CN113447004B - Pipeline measuring device - Google Patents
Pipeline measuring device Download PDFInfo
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- CN113447004B CN113447004B CN202110713886.4A CN202110713886A CN113447004B CN 113447004 B CN113447004 B CN 113447004B CN 202110713886 A CN202110713886 A CN 202110713886A CN 113447004 B CN113447004 B CN 113447004B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The application discloses a pipeline measuring device, which comprises a traction mechanism, a first working section and a second working section; the first working section comprises a supporting mechanism and a light spot generator; one end of the supporting mechanism of the first working section is connected with the tail part of the traction mechanism, and the other end of the supporting mechanism of the first working section is provided with a light spot generator; the second working section comprises a middle image acquisition mechanism, a tail image acquisition mechanism and a supporting mechanism; one end of the supporting mechanism of the second working section is provided with a middle image acquisition mechanism and is flexibly connected with the end part of the supporting mechanism of the first working section, which is far away from the traction mechanism; the other end of the supporting mechanism of the second working section is provided with a tail image acquisition mechanism; the middle image acquisition mechanism can continuously shoot the light point generator and transmit shot images to the outside; the tail image acquisition mechanism can continuously shoot and transmit images containing light spots to the outside. The pipeline measuring device provided by the application can derive the trend of the deep hole.
Description
Technical Field
The application relates to the technical field of pipelines, in particular to a pipeline measuring device.
Background
The transverse drilling machine is widely applied to a plurality of fields such as roads, bridges, agriculture and forestry and the like, and can drill deeper holes in the transverse direction. However, since the drill bit of the transverse drilling machine is generally long, the drill bit may be bent during the drilling process of the transverse drilling machine, so that the drilled deep hole may not extend along a straight line completely.
However, at present, robots that can move in deep holes or pipelines are often used for exploration, dredging and other works, and cannot measure the direction of the deep hole, so that equipment capable of measuring the direction of the deep hole is urgently needed.
Disclosure of Invention
The embodiment of the invention provides a pipeline measuring device, which is used for meeting the requirement of measuring the trend of a deep hole.
The pipeline measuring device provided by the embodiment of the invention comprises a traction mechanism, a first working section and a second working section;
the first working section comprises a supporting mechanism and a light spot generator; one end of the supporting mechanism of the first working section is connected with the tail part of the traction mechanism, and the other end of the supporting mechanism of the first working section is provided with the light spot generator;
the second working section comprises a middle image acquisition mechanism, a tail image acquisition mechanism and the supporting mechanism; the middle image acquisition mechanism is installed at one end of the supporting mechanism of the second working section and is in flexible connection with the end part, far away from the traction mechanism, of the supporting mechanism of the first working section; the other end of the supporting mechanism of the second working section is provided with the tail image acquisition mechanism;
the middle image acquisition mechanism can continuously shoot the light spot generator and transmit shot images to the outside; the tail image acquisition mechanism can continuously shoot and transmit images containing light spots to the outside, and the light spots are displayed on the tail image acquisition mechanism by outside laser.
In one possible implementation manner, the tail image collecting mechanism includes a first bracket, a display panel, a first photographing device, and a first transmission module;
one end of the first support is connected to the end part, far away from the traction mechanism, of the supporting mechanism, the other end of the first support is provided with the display board, and the display board is used for displaying light spots for external laser;
the first photographing device is connected to the first support and is arranged to face the display panel to continuously photograph the display panel presenting light spots;
the first transmission module is installed on the first support and electrically connected with the first photographing device, and can transmit the image photographed by the first photographing device to the outside.
In a possible implementation manner, the tail image capturing mechanism further includes a first stabilizing device, the first stabilizing device is installed on the first support, and the first photographing device is connected to the first stabilizing device.
In a possible implementation manner, the middle image acquisition mechanism includes a second support, a second photographing device, and a second transmission module;
one end of the second bracket is connected to the end part, close to the first working section, of the supporting mechanism of the second working section, and the other end of the second bracket is connected with the end part, close to the second working section, of the supporting mechanism of the first working section;
the second photographing device is connected to the second support and is arranged to face the light spot generator so as to photograph the light spot generator;
the second transmission module is installed on the second support, is electrically connected with the second photographing device and can transmit the image photographed by the second photographing device to the outside.
In a possible implementation manner, the middle image capturing mechanism further includes a second stabilizing device, the second stabilizing device is installed on the second support, and the second photographing device is connected to the second stabilizing device.
In a possible implementation manner, the pipeline measuring device further includes a connecting wire rope, two ends of the connecting wire rope are respectively connected to the end portion, facing the first working section, of the supporting mechanism of the second working section, and the end portion, far away from the traction mechanism, of the supporting mechanism of the first working section.
In one possible implementation, the support mechanism includes a resilient assembly and a plurality of supports;
the plurality of supporting pieces are annularly arrayed on the periphery of the elastic assembly, are connected with the elastic assembly and can be supported on the inner wall of the pipeline under the action of the elastic assembly.
In one possible implementation, the elastic assembly includes a guide rod, an elastic member, two sliders, and a plurality of connecting members;
the two sliding blocks are arranged at intervals and are both connected to the guide rod in a sliding manner;
each support piece is connected with each sliding block through at least one connecting piece, and two ends of each connecting piece are respectively hinged to the sliding block and the support piece;
two ends of the elastic part are respectively connected with the two sliding blocks, and when the supporting parts are gathered inwards, the two sliding blocks slide along the guide rod in the direction of approaching to each other or separating from each other, so that the elastic part is compressed or stretched.
In one possible implementation, the elastic member includes a sliding rod, a fixing portion, and a spring;
the two fixing parts are respectively connected with the two sliding blocks;
two ends of the sliding rod respectively extend into the two fixing parts so that the fixing parts can slide along the sliding rod;
the spring is sleeved on the sliding rod, and two ends of the spring are connected to the two fixing parts respectively.
In a possible implementation, the support mechanism further comprises a positioning block and a plurality of elastic rods;
the positioning block is arranged between the two sliding blocks and is fixedly connected with the guide rod;
the elastic rods are arranged on the positioning blocks and are respectively abutted with the supporting pieces in a one-to-one correspondence manner; when the plurality of support members are gathered inwardly, the resilient bars are compressed.
One or more technical schemes provided in the embodiments of the present invention have at least the following technical effects or advantages:
when the pipeline measuring device works, the pipeline measuring device is placed in a deep hole, the first working section and the second working section move along the deep hole under the traction of the traction mechanism, and the supporting mechanism of the first working section and the supporting mechanism of the second working section are both supported on the inner wall of the deep hole. And a laser generator is arranged outside the deep hole, irradiates the pipeline and presents light spots on the tail image acquisition mechanism, and the tail image acquisition mechanism continuously shoots and transmits images containing the light spots to the outside. After the outside receives a plurality of continuously photographed images, the absolute deviation obtained by the tail image acquisition mechanism can be obtained, and then the trend of the deep hole can be deduced. When the irradiation direction deviation of the deep hole and the laser is too large, the external laser cannot irradiate the tail image acquisition mechanism, or the position of the light spot exceeds the boundary of the shot image, or the distance between the position of the light spot and the reference point exceeds a preset value, the middle image acquisition mechanism starts to work, the light spot generator continuously shoots, the shot image is transmitted to the outside, the actual deviation value of the pipeline measuring device can be obtained by adding the absolute deviation obtained by the tail image acquisition mechanism and the relative accumulated deviation of the middle image acquisition mechanism, and the trend of the deep hole is deduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments of the present invention or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a pipeline measuring device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first working stage according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second working segment according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a supporting mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of the elastic assembly according to the embodiment of the present invention with the connector removed;
FIG. 6 is a schematic view of a positioning block and an elastic rod according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an elastic member according to an embodiment of the present invention;
FIG. 8 is a front view of the resilient member with the spring removed according to embodiments of the present invention;
FIG. 9 isbase:Sub>A cross-sectional view taken along the line A-A in FIG. 8;
fig. 10 is a schematic structural diagram of a tail image acquisition mechanism according to an embodiment of the present invention;
FIG. 11 is a schematic structural diagram of a middle image capturing mechanism according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of an external laser generator irradiating into a deep hole according to an embodiment of the present invention;
fig. 13 is a schematic diagram of a continuous shooting light spot generator of an image acquisition mechanism in the middle of a deep hole according to an embodiment of the present invention.
Reference numerals: 1-a first working section; 2-a second working section; 100-a traction mechanism; 200-a support mechanism; 210-a resilient component; 211-guide bar; 212-a slider; 213-a resilient member; 2131-sliding bar; 2132-a fixed part; 2133-a spring; 2134-shaft sleeve; 214-a locating block; 215-a resilient rod; 216-a sliding sleeve; 217-fixing plate; 218-a connector; 220-a support; 221-soft cushion layer; 300-tail image acquisition mechanism; 310-a first photographing device; 320-display panel; 330-first stabilizing means; 340-a first transmission module; 350-a first scaffold; 400-a light spot generator; 500-middle image acquisition mechanism; 510-a second photographing device; 520-a second pan/tilt head; 530-a second transmission module; 540-a second bracket; 600-laser generator.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
An embodiment of the present invention provides a pipeline measuring device, and please refer to fig. 1 to 13 together.
As shown in fig. 1, the pipeline measuring device provided by the embodiment of the present invention includes a traction mechanism 100, a first working section 1 and a second working section 2. Specifically, fig. 2 shows the structure of the first working segment 1, and the first working segment 1 includes a support mechanism 200 and a light spot generator 400. One end of the supporting mechanism 200 of the first working segment 1 is connected with the tail part of the traction mechanism 100, and the other end of the supporting mechanism 200 of the first working segment 1 is provided with a light spot generator 400. Specifically, fig. 3 shows the structure of the second working section 2, and the second working section 2 includes a middle image capturing mechanism 500, a tail image capturing mechanism 300, and a support mechanism 200. The middle image acquisition mechanism 500 is installed at one end of the supporting mechanism 200 of the second working segment 2, and is in flexible connection with the end part of the supporting mechanism 200 of the first working segment 1 far away from the traction mechanism 100. The other end of the supporting mechanism 200 of the second working section 2 is provided with a tail image acquisition mechanism 300. The middle image capturing mechanism 500 can continuously capture the light spot generator 400 and transmit the captured image to the outside. The trailing image capturing mechanism 300 can continuously capture and transmit to the outside an image containing a light spot that is presented on the trailing image capturing mechanism 300 by an outside laser.
When the pipeline measuring device works, the pipeline measuring device is placed in a deep hole, the first working section 1 and the second working section 2 move along the deep hole under the traction of the traction mechanism 100, and the supporting mechanism 200 of the first working section 1 and the supporting mechanism 200 of the second working section 2 are both supported on the inner wall of the deep hole. The laser generator 600 is arranged outside the deep hole, irradiates the pipeline and presents a light spot on the tail image acquisition mechanism 300, and the tail image acquisition mechanism 300 continuously shoots and transmits an image containing the light spot to the outside. After the outside receives a plurality of images which are continuously photographed, the absolute deviation obtained by the tail image acquisition mechanism 300 can be obtained, and then the trend of the deep hole can be deduced.
When the irradiation direction of the deep hole and the laser deviates too much, the external laser cannot irradiate the tail image acquisition mechanism 300, or the position of the light spot exceeds the boundary of the shot image, or the distance between the position of the light spot and the reference point exceeds a preset value, the middle image acquisition mechanism 500 starts to work, continuously shoot the light spot generator 400, and transmit the shot image to the outside, and the actual deviation value of the pipeline measurement device can be obtained by adding the absolute deviation obtained by the tail image acquisition mechanism 300 and the relative accumulated deviation of the middle image acquisition mechanism 500, so that the trend of the deep hole is deduced.
Of course, the pipeline measuring device provided by the embodiment of the present invention may also include only the traction mechanism 100, the supporting mechanism 200 in the first working segment 1, and the tail image collecting mechanism 300. The tail part of the traction mechanism 100 is directly connected with one end of the supporting mechanism 200 of the first working section 1, and the supporting mechanism 200 can be supported on the inner wall of the pipeline and move in the pipeline under the traction of the traction mechanism 100. The tail image acquisition mechanism 300 is connected to the end of the supporting mechanism 200 of the first working section 1 far away from the traction mechanism 100, and can continuously shoot and transmit images containing light spots to the outside. The light spot is presented by an external laser on the tail image acquisition mechanism 300.
As shown in fig. 10, the trailing image capturing mechanism 300 includes a first stand 350, a display panel 320, a first photographing device 310, and a first transmission module 340. One end of the first bracket 350 is connected to the end of the supporting mechanism 200 far away from the traction mechanism 100, and the other end of the first bracket 350 is provided with a display panel 320, and the display panel 320 is used for displaying a light spot by an external laser. As shown in fig. 12, the external laser generator 600 irradiates the deep hole and irradiates the display panel 320, thereby displaying a light spot on the display panel 320.
The first photographing device 310 is connected to the first stand 350, and the first photographing device 310 is disposed toward the display panel 320 to continuously photograph the display panel 320 exhibiting the light spot. Taking the orientation shown in fig. 10 and 12 as an example, the external laser generator 600 is located on the left side of the display panel 320, the first photographing device 310 is located on the right side of the display panel 320 and is disposed toward the left side, and a light spot of the laser light on the display panel 320 can be photographed by the first photographing device 310 located on the right side of the display panel 320. Specifically, the first photographing device 310 includes a camera.
The first transmission module 340 is mounted on the first bracket 350, and the first transmission module 340 is electrically connected to the first photographing device 310, and can transmit the image photographed by the first photographing device 310 to the outside. When the tail image capturing mechanism 300 is in operation, the first photographing device 310 transmits the photographed image to the first transmission module 340, and the first transmission module 340 transmits the image to the outside. Specifically, the external world of deep hole has the receiving arrangement of image, is provided with wireless module such as bluetooth module, WIFI module or zigBee module in the first transmission module 340, and then can be connected with external receiving arrangement through wireless communication methods such as bluetooth, WIFI or zigBee.
With continued reference to fig. 10, the caudal image capturing mechanism 300 further comprises a first stabilizer 330, the first stabilizer 330 is mounted on the first bracket 350, and the first photographing device 310 is connected to the first stabilizer 330. The pipeline measuring device may vibrate during the movement process, which may cause the first photographing device 310 to shake, thereby affecting the position of the light spot in the photographed image, and causing a large error in the measurement result. First stabilising arrangement 330 has the stabilization, and when this pipeline measurement device produced the vibration, first stabilising arrangement 330 can keep first device 310 of shooing stable and do not take place to rock or less rocking, has reduced the influence of vibration to the light spot position in the image of shooing, and then guarantees that measuring result is more accurate. Specifically, the first stabilizing device 330 includes a pan and tilt head.
As shown in fig. 3 and 11, the middle image capturing mechanism 500 includes a second stand 540, a second photographing device 510, and a second transmission module 530. One end of the second bracket 540 is connected to the end of the supporting mechanism 200 of the second working segment 2 close to the first working segment 1, and the other end of the second bracket 540 is flexibly connected to the end of the supporting mechanism 200 of the first working segment 1 close to the second working segment 2. As shown in fig. 1, the second photographing device 510 is coupled to the second stand 540, and the second photographing device 510 is disposed toward the light spot generator 400 to photograph the light spot generator 400. The light spot generator 400 generates a light spot, and the second photographing device 510 can continuously photograph the light spot generator 400 to deduce the direction of the deep hole according to the position change of the light spot in the image. Wherein the light point generator 400 includes a light emitting diode, and the second photographing device 510 includes a camera.
The second transmission module 530 is mounted on the second support 540, and the second transmission module 530 is electrically connected to the second photographing device 510 and can transmit the image photographed by the second photographing device 510 to the outside. When the middle image capturing mechanism 500 is in operation, the second photographing device 510 transmits the photographed image to the second transmission module 530, and the second transmission module 530 transmits the image to the outside. Specifically, wireless modules such as a bluetooth module, a WIFI module or a ZigBee module are arranged in the second transmission module 530, and then the second transmission module can be connected with an external receiving device through wireless communication modes such as bluetooth, WIFI or ZigBee.
With continued reference to fig. 11, the central image capturing mechanism 500 further includes a second stabilizing device, the second stabilizing device is mounted on the second bracket 540, and the second photographing device 510 is connected to the second stabilizing device. The second stabilizing device has a stabilizing effect, and when the pipeline measuring device vibrates, the second stabilizing device can keep the second photographing device 510 stable without shaking or shaking less, so that the influence of vibration on the position of a light point in a photographed image is reduced, and a measuring result is more accurate. In particular, the second stabilizing device comprises a head.
As shown in fig. 1, the pipeline measuring device according to the embodiment of the present invention further includes a connecting wire, and if the pipeline measuring device has both the first working section 1 and the second working section 2, both ends of the connecting wire are respectively connected to an end of the supporting mechanism 200 of the second working section 2 facing the first working section 1, and an end of the supporting mechanism 200 of the first working section 1 facing away from the traction mechanism 100. The soft connection between first working segment 1 and second working segment 2 has been realized to the connecting wire rope, makes the direction of motion of first working segment 1 different with the direction of motion of second working segment 2, and then guarantees first working segment 1 and second working segment 2 continuous movement in the nonlinear line deep hole.
In addition, the traction mechanism 100 and the first working segment 1 may be connected by a connection wire rope, specifically, two ends of the connection wire rope are respectively connected to the tail portion of the traction mechanism 100 and the end portion of the support mechanism 200 of the first working segment 1 facing the traction mechanism 100. Of course, the traction mechanism 100 and the first working segment 1 may be fixedly connected, for example, by a fastener.
If the pipeline measuring device provided by the embodiment of the present invention does not have the first working section 1, both ends of the connecting wire rope are respectively connected to the traction mechanism 100 and the supporting mechanism 200 of the second working section 2.
As shown in fig. 4, the support mechanism 200 includes an elastic member 210 and a plurality of supporters 220. The plurality of supporting members 220 are annularly arrayed on the periphery of the elastic member 210 and are all connected to the elastic member 210, and the elastic member 210 applies an elastic force in an outward expanding direction to the plurality of supporting members 220, so that the plurality of supporting members 220 can be supported on the inner wall of the pipeline under the action of the elastic member 210.
Specifically, the side of the supporting member 220 facing away from the elastic component 210 is provided with a soft cushion layer 221, which can prevent the supporting member 220 from scratching the inner wall of the deep hole. The soft pad 221 may be made of polyvinyl chloride, rubber, or the like.
Referring to fig. 4 and 5 together, the elastic member 210 includes a guide 211, an elastic member 213, two sliders 212, and a plurality of links 218. Two sliders 212 are spaced apart, and both sliders 212 are slidably coupled to guide 211. Each of the supporters 220 is connected to each of the sliders 212 by at least one connector 218, and both ends of the connector 218 are respectively hinged to the sliders 212 and the supporters 220.
Both ends of the elastic member 213 are respectively connected to the two sliders 212, and when the plurality of supporting members 220 are gathered inward, the two sliders 212 slide along the guide rods 211 in a direction approaching or separating from each other, so that the elastic member 213 is compressed or stretched. Specifically, in the elastic assembly 210 shown in fig. 4, when the supporting members 220 are gathered inward, the two sliders 212 move in a direction approaching each other along the guide rod 211, the elastic member 213 is compressed, the elastic member 213 applies an elastic force to the two sliders 212 in a direction away from each other, and the elastic force is transmitted to the supporting members 220 through the connecting member 218, so that the supporting members 220 can be supported on the inner wall of the deep hole. Of course, when the supporting members 220 are gathered inward, the two sliding blocks 212 may also move in the direction away from each other along the guide rod 211, the elastic member 213 is stretched, the elastic member 213 applies an elastic force to the two sliding blocks 212 in the direction of approaching each other, and the elastic force is transmitted to the supporting members 220 through the connecting member 218, so that the supporting members 220 can be supported on the inner wall of the deep hole.
Referring to fig. 5 and 6, the support mechanism 200 further includes a positioning block 214 and a plurality of elastic rods 215. The positioning block 214 is disposed between the two sliders 212, and the positioning block 214 is fixedly connected to the guide rod 211. When the plurality of supporters 220 are gathered inward or expanded outward, the two sliders 212 slide along the guide rods 211, but the position of the positioning block 214 remains fixed. The elastic rods 215 are mounted on the positioning block 214 and are in one-to-one corresponding contact with the supporting members 220. When the plurality of supports 220 are gathered inwardly, the resilient rods 215 are compressed. Each of the elastic bars 215 applies an elastic force to the corresponding supporter 220, moving the plurality of supporters 220 in a direction of expanding outward.
As shown in fig. 7 and 8, the elastic member 213 includes a slide bar 2131, a fixing portion 2132, and a spring 2133. The two fixing portions 2132 are connected to the two sliders 212, respectively. The two ends of the slide rod 2131 extend into the two fixing portions 2132, respectively, so that the fixing portions 2132 can slide along the slide rod 2131, and the movement of the two fixing portions 2132 is guided. The spring 2133 is sleeved on the sliding rod 2131, and two ends of the spring 2133 are respectively connected with the two fixing parts 2132. When the two sliders 212 move in a direction to approach each other, the two fixing portions 2132 are driven to slide along the sliding rod 2131, so that the spring 2133 is compressed, and the spring 2133 applies elastic force to the two sliders 212 in a direction to move away from each other.
The spring 2133 shown in fig. 7 has two broken portions, each of which is connected to a corresponding fixing portion 2132, and the two broken portions of the spring 2133 are respectively pressed against both side surfaces of the fixing portion 2132. When the support mechanism 200 does not include the positioning block 214, the spring 2133 may be integral.
As shown in fig. 9, the elastic assembly 210 further includes two sleeves 2134, and the two sleeves 2134 are respectively installed in the two fixed portions 2132 and slidably sleeved on the sliding rod 2131.
As shown in FIG. 5, the elastic assembly 210 further includes a plurality of sliding sleeves 216, and the sliding sleeves 216 are disposed between the sliding blocks 212 and the guide rods 211.
After the pipeline measuring device provided by the embodiment of the invention obtains a plurality of continuously shot pictures, the method for calculating the offset of the deep hole is as follows.
Setting variables and determining the boundary range of the reference point, wherein the variables are as follows: x temporary variable X =0; y temporary variable Y =0; left boundary L _ max1=640; right boundary R _ max1=0; upper boundary U _ max1=0; lower bound D _ max1=480; the picture pixel RGB value bim _ data [3].
The starting point of the picture polling skips the frame header information, and the starting position of the polling is set as datemore =54.
Opening a picture in a binary file may use the following code:
open (strPath _ bmp, CFile:: typeBinary | CFile:: modeRead); then, polling pixels of the picture, reading red, yellow, blue, RGB values of three bytes each time, and the code is as follows:
through the polling comparison, the maximum range value of the pixel point meeting the conditions can be found out: l _ max1, R _ max1, U _ max1, D _ max1.
After the polling is finished, the picture file is closed, and the following codes can be adopted: close ();
judging whether the picture is the first picture to be shot or not, and if so, calculating the center coordinates of the pixel reference points; if the judgment result is negative, calculating the center coordinate of the light spot; examples of implementation code are as follows:
if(is_point＝＝1)
whether the condition of switching the tail image acquisition mechanism 300 to the middle image acquisition mechanism 500 is satisfied is judged, and implementation codes are as follows:
calculating the pixel point deviation of the light spot: px6= px1-px _ l; py6= py1-py _ l.
Judging whether the allowable error is met, and implementing codes are as follows:
then, the absolute deviation calculation of the tail image acquisition mechanism 300 is performed, and the implementation codes are as follows:
where px3 and py3 are absolute deviations.
The relative deviation of the middle image acquisition mechanism 500 is calculated and accumulated with the absolute deviation of the tail image acquisition mechanism 300, and the implementation codes are as follows:
the final px3 and py3 are used as the final offset values.
The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure.
Claims (10)
1. A pipeline measuring device is characterized by comprising a traction mechanism, a first working section and a second working section;
the first working section comprises a supporting mechanism and a light spot generator; one end of the supporting mechanism of the first working section is connected with the tail part of the traction mechanism, and the other end of the supporting mechanism of the first working section is provided with the light spot generator;
the second working section comprises a middle image acquisition mechanism, a tail image acquisition mechanism and the supporting mechanism; the middle image acquisition mechanism is installed at one end of the supporting mechanism of the second working section and is in flexible connection with the end part, far away from the traction mechanism, of the supporting mechanism of the first working section; the other end of the supporting mechanism of the second working section is provided with the tail image acquisition mechanism;
the middle image acquisition mechanism can continuously shoot the light spot generator and transmit shot images to the outside; the tail image acquisition mechanism can continuously shoot and transmit images containing light spots to the outside, and the light spots are displayed on the tail image acquisition mechanism by outside laser;
the laser generator is arranged outside the deep hole, the laser generator irradiates the pipeline and presents light spots on the tail image acquisition mechanism, the tail image acquisition mechanism continuously shoots and transmits images containing the light spots to the outside, and after the outside receives a plurality of continuously shot images, the absolute deviation obtained by the tail image acquisition mechanism can be obtained, so that the trend of the deep hole can be deduced;
when the irradiation direction of the deep hole and the laser is too large, external laser cannot irradiate the tail image acquisition mechanism, or the position of the light spot exceeds the boundary of the shot image, or the distance between the position of the light spot and the reference point exceeds a preset value, the middle image acquisition mechanism starts to work, the light spot generator is continuously shot, the shot image is transmitted to the outside, the actual deviation value of the measuring device of the pipeline machine can be obtained through the absolute deviation obtained by the tail image acquisition mechanism and the relative accumulated deviation of the middle image acquisition mechanism, and the trend of the deep hole is deduced.
2. The pipeline measuring device of claim 1, wherein the tail image acquisition mechanism comprises a first bracket, a display panel, a first photographing device and a first transmission module;
one end of the first support is connected to the end part, far away from the traction mechanism, of the supporting mechanism, the other end of the first support is provided with the display board, and the display board is used for displaying light spots for external laser;
the first photographing device is connected to the first support and is arranged to face the display panel to continuously photograph the display panel presenting light spots;
the first transmission module is installed on the first support and electrically connected with the first photographing device, and can transmit the image photographed by the first photographing device to the outside.
3. The pipe measuring device of claim 2, wherein the tail image capturing mechanism further comprises a first stabilizing device, the first stabilizing device is mounted to the first bracket, and the first camera is connected to the first stabilizing device.
4. The pipeline measuring device of claim 1, wherein the middle image capturing mechanism comprises a second bracket, a second photographing device and a second transmission module;
one end of the second bracket is connected to the end part, close to the first working section, of the supporting mechanism of the second working section, and the other end of the second bracket is connected with the end part, close to the second working section, of the supporting mechanism of the first working section;
the second photographing device is connected to the second bracket and is arranged to face the light spot generator so as to photograph the light spot generator;
the second transmission module is installed on the second support, is electrically connected with the second photographing device, and can transmit the image photographed by the second photographing device to the outside.
5. The pipe measuring device of claim 4, wherein the middle image capturing mechanism further comprises a second stabilizing device, the second stabilizing device is mounted to the second bracket, and the second camera is connected to the second stabilizing device.
6. The pipe measuring device of claim 1, further comprising a connecting wire rope, wherein two ends of the connecting wire rope are respectively connected to an end of the supporting mechanism of the second working section facing the first working section, and an end of the supporting mechanism of the first working section far away from the traction mechanism.
7. The pipe measuring device of claim 1, wherein the support mechanism comprises a plurality of supports and a resilient assembly;
the supporting pieces are annularly arrayed on the periphery of the elastic assembly, are connected with the elastic assembly and can be supported on the inner wall of the pipeline under the action of the elastic assembly.
8. The pipe measuring device of claim 7, wherein the spring assembly comprises a guide rod, a spring, two sliders, and a plurality of connectors;
the two sliding blocks are arranged at intervals and are connected to the guide rod in a sliding manner;
each supporting piece is connected with each sliding block through at least one connecting piece, and two ends of each connecting piece are hinged to the sliding block and the supporting piece respectively;
two ends of the elastic part are respectively connected with the two sliding blocks, and when the supporting parts are gathered inwards, the two sliding blocks slide along the guide rod in the direction of approaching to each other or separating from each other, so that the elastic part is compressed or stretched.
9. The pipe measuring device of claim 8, wherein said elastic member comprises a sliding rod, a fixed portion and a spring;
the two fixing parts are respectively connected with the two sliding blocks;
two ends of the sliding rod respectively extend into the two fixing parts so that the fixing parts can slide along the sliding rod;
the spring is sleeved on the sliding rod, and two ends of the spring are connected to the two fixing portions respectively.
10. The pipe measuring apparatus of claim 8, wherein the support mechanism further comprises a positioning block
And a plurality of resilient rods;
the positioning block is arranged between the two sliding blocks and is fixedly connected with the guide rod;
the elastic rods are arranged on the positioning blocks and are respectively abutted with the supporting pieces in a one-to-one correspondence manner; the resilient bars are compressed when the plurality of struts are gathered inwardly.
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