the laser profiler;
s3: calibrating the horizontal and vertical directions of the image to obtain deformation correction coefficients in different size ranges;
s4: analyzing and calculating the obtained laser ring image, wherein sampling points can be arranged on the laser ring, the number of the sampling points can be 1-600 points, the controller uniformly samples the points on the obtained laser ring, calculates the corresponding diameter of each point on the laser ring, calculates the deformation of the pipeline by obtaining the maximum diameter and the minimum diameter, compares the measured average diameter with the actual diameter in the pipeline, and calculates the corrosion degree of the pipe wall.
The method for measuring the deformation and corrosion degree of the pipeline has the advantages of being convenient and comprehensive in detection and high in efficiency.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic view of image calibration according to the present invention;
FIG. 4 is a schematic diagram of image calibration according to the present invention;
FIG. 5 is a schematic diagram of measurement accuracy according to the present invention;
FIG. 6 is a schematic diagram illustrating image resolution according to the present invention;
FIG. 7 is a second image analysis diagram of the present invention;
fig. 8 is a schematic diagram of the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a crawler; 2. a lens; 3. a laser profiler; 4. a bracket; 5. a light source; 6. a telescopic rod; 7. an aerial plug; 8. and (3) a cable.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
As shown in fig. 1 to 8, the present embodiment provides a device for measuring deformation and corrosion degree of a pipeline by using a laser profile method, which comprises a crawler 1, a lens 2, a laser profile meter 3 and a controller, wherein the lens 2 and the laser profile meter 3 are respectively installed on the crawler 1, and the laser profile meter 3 is positioned at the front side of the lens 2 and can move and be positioned along the crawling direction of the crawler 1; the crawler 1, the lens 2 and the laser profiler 3 are respectively in communication connection with the controller.
In the detection process, the crawler 1 walks in the pipeline, the laser profiler 3 emits a laser ring in the process, a corresponding laser profile is generated according to the inner profile of the pipeline, the laser profile of the inner profile of the pipeline is generated by projecting the laser profile onto the inner surface of the pipeline, meanwhile, the lens 2 acquires images in the pipeline and sends the images to the controller, and the controller receives and analyzes corresponding information, so that the deformation and corrosion degree of the pipeline are obtained, and the measurement is convenient.
It should be noted that the above-mentioned crawler 1 adopts the prior art, and can automatically walk in the pipeline, and the specific structure and principle thereof will not be described herein.
The embodiment has simple structure and reasonable design, can creep in the pipeline, can deform the pipeline and corrode the pipeline, has high accuracy, can be suitable for pipelines with different pipe diameters and materials, and has strong universality.
Example 2
On the basis of embodiment 1, in this embodiment, the lens 2 is fixedly mounted on the crawler 1 through a bracket 4, and a mounting frame is fixedly mounted on the bracket 4, and the laser profiler 3 is fixedly mounted on the mounting frame.
This scheme simple structure, reasonable in design installs camera lens 2 and laser profiler 3 through support 4 and mounting bracket respectively, convenient assembling.
Preferably, in this embodiment, the lens 2 is mounted on top of the bracket 4.
Example 3
Based on embodiment 2, in this embodiment, the support 4 includes a plurality of connecting rods, the plurality of connecting rods are distributed on two sides of the crawler 1 in a pairwise opposite manner, and two ends of the connecting rods are fixedly connected with the crawler 1 and the lens 2 respectively.
The support 4 is provided with a plurality of connecting rods, so that the assembly is convenient, and the stability of the assembly of the lens 2 and the laser profiler 3 can be ensured.
Preferably, in this embodiment, the number of the connecting rods is four, the four connecting rods are distributed on two sides of the crawler 1 in a pairwise opposite manner, and the upper ends of the four ends extend backward to an obliquely upper position of the rear end of the crawler 1.
Example 4
On the basis of the embodiment 2, the present embodiment further includes a light source 5, and the light source 5 is fixedly mounted on the support 4 and is in communication connection with the controller.
In the detection process, the brightness in the pipeline can be increased through the light source 5, so that the definition of the image acquired by the lens 2 is further ensured, and the detection accuracy is ensured.
In the present embodiment, the light source 5 is preferably a plurality of LEDs or the like, and the plurality of LEDs are arranged side by side in the left-right direction of the crawler 1, and are connected to the controller through lines.
Example 5
On the basis of any one of embodiments 2 to 4, in this embodiment, the mounting frame is a telescopic rod 6, a rear end of the telescopic rod 6 is fixedly connected with the bracket 4, and the laser profiler 3 is fixedly mounted at a front end of the telescopic rod 6.
This scheme simple structure, reasonable in design utilizes the interval between telescopic link 6 adjustable laser profiler 3 and the camera lens 2 to be applicable to the pipeline of different pipe diameters, the commonality is strong, convenient to use.
Preferably, in this embodiment, the telescopic rod 6 extends horizontally in the direction from the front end to the rear end of the crawler 1.
The specific structure of the telescopic rod 6 is as follows: the two sleeves and the two connecting rods are horizontally arranged side by side, and one end of each sleeve is fixedly connected with the bracket 4; the other ends of the two sleeves are open, the two connecting rods are respectively and slidably arranged in the two sleeves, one ends of the two connecting rods respectively extend out of the two sleeves, and the laser profiler 3 is fixedly arranged at the other ends of the two connecting rods.
Moreover, the positioning mode of the two connecting rods can be as follows: the other ends of the two sleeves are respectively sleeved with a sliding block in a sliding way, and the two sliding blocks are connected into a whole through a connecting block; one ends of the two sliding blocks, which are close to the two connecting rods, are respectively in threaded connection with locking nuts, and one ends of the two locking nuts, which are close to the other ends of the two connecting rods, are conical. During positioning, the two locking nuts are manually screwed to enable the two locking nuts to be close to the other ends of the two connecting rods, and the two connecting rods are tightly held by the conical structures of the two locking nuts.
Alternatively, a telescopic cylinder may be used instead of the telescopic rod 6.
Example 6
On the basis of embodiment 5, in this embodiment, the lens 2 and the laser profiler 3 are located on the same horizontal line.
This scheme simple structure, reasonable in design further guarantees the accuracy of detection.
Example 7
The present embodiment is the system according to any one of embodiment 5 to embodiment 6, wherein the lens 2 is a high-definition camera.
The definition of image acquisition can be guaranteed by the high-definition camera, and the detection accuracy is further improved.
Example 8
The telescopic rod 6 according to any one of embodiments 5 to 7 is a carbon fiber telescopic rod.
The carbon fiber telescopic rod has the advantages of light weight, high rigidity and long service life.
Alternatively, the telescopic rod 6 may be a stainless steel rod.
Example 9
On the basis of the above embodiments, in this embodiment, the rear end of the crawler 1 is fixedly provided with the navigation plug 7, one end of the navigation plug 7 is connected with the controller through a line, and the other end is used for connecting the cable 8.
This scheme simple structure, reasonable in design can realize the connection of crawler 1 and ground equipment through avionics plug 7, and is convenient to connect.
Example 10
On the basis of the above embodiments, the present embodiment further provides a method for measuring deformation and corrosion degree of a pipe by using the laser profile method, which is implemented by using the device for measuring deformation and corrosion degree of a pipe by using the laser profile method, and includes the following specific steps:
s1: the laser profiler 3 emits a laser ring, and generates a corresponding laser profile according to the inner contour of the pipe,
generating a laser profile of the inner contour of the pipe by projecting the laser profile onto the inner surface of the pipe;
s2: the lens 2 acquires the image in the pipeline and performs size calibration on the image at the same position of the laser profiler 3 (see figure 3);
the circle mark points in the figure are horizontal distances from the center point (laser instrument), respectively, and are consistent with the projection direction of the laser ring, and are in millimeters (mm). Starting the controller to calibrate, clicking circle mark points in the image, and recording the position and size relation of the points in the image by the controller (the step is image calibration).
S3: in order to eliminate image distortion caused by lens distortion, calibrating the horizontal and vertical directions of an image at the same time, and obtaining deformation correction coefficients in different size ranges (see fig. 4);
the deformation correction coefficients are calculated according to the horizontal and vertical dimensions of the drawing and the calibration image respectively (this is done by the software part inside the controller, which is the prior art and will not be described here in detail).
In addition, with 200 ten thousand (1920 x 1080) cameras, a 300mm dimensional calibration accounts for 76.85% of the height of the image. Converted pixels are 1080×76.85% =830 pix. The precision of each pixel in the figure is 300 mm/830=0.36 mm. The larger the laser ring appears in the video image, the smaller the pipe diameter, the higher the accuracy (see fig. 5).
S4: the acquired laser ring image is subjected to analysis operation, sampling points can be set on the laser ring, the number of the sampling points can be set from 1 to 600 points, for example, 200 sampling points are set, software uniformly samples the acquired laser ring, for example, 200 sampling points, and the corresponding diameter of each point on the laser ring is calculated. The deformation of the pipeline can be calculated by acquiring the maximum diameter and the minimum diameter. The degree of corrosion of the pipe wall can be calculated by comparing the average diameter also measured with the actual diameter (known) in the pipe (see fig. 6 and 7).
It should be noted that, in fig. 7, there appears to be a partial absence (not actually true), and a deformed pipe is substantially shown.
In addition, the image analysis formula (the controller is built in and is the prior art) needs to set the starting and ending distance, is consistent with the meter of the crawler walking in the video, and sets the sampling step distance, namely the interval of the laser ring. 1-100cm may be provided, with a default of 5cm spacing, to be selected based on the total length detected and the pipe conditions (see FIG. 8).
The embodiment provides a method for measuring deformation and corrosion degree of a pipeline, which is convenient and comprehensive in detection and high in efficiency.
The working principle of the invention is as follows:
in the detection process, the crawler 1 walks in the pipeline, the laser profiler 3 emits a laser ring in the process, a corresponding laser profile is generated according to the inner profile of the pipeline, the laser profile of the inner profile of the pipeline is generated by projecting the laser profile onto the inner surface of the pipeline, meanwhile, the lens 2 acquires images in the pipeline and sends the images to the controller, and the controller receives and analyzes corresponding information, so that the deformation and corrosion degree of the pipeline are obtained, and the measurement is convenient.
The invention combines the actual conditions of engineering sites, is designed with emphasis on rapidness, wide applicable pipe diameter range and suitability for pipelines of various materials. The device consists of a laser projector, a camera, a traveling device, a display and control unit and analysis software. The protection of the invention is the analysis of the pipeline laser section, the calculation of the pipeline deformation and the algorithm and the precision of the pipe wall corrosion.
In addition, the laser projection analysis method has the characteristics of comprehensive and rapid detection and strong applicability.
It should be noted that, all the electronic components related to the present invention adopt the prior art, and the above components are electrically connected to the controller, and the control circuit between the controller and the components is the prior art.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims (10)

1. A device for measuring deformation and corrosion degree of a pipeline by a laser profile method, which is characterized in that: the device comprises a crawler (1), a lens (2), a laser profiler (3) and a controller, wherein the lens (2) and the laser profiler (3) are respectively arranged on the crawler (1), and the laser profiler (3) is positioned at the front side of the lens (2) and can move and be positioned along the crawling direction of the crawler (1); the crawler (1), the lens (2) and the laser profiler (3) are respectively in communication connection with the controller.
2. The apparatus for measuring deformation and corrosion level of a pipe by laser profiling according to claim 1, wherein: the lens (2) is fixedly arranged on the crawler (1) through a support (4), a mounting frame is fixedly arranged on the support (4), and the laser profiler (3) is fixedly arranged on the mounting frame.
3. The apparatus for measuring deformation and corrosion degree of a pipe by laser profiling according to claim 2, wherein: the support (4) comprises a plurality of connecting rods, the connecting rods are distributed on two sides of the crawler (1) in a pairwise opposite mode, and two ends of the connecting rods are fixedly connected with the crawler (1) and the lens (2) respectively.
4. The apparatus for measuring deformation and corrosion degree of a pipe by laser profiling according to claim 2, wherein: the intelligent control device also comprises a light source (5), wherein the light source (5) is fixedly arranged on the bracket (4) and is in communication connection with the controller.
5. The apparatus for measuring deformation and corrosion degree of a pipe by laser profiling according to any one of claims 2 to 4, wherein: the mounting frame is a telescopic rod (6), the rear end of the telescopic rod (6) is fixedly connected with the support (4), and the laser profiler (3) is fixedly arranged at the front end of the telescopic rod (6).
6. The apparatus for measuring deformation and corrosion level of a pipe by laser profiling according to claim 5, wherein: the lens (2) and the laser profiler (3) are positioned on the same horizontal line.
7. The apparatus for measuring deformation and corrosion level of a pipe by laser profiling according to claim 5, wherein: the lens (2) is a high-definition camera.
8. The apparatus for measuring deformation and corrosion level of a pipe by laser profiling according to claim 5, wherein: the telescopic rod (6) is a carbon fiber telescopic rod.
9. The apparatus for measuring deformation and corrosion degree of a pipe by laser profiling according to any one of claims 1 to 4, wherein: the crawler is characterized in that the rear end of the crawler (1) is fixedly provided with a navigation plug (7), one end of the navigation plug (7) is connected with the controller through a line, and the other end of the navigation plug is used for being connected with a cable (8).
10. A method for measuring the deformation and corrosion degree of a pipeline by using the laser profile method, which is realized by using the device for measuring the deformation and corrosion degree of the pipeline by using the laser profile method according to any one of claims 1 to 9, and comprises the following specific steps:
s1: the laser profiler (3) emits a laser ring, generates a corresponding laser profile according to the inner contour of the pipeline, and generates the laser profile of the inner contour of the pipeline by projecting the laser profile onto the inner surface of the pipeline;
s2: the lens (2) acquires an image in the pipeline and performs size calibration on the image at the same position of the laser profiler (3);
s3: calibrating the horizontal and vertical directions of the image to obtain deformation correction coefficients in different size ranges;
s4: analyzing and calculating the obtained laser ring image, wherein sampling points can be arranged on the laser ring, the number of the sampling points can be 1-600 points, the controller uniformly samples the points on the obtained laser ring, calculates the corresponding diameter of each point on the laser ring, calculates the deformation of the pipeline by obtaining the maximum diameter and the minimum diameter, compares the measured average diameter with the actual diameter in the pipeline, and calculates the corrosion degree of the pipe wall.
CN202311215547.9A 2023-09-20 2023-09-20 Device and method for measuring deformation and corrosion degree of pipeline by laser profile method Pending CN117267518A (en)

Priority Applications (1)

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CN202311215547.9A CN117267518A (en) 2023-09-20 2023-09-20 Device and method for measuring deformation and corrosion degree of pipeline by laser profile method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311215547.9A CN117267518A (en) 2023-09-20 2023-09-20 Device and method for measuring deformation and corrosion degree of pipeline by laser profile method

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CN117267518A true CN117267518A (en) 2023-12-22

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CN202311215547.9A Pending CN117267518A (en) 2023-09-20 2023-09-20 Device and method for measuring deformation and corrosion degree of pipeline by laser profile method

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