Relative Pose Detection of Pipe Interfaces Based on Point Laser Ranging Sensors

Abstract

For solving the problem of low efficiency and poor accuracy of adjacent pipe interface alignment when laying large-bore pipelines, a method of relative pose detection of adjacent pipe interfaces based on the point laser ranging sensors was proposed. The method adopts the data from point laser ranging sensors to fit an ellipse of the pipe to be aligned and compare the ellipse with the cross-sectional circle to obtain the relative pose of two adjacent pipe interfaces. The analytical model of the relative pose between the ellipse axis of the pipe to be measured and the cross-sectional circle axis was constructed, and a pipe interface relative pose detection device was designed and built. Finally, an experiment of measuring the angle between axis vectors of two pipes was designed to verify the accuracy and robustness of the proposed method. The experimental results indicated that the measurement error of the angle between axis vectors of two pipes is 0.3°, which can meet the requirements of the standard of large pipe interface alignment operation.