CN110296295A - A method of quickly detecting pipeline path variation - Google Patents
A method of quickly detecting pipeline path variation Download PDFInfo
- Publication number
- CN110296295A CN110296295A CN201910519927.9A CN201910519927A CN110296295A CN 110296295 A CN110296295 A CN 110296295A CN 201910519927 A CN201910519927 A CN 201910519927A CN 110296295 A CN110296295 A CN 110296295A
- Authority
- CN
- China
- Prior art keywords
- laser range
- range finder
- pipeline
- detecting
- elbow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
-
- 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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- 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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of methods for quickly detecting pipeline path variation, the following steps are included: in the fixed range unit in pipeline detection robot front end, it allows range unit to be arranged four to be centrosymmetric the laser range finder of distribution with straight pipeline axis, and the ranging light for emitting laser range finder to front side intersects with straight pipeline axis；In Robot straight pipeline traveling process, be in a pair of of laser range finder of Relative distribution in same upright plane, and allow four laser range finder real-time detections its arrive tube wall distance；If the detecting distance of a certain laser range finder mutates, judge that there are threeways for front side；If the detecting distance of four laser range finders changes simultaneously, judge that there are elbows for front side.It has the advantages that equipment requirement is low, realizes that easy, algorithm is simple, detection accuracy is high, strong applicability, can meet ultromotivity pipeline detection robot and change the needs of detecting to pipeline path.
Description
Technical field
The present invention relates to Inner Examination Technology on Pipeline, and in particular to a kind of side that pipeline path variation is quickly detected in pipeline
Method.
Background technique
Gas pipeline defects detection, which is safely operated it, to be of great significance, once leakage, which occurs, will cause very big loss.
Gas pipeline is usually embedded in underground, and earth's surface detection method is difficult to obtain accurate defective locations and defect self-information.In recent years
The pipeline detection robot quickly grown can go deep into detecting defect inside pipeline, provide preferably for gas pipeline defects detection
Solution.Detecting pipeline path variation in real time is the key that pipeline detection robot operates normally.Inspection in pipeline at present
It surveys robot to adapt to there are mainly two types of the methods that pipeline path changes: first is that the pumped (conveying) medium pressure difference driving side of pipeline self- steering
Method, typical case are to detect the pipeline pig of larger hydrocarbon pipeline.Pipeline pig is the cylindric robot that diameter is less than pipe diameter,
Defects detection is carried out to pipeline by carrying detection device.Pipeline pig itself does not provide power, fully relies on the oil pressure in pipeline
Or air pressure is pushed, and fence need to be arranged at multi-path to control the direction of advance of pipeline pig.Because pipeline pig can not be from homophony
Whole posture is only applicable to large-scale long straight pipeline.And city gas pipeline path is complex, threeway and elbow are frequent, and
Air pressure in city gas pipeline is lower, enough power can not be provided for the long distance movement of pipeline pig, therefore this method is uncomfortable
With being detected in city gas pipeline.Second is that video detects cooperation hand operated control method, pipeline path is detected using camera and is become
Change, by eye recognition pipeline path situation of change, and manually controls interior detection robot to adapt it to pipeline path variation.
This method is although feasible, but to realize detecting automatically for pipeline path variation, need to handle a large amount of video data in real time and export
Probe result, algorithm is complex, to processor requirement height, is not suitable for Embedded ultromotivity pipeline detection robot.
Summary of the invention
It is low with equipment requirement, real the object of the present invention is to provide a kind of method for quickly detecting pipeline path variation
It is now easy, the advantages of algorithm is simple, detection accuracy is high, strong applicability, ultromotivity pipeline detection robot can be met to pipeline
The demand that path change is detected.
To solve the above-mentioned problems in the prior art, one kind provided by the invention quickly detects pipeline path variation
Method, comprising the following steps:
One, it in the fixed range unit in robot front end, allows range unit to be arranged four and is centrosymmetric with straight pipeline axis
The laser range finder of distribution, and the ranging light for emitting laser range finder to front side intersects with straight pipeline axis；The machine
People refers to pipeline detection robot；
Two, in Robot straight pipeline traveling process, a pair of of laser range finder of Relative distribution is made to be in same perpendicular flat
In face, and allow four laser range finder real-time detections its arrive tube wall distance；
If three, the detecting distance of a certain laser range finder mutates, judge that there are threeways for front side；If four Laser Measurings
The detecting distance of distance meter changes simultaneously, then judges that there are elbows for front side.
Further, a kind of method for quickly detecting pipeline path variation of the present invention, further comprising the steps of:
Four, there are when threeway, the laser range finder orientation to mutate according to detecting distance determines threeway for judgement front side
Direction, and the starting point and width of threeway are determined by the following method,
A, the starting point for determining threeway is 1. calculated according to formula,
Ltri=m cos α is 1.
Wherein, LtriStraight line of the threeway starting point to laser range finder along straight pipeline direction when indicating to detect threeway for the first time
Distance, m indicate the detecting distance of laser range finder in straight pipeline, and α indicates the angle of departure of laser range finder, i.e. ranging light and straight
The angle of conduit axis；
B, the width for determining threeway is 2. calculated according to formula,
K=(n-m) cos α is 2.
Wherein, K indicates that the width of threeway, n indicate to detect the detecting distance to mutate when threeway for the first time.
Further, a kind of method for quickly detecting pipeline path variation of the present invention, further comprising the steps of:
Five, there are when elbow, the laser range finder orientation according to detecting distance increase determines the direction of elbow for judgement front side,
And the starting point and radius of elbow are determined by the following method,
C, the starting point for determining elbow is 3. calculated according to formula,
Lbend=m cos α is 3.
Wherein, LbendStraight line of the elbow starting point to laser range finder along straight pipeline direction when indicating to detect elbow for the first time
Distance；
D, robot after elbow is detected for the first time and continues traveling x distance forward, and detecting distance is synchronous at this time reduces and opposite
The mean value of a pair of of its detecting distance of laser range finder of distribution indicates that the hot spot that ranging light generates on tube wall is corresponding with m '
Indicated with E and F, according to formula 4., formula 5., formula 6. with formula 7. calculates determination elbow radius,
X=x- (m-m ') cos α is 5.
Wherein, LEFIndicate the distance between hot spot E and hot spot F, L indicate Relative distribution laser range finder between away from
From r indicates that the radius of pipeline, X indicate elbow starting point to hot spot E or hot spot F along the linear distance in straight pipeline direction, Y expression
Vertical range of the conduit axis to line between hot spot E and hot spot F, the radius of R expression elbow.
Further, a kind of method for quickly detecting pipeline path variation of the present invention, wherein described to make in step 2
A pair of of laser range finder of Relative distribution is in same upright plane, is realized by the following method:
(1) line of a pair of of laser range finder of Relative distribution is allowed to be parallel to the central axes of robot；
(2) gravity attitude transducer is set in robot, by gravity attitude transducer real-time detection robot
Angle between axis and vertical direction, and information of angle detection is passed to the motion controller of robot；
(3) motion controller is adjusted in real time according to posture of the information of angle detection to robot, so that robot
Angle between central axes and vertical direction goes to zero.
Further, a kind of method for quickly detecting pipeline path variation of the present invention, wherein in step 4, it is described according to
The direction that threeway is determined according to the laser range finder orientation that detecting distance mutates, refers to and the direction of threeway is determined as by detecting
The laser range finder that distance mutates is directed toward another laser range finder being distributed corresponding thereto.
Further, a kind of method for quickly detecting pipeline path variation of the present invention, wherein in step 5, it is described according to
The direction that elbow is determined according to the laser range finder orientation that detecting distance increases, refers to and the direction of elbow is determined as by detecting distance
The laser range finder of increase is directed toward another laser range finder being distributed corresponding thereto.
Further, a kind of method for quickly detecting pipeline path variation of the present invention, wherein the α is greater than 15 degree, and small
In 75 degree.
Further, a kind of method for quickly detecting pipeline path variation of the present invention, wherein the α is equal to 30 degree.
A kind of method for quickly detecting pipeline path variation of the invention compared with prior art, has the advantage that this hair
It is bright to be arranged four in pipeline detection robot front end and be centrosymmetric the laser range finder of distribution with straight pipeline axis, make laser
The ranging light that rangefinder emits to front side intersects with straight pipeline axis, and makes relatively in Robot straight pipeline traveling process
A pair of of laser range finder of distribution is in same upright plane, allow four laser range finder real-time detections its arrive tube wall distance,
By the orientation of four laser range finders of analysis and its variation of detecting distance, that is, it can determine front with the presence or absence of threeway or curved
Head.Specifically: in Robot straight pipeline traveling process, if the detecting distance of a certain laser range finder mutates, judge
There are threeways for front side；If the detecting distance of four laser range finders changes simultaneously, judge that there are elbows for front side.Before judgement
Side can determine the direction of threeway according to the changed laser range finder orientation of detecting distance there are when threeway, can also foundation
The angle of departure of laser range finder, the detecting distance in straight pipeline and detect the detecting distance to mutate when threeway for the first time
The starting point and width of threeway is calculated；There are laser range finder sides when elbow, increased according to detecting distance for judgement front side
Position can determine the direction of elbow, can also be according to the angle of departure of laser range finder, the detecting distance in straight pipeline and first
Detect elbow is calculated in the detecting distance that robot continues traveling certain distance forward after elbow starting point and radius.It will
The above pipeline path change information submits to the motion controller of robot, and robot can change according to pipeline path to be done automatically
It adjusts out.The present invention characteristic that complicated, threeway and elbow are frequent for city gas pipeline path, is surveyed based on four dot lasers
Away from the method that one kind that principle designs quickly detects pipeline path variation, realization low with equipment requirement is easy, algorithm is simple,
The advantages of detection accuracy height, strong applicability, can meet ultromotivity pipeline detection robot and change the need detected to pipeline path
It asks.
Shown specific embodiment is to a kind of method work for quickly detecting pipeline path variation of the invention with reference to the accompanying drawing
It is further described.
Detailed description of the invention
Fig. 1 is a kind of flow chart for the method for quickly detecting pipeline path variation of the present invention；
Fig. 2 is the front view of range unit；
Fig. 3 is the perspective view of range unit；
Fig. 4 generates the schematic diagram of hot spot for ranging light in straight pipeline and its on tube wall；
Fig. 5 be when detecting threeway ranging light and its on tube wall generate hot spot schematic diagram；
Fig. 6 be when detecting elbow ranging light and its on tube wall generate hot spot schematic diagram；
Fig. 7 is the A-A direction view in Fig. 6；
Fig. 8 is the schematic diagram one that elbow radius calculates；
Fig. 9 is the schematic diagram two that elbow radius calculates；
In figure, 1, pipeline detection robot；11, the central axes of pipeline detection robot；2, range unit；21, swash
Optar；3, straight pipeline；4, threeway；5, elbow.
Specific embodiment
Firstly the need of explanation, the nouns of locality such as heretofore described up, down, left, right, before and after only with reference to the accompanying drawings into
Capable description, in order to understand, not to technical solution of the present invention and be claimed range progress limitation.
In pipeline network of fuel gas in city planning, for convenience of designing and constructing, pipeline has been all made of horizontal or vertical direction and has been laid with,
And it is attached by threeway or elbow.For this feature of city gas pipeline, as shown in Figures 1 to 9, the present invention is based on
The method that one kind of four dot laser range measurement principles design quickly detects pipeline path variation, specifically includes the following steps:
Step 1: allowing range unit to be arranged four with straight in the fixed range unit 2 in the front end of pipeline detection robot 1
The axis of pipeline 3 is centrosymmetric the laser range finder 21 of distribution, and the ranging light for emitting laser range finder to front side with
The intersection of straight pipeline axis.This mode can make it by allowing four laser range finders to emit ranging light with the identical angle of departure
Identical detecting distance is obtained in straight pipeline, and by allowing laser range finder to emit range laser in opposite directions, enhances Laser Measuring
The received laser intensity of distance meter, ensure that range accuracy.The angle of departure refers to the angle of ranging light Yu straight pipeline axis.
Step 2: making a pair of of laser range finder of Relative distribution be in same in Robot straight pipeline traveling process
In upright plane, and allow four laser range finder real-time detections its arrive tube wall distance.This mode is by allowing the one of Relative distribution
Laser range finder is in same upright plane, another pair laser range finder is necessarily in same level, can be effectively improved
Detect the precision of pipeline path variation.
Step 3: judging that there are threeways 4 for front side if the detecting distance of a certain laser range finder mutates；If four
The detecting distance of laser range finder changes simultaneously, then judges that there are elbows 5 for front side.
Because in city gas pipeline threeway and elbow be horizontal or vertical setting, traveled across in Robot straight pipeline
Cheng Zhong, when encountering threeway, the detecting distance of one of laser range finder can mutate, and other three laser range finders
Detecting distance can remain unchanged；When encountering elbow, the detecting distance of four laser range finders can change simultaneously.It utilizes
This characteristic can rapidly detect threeway and elbow.
For design parameters such as the orientation of determining threeway and elbow, the invention also includes following steps:
Step 4: judgement front side is there are when threeway, the laser range finder orientation to mutate according to detecting distance determines three
Logical direction, and the starting point and width of threeway are determined by the following method.
A, the starting point for determining threeway is 1. calculated according to formula,
Ltri=m cos α is 1.
Wherein, LtriStraight line of the threeway starting point to laser range finder along straight pipeline direction when indicating to detect threeway for the first time
Distance, m indicate that the detecting distance of laser range finder in straight pipeline, α indicate the angle of departure of laser range finder.
B, the width for determining threeway is 2. calculated according to formula,
K=(n-m) cos α is 2.
Wherein, K indicates that the width of threeway, n indicate to detect the detecting distance to mutate when threeway for the first time.
When detecting threeway for the first time, the ranging light of one of laser range finder transmitting can be got to inside threeway, corresponding
Detecting distance can increase suddenly, as robot advances, which can be gradually reduced again, until with other three laser
The detecting distance of rangefinder is consistent.Using this characteristic, the laser range finder orientation to mutate according to detecting distance can be fast
Speed determines the direction of threeway, that is, the laser range finder direction that the direction of threeway is mutated by detecting distance is distributed corresponding thereto
Another laser range finder.Because the angle of departure α of laser range finder be it is fixed, in conjunction with laser range finder in straight pipeline detection away from
From the m and detecting distance n of mutation, threeway is risen when the width K of threeway can be calculated and detecting threeway for the first time
Initial point is to laser range finder along the linear distance L in straight pipeline directiontri.Refer to it when it should be noted that detecting threeway for the first time
In the detecting distance of laser range finder when increasing suddenly.
Step 5: judgement front side is there are when elbow, the laser range finder orientation increased according to detecting distance determines elbow
Direction, and the starting point and radius of elbow are determined by the following method.
C, the starting point for determining elbow is 3. calculated according to formula,
Lbend=m cos α is 3.
Wherein, LbendStraight line of the elbow starting point to laser range finder along straight pipeline direction when indicating to detect elbow for the first time
Distance.
D, robot after elbow is detected for the first time and continues traveling x distance forward, and detecting distance is synchronous at this time reduces and opposite
The mean value of a pair of of its detecting distance of laser range finder of distribution indicates that the hot spot that ranging light generates on tube wall is corresponding with m '
Indicated with E and F, according to formula 4., formula 5., formula 6. with formula 7. calculates determination elbow radius,
X=x- (m-m ') cos α is 5.
Wherein, LEFIndicate the distance between hot spot E and hot spot F, L indicate Relative distribution laser range finder between away from
From r indicates that the radius of pipeline, X indicate elbow starting point to hot spot E or hot spot F along the linear distance in straight pipeline direction, Y expression
Vertical range of the conduit axis to line between hot spot E and hot spot F, the radius of R expression elbow.
Because in city gas pipeline threeway and elbow be horizontal or vertical setting, and four laser range finders are with straight
Conduit axis is centrosymmetric distribution, is in a pair of of laser range finder of Relative distribution in same upright plane, and another pair swashs
Optar would be in same level, and the direction of threeway and elbow is inevitable parallel with a pair of of line of laser range finder,
And it is vertical with the line of another pair laser range finder.When detecting elbow for the first time, line a pair of of the laser parallel with elbow direction
Rangefinder, one increase of detecting distance meeting, a reduction；And another pair laser range finder that line is vertical with elbow direction,
Its detecting distance can synchronize reduction, and using this characteristic, the laser range finder orientation increased according to detecting distance can quickly really
Determine the direction of elbow, that is, the laser range finder direction that the direction of elbow is increased by detecting distance is distributed another sharp corresponding thereto
Optar.Because the angle of departure α of laser range finder be it is fixed, in conjunction with the detecting distance m of laser range finder in straight pipeline
Linear distance L of the elbow starting point to laser range finder along straight pipeline direction when detecting elbow for the first time is calculatedbend.For the first time
After detecting elbow, robot continues traveling x distance forward, at this point, a pair of of the laser ranging reduced synchronous for detecting distance
L can be calculated in instrument, the value according to α, L and m 'EF；And the line between hot spot E and hot spot F is a string of pipeline circle,
According to r and LEFValue can be calculated Y, X can be calculated in the value according to x, m, α and m ', can finally be counted according to the value of X and Y
Calculation obtains R.Refer to the detecting distance of four laser range finders when it should be noted that detecting elbow for the first time for the first time while occurring
When variation.Because of line a pair of of the laser range finder vertical with elbow direction, the detecting distance in elbow is essentially identical, for side
Just it calculates, improves detection accuracy, the present invention usually takes the mean value of the detecting distance to laser range finder in elbow as meter
Calculate parameter.It should be noted that x is obtained according to the step counting wheel of robot, for the accuracy for guaranteeing calculated result, the present invention
X is usually allowed to be less than LbendAnd it is greater than Lbend2/3rds.
The threeway detected by above method and elbow information are submitted to the motion controller of robot, robot is
It can change according to pipeline path and adjust automatically, and go on smoothly pipeline detection.
In step 2, a pair of of the laser range finder for making Relative distribution is in same upright plane, by the following method
It realizes:
(1) line of a pair of of laser range finder of Relative distribution is allowed to be parallel to the central axes 11 of robot.
(2) gravity attitude transducer is set in robot, by gravity attitude transducer real-time detection robot
Angle between axis and vertical direction, and information of angle detection is passed to the motion controller of robot.
(3) motion controller is adjusted in real time according to posture of the information of angle detection to robot, so that robot
Angle between central axes and vertical direction goes to zero.
As long as making the central axes of robot keep vertical by this mode, that is, it can guarantee that line and robot central axes are flat
Capable a pair of of laser range finder is in same upright plane, and another pair laser range finder is necessarily in same level, tool
Have the advantages that method is simple, it is easy to realize, ensure that the precision that pipeline path is detected.
It should be noted that Ying Jiang α is designed as being greater than 15 °, to guarantee that laser range finder can work normally to avoid because surveying
The too small range performance for influencing laser range finder of angle away from light and tube wall；Meanwhile should also make α less than 75 °, to encounter three
Robot is set to have time enough to be adjusted when logical or elbow.The experiment proved that effect is preferable when α is designed as 30 °, full
It is enough that range accuracy can be improved in the case where two requirements.In addition, it is necessary to which, it is noted that heretofore described robot refers to
The omission for being exactly pipeline detection robot, being only simplicity of exposition carries out, the two should make same concept understanding.
Above embodiments are only the descriptions carried out to the preferred embodiment of the present invention, and model not is claimed to the present invention
It encloses and is defined, without departing from the design concept of the invention, the technical solution of those skilled in the art according to the present invention
The various modifications made, should fall within the scope of protection determined by the claims of the present invention.
Claims (8)
1. a kind of method for quickly detecting pipeline path variation, which comprises the following steps:
One, it in the fixed range unit in robot front end, allows range unit to be arranged four and is centrosymmetric distribution with straight pipeline axis
Laser range finder, and the ranging light for emitting laser range finder to front side intersects with straight pipeline axis；The robot is
Refer to pipeline detection robot；
Two, in Robot straight pipeline traveling process, it is in a pair of of laser range finder of Relative distribution in same upright plane,
And allow four laser range finder real-time detections its arrive tube wall distance；
If three, the detecting distance of a certain laser range finder mutates, judge that there are threeways for front side；If four laser range finders
Detecting distance change simultaneously, then judge front side there are elbows.
2. a kind of method for quickly detecting pipeline path variation according to claim 1, which is characterized in that further include following
Step:
Four, there are when threeway, the laser range finder orientation according to detecting distance mutation determines the direction of threeway for judgement front side,
And the starting point and width of threeway are determined by the following method,
A, the starting point for determining threeway is 1. calculated according to formula,
Ltri=m cos α is 1.
Wherein, LtriLinear distance of the threeway starting point to laser range finder along straight pipeline direction when indicating to detect threeway for the first time,
M indicates that the detecting distance of laser range finder in straight pipeline, α indicate the angle of departure of laser range finder, i.e. ranging light and straight pipeline
The angle of axis；
B, the width for determining threeway is 2. calculated according to formula,
K=(n-m) cos α is 2.
Wherein, K indicates that the width of threeway, n indicate to detect the detecting distance to mutate when threeway for the first time.
3. a kind of method for quickly detecting pipeline path variation according to claim 2, which is characterized in that further include following
Step:
Five, there are when elbow, the laser range finder orientation increased according to detecting distance determines the direction of elbow, and presses for judgement front side
Following methods determine the starting point and radius of elbow,
C, the starting point for determining elbow is 3. calculated according to formula,
Lbend=m cos α is 3.
Wherein, LbendLinear distance of the elbow starting point to laser range finder along straight pipeline direction when indicating to detect elbow for the first time；
D, robot continues traveling x distance forward after detecting elbow for the first time, the synchronous reduction of detecting distance at this time and Relative distribution
The mean value of a pair of of its detecting distance of laser range finder indicate that the hot spot that ranging light generates on tube wall is corresponding with E with m '
With F indicate, according to formula 4., formula 5., formula 6. with formula 7. calculates determination elbow radius,
X=x- (m-m ') cos α is 5.
Wherein, LEFIndicate that the distance between hot spot E and hot spot F, L indicate the distance between the laser range finder of Relative distribution, r table
Show that the radius of pipeline, X indicate elbow starting point to hot spot E or hot spot F along the linear distance in straight pipeline direction, Y expression pipeline axis
Vertical range of the line to line between hot spot E and hot spot F, the radius of R expression elbow.
4. a kind of method for quickly detecting pipeline path variation according to claim 3, which is characterized in that in step 2
In, a pair of of the laser range finder for making Relative distribution is in same upright plane, it realizes by the following method:
(1) line of a pair of of laser range finder of Relative distribution is allowed to be parallel to the central axes of robot；
(2) gravity attitude transducer is set in robot, passes through the central axes of gravity attitude transducer real-time detection robot
Angle between vertical direction, and information of angle detection is passed to the motion controller of robot；
(3) motion controller is adjusted in real time according to posture of the information of angle detection to robot, so that the axis of robot
Angle between line and vertical direction goes to zero.
5. a kind of method for quickly detecting pipeline path variation according to claim 4, which is characterized in that in step 4
In, the laser range finder orientation to mutate according to detecting distance determines the direction of threeway, refers to the direction of threeway is true
It is set to the laser range finder to be mutated by detecting distance and is directed toward another laser range finder being distributed corresponding thereto.
6. a kind of method for quickly detecting pipeline path variation according to claim 5, which is characterized in that in step 5
In, the laser range finder orientation increased according to detecting distance determines the direction of elbow, refers to and is determined as the direction of elbow
The laser range finder increased by detecting distance is directed toward another laser range finder being distributed corresponding thereto.
7. a kind of method for quickly detecting pipeline path variation according to claim 6, which is characterized in that the α is greater than
15 degree, and less than 75 degree.
8. a kind of method for quickly detecting pipeline path variation according to claim 7, which is characterized in that the α is equal to
30 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519927.9A CN110296295B (en) | 2019-06-17 | 2019-06-17 | Method for rapidly probing pipeline path change |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519927.9A CN110296295B (en) | 2019-06-17 | 2019-06-17 | Method for rapidly probing pipeline path change |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110296295A true CN110296295A (en) | 2019-10-01 |
| CN110296295B CN110296295B (en) | 2020-04-24 |
Family
ID=68028151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910519927.9A Active CN110296295B (en) | 2019-06-17 | 2019-06-17 | Method for rapidly probing pipeline path change |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110296295B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113091668A (en) * | 2021-04-07 | 2021-07-09 | 哈尔滨理工大学 | Pipeline elbow size measuring device |
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN113325069A (en) * | 2020-02-12 | 2021-08-31 | 中国石油天然气股份有限公司 | Pipeline detection device and pipeline detection system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105114757A (en) * | 2015-04-28 | 2015-12-02 | 中国石油大学(华东) | Screw type geometry detecting robot device |
| US20170108156A1 (en) * | 2015-10-14 | 2017-04-20 | Ulc Robotics, Inc. | System and method for pipe insertion in a pipeline |
| DE202017006834U1 (en) * | 2017-07-05 | 2018-07-26 | Albis Plastic Gmbh | inspection device |
| CN109268621A (en) * | 2018-11-16 | 2019-01-25 | 合肥工业大学 | Detecting robot of pipe, pipe detection system based on electro-active material driving |
| CN109751477A (en) * | 2019-03-19 | 2019-05-14 | 重庆大学 | Robot is used in tubular structure detection |
-
2019
- 2019-06-17 CN CN201910519927.9A patent/CN110296295B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105114757A (en) * | 2015-04-28 | 2015-12-02 | 中国石油大学(华东) | Screw type geometry detecting robot device |
| US20170108156A1 (en) * | 2015-10-14 | 2017-04-20 | Ulc Robotics, Inc. | System and method for pipe insertion in a pipeline |
| DE202017006834U1 (en) * | 2017-07-05 | 2018-07-26 | Albis Plastic Gmbh | inspection device |
| CN109268621A (en) * | 2018-11-16 | 2019-01-25 | 合肥工业大学 | Detecting robot of pipe, pipe detection system based on electro-active material driving |
| CN109751477A (en) * | 2019-03-19 | 2019-05-14 | 重庆大学 | Robot is used in tubular structure detection |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325069A (en) * | 2020-02-12 | 2021-08-31 | 中国石油天然气股份有限公司 | Pipeline detection device and pipeline detection system |
| CN113091668A (en) * | 2021-04-07 | 2021-07-09 | 哈尔滨理工大学 | Pipeline elbow size measuring device |
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110296295B (en) | 2020-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110296295A (en) | A method of quickly detecting pipeline path variation | |
| CN101571379B (en) | Method for measuring diameter and straightness accuracy parameters of seamless round steel pipe | |
| CN108981580B (en) | Online detection device and method for crane track | |
| US8510059B2 (en) | Method and system for measuring emission and quantifying emission source | |
| US8842297B2 (en) | Method for measurement of the thickness of any deposit of material on inner wall of a pipeline | |
| CN103382833B (en) | No-dig technique guide instrument and use the measuring method of this guide instrument | |
| CN105066915A (en) | Mold curved surface machining error and surface roughness on-machine detection device and detection method | |
| CN109341553A (en) | A kind of tube material and tube wall measurer for thickness and measurement method | |
| CN102636663A (en) | Method for measuring flow rate of channel by utilizing bubbles and portable bubble flow rate instrument | |
| CN104236385B (en) | Based on the cannon radius of gyration of laser radar and pitch diameter checkout gear and method | |
| CN106814368A (en) | Pill impacting coordinate measuring device and measuring method based on laser distance measuring principle | |
| CN206430787U (en) | Groundwater level measuring system | |
| CN110146037A (en) | Measuring device and method for seamless steel tube for ship seamless interfacing | |
| CN109268015A (en) | Guidance system and method based on push bench process Freezing Method for Cross-passage Construction under discontinuous intervisibility | |
| US20240068801A1 (en) | Safety measuring device and safety evaluation method for large-diameter pipeline | |
| CN113196015B (en) | Method for debugging and/or checking an ultrasonic flow measurement site | |
| CN102435241B (en) | Installation and positioning methods for ultrasonic flowmeter transducer based on total station | |
| CN108871211B (en) | Method for measuring and correcting thickness of gas-liquid two-phase annular flow liquid film in circular tube | |
| CN106643629A (en) | Tubular structure inner surface roughness measurement calculating method | |
| KR20210058519A (en) | A testing device for pipe using ultra-sonic wave c-scan device | |
| CN108871152A (en) | A kind of internal diameter of the pipeline measuring device and method | |
| JP2005292043A (en) | Apparatus for measuring shape of inner wall surface of cavity | |
| KR101552807B1 (en) | Method for inspecting pipeline of in-pipe inspection robot using position sensing device module | |
| US11644844B2 (en) | Mobile robot | |
| CN218955763U (en) | Freezing pipe inclinometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |