US 2014016841441 us United States cz) Patent Application Publication — co) Pub. No.: US 2014/0168414 Al oy oy ~ ow ey 6) Brumovsky et al. (4s) Pub, Dat Jun. 19, 2014 (AR); Nicokis Bonadeo, Buenos Aires on ABSTRACT Signe TENA connncTIONS Se LIMITED, Kingstown (VC) ‘being spaced-apart along an axis, and acquiring a sequence of Appl. No: 13/720,347 ‘axis. The method further includes, for each image, determin- the lines, ealeulating deviation between the extrema of a Int. € second plurality ofthe lines andthe reference line, and dete Gosr 7700 (2005.01) ‘mining information about he shape of the object hase onthe HOsN 718 (2006.01) calculated deviations 100 Die Height driven regulation Electric processing module 150US 2014/0168414 AI Patent Application Publication Jun, 19,2014 Sheet 1 of 10 1 1 1 1 1 1 1 1 1 1 1 1 ' ' or 1 ajnpow 1 |Bujsseocd oujoaig 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1Patent Application Publication Jun. 19, 2014 Sheet 2 0f10 US 2014/0168414 AI Calibration plane (Z=0) FIG. 3Patent Application Publication Jun, 19,2014 Sheet 3 of 10 US 2014/0168414 Al CAMERA Lines used to-26fain body téference Lines used to obtain a body reference 666: 2 145 HOOK END 3 HOOK END 2 HOOK END 1 551 =Patent Application Publication Jun, 19,2014 Sheet 4 of 10 US 2014/0168414 AI 2 PLAIN END * NO HOOK END + Ley 0 360 pat 10s 105 FIG. 6 PLAIN END * HOOK END a ve 360 ror angle Fic.7 “F 7 107 105 PLAIN END «PIPE END OVALITY angle 360 Tot Lyx angle N07) 105) UPSET END * HOOK END 180 360 rer FIG. 10 antePatent Application Publication Jun, 19,2014 Sheet Sof 10 US 2014/0168414 Al 1100. 1110. ¢ Illuminate an object with a plurality of lines of light, such that the lines are spaced-apart along an axis Acquire a sequence of images of the lines of light while rotating the object about the axis For each image, determine a location of an extremum for each of the lines of light Establish a reference line based on the location of the extrema for a first plurality of the lines Calculate a deviation between the extrema of a second plurality of the lines and the reference line Determine information about the shape of the object based on the calculated deviations FIG. 11US 2014/0168414 AI Jun. 19,2014 Sheet 6 of 10 Patent Application Publication 8bzl ovzl bbl zh xeu! SOUry (eyep s91Ue0 seul) ayy YM asdijjo ue Sumy) xew Saul] pi eb ‘Sls uojesedas 20uei9j01 Saul -g edeys sjoy seul adeys »9 soul) 219 Teuoxd US °8 SOU] O31EQ _ ueissne6 e Buniy pue edeys $10u seul] Bulsn uoNedo) aU yoeS 1 Bunj00)) Jayu89 seul) PUL oneal gezl (uonezedes eouaiojo1 souy ysurebe { GuNe|a1109 Aq) Soul yS4y B}e007 eeu! ezueulg | | vez 1unosByoeq ssouddn: unosByouq ssouddn: punosByoeq iS punosByoeq IS or Over vez, xeu! soul 199180 slow sau peIeG Ozer soBeu| auinboy eeUS 2014/0168414 AI Jun. 19,2014 Sheet 7 of 10 Patent Application Publication og eb ‘Old [soai6ap] a/6uy uoyejoy aqn, Ovz 08t ozb I I I WW} g"| - pue WO WLUG/ - ¢ pues YOOoH —e— wuwgo'z - pue Woy WLUSy - Z PUe YOO —¥— wuige'g - pue WOY WUD] - | pus Y0OoH —#— T ise- eyep spue yooy JueIayIG {u] uoyerep eouasaas Kpog 2VPatent Application Publication Jun. 19, 2014 Sheet 8 of 10 US 2014/0168414 AI & N 2 4s 3 8 o 3 3 s oN ~ ost So 2 = o _ | _ oO 8 R = 3 3 8 en g g R io s s aS S 8 3 8 3 8 & 2, 8e NN 7 D4 N (a)Patent Application Publication Jun, 19,2014 Sheet 9 of 10 US 2014/0168414 Al 14 | | T7580 fam Cosficient 1 1.2) }— Coefficient 2 | 00 Coefficient 3 = > Coefficient 4 £ Ll Coefficient 5 g o8 ' Coefficient 6 3 04 1 t e | | = | | 04 ¢ + — 02 : P i} | { Ls aC TRANCE TAT LTE Tube ID [n} a Body — Fourier analysis [ee 590 —\ fam Coefficient 7 TA i |e eso jen 0.48} T7600 {ZA Costcient 2 ot ~ 595-9 Coefficient 3 e035 |] SSS Coefficient 4 E 03 || Ea coefficient 5 g Coefficient 6 S 025 E od 0.15) oA 0.05} 0! Tr 8 9 1011 12 13 14 15 16 17 18 19 20 Tube ID [n] FIG. 16Patent Application Publication —_ Jun. 19, 2014 Sheet 10 of 10 US 2014/0168414 Al = Hook end data Fourier decomposition EA 14 [11 T ‘525] a t—- < = ite} 1800 : & i oe 3 08 [ 854 2 06|~ s 7 2 | 04 s 0.2) 2.45) 0 0 50 100 150 200 250 300 350 400 12 3 4 5 6 ‘Angle [degrees] Fourier coefficient [r] FIG. 17 FIG. 18 Eos Hook end data Fourier decomposition ss i sis - 2000 S02 + + gs 01 g 0 Bo J - S02 3 0.4 0.5, 0 0 50 100 150 200 250300 350 400 123 4 5 6 Angle [degrees] Fourier coefficient [n} FIG. 19 FIG. 20US 2014/0168414 AI STRAIGHTNESS MEASUREMENTS OF LINEAR STOCK MATERIAL BACKGROUND [0001] This specification relates to technologies used 10 measure straightness of linear stock material, eof pipe oF tube stock and round bar stock material. 0002] There are several ressons to keep the end pipe stmightness helo certain tolerance value. For many applic ‘ations suchas transport this is done to facilitate pipe ining ‘during pipe fabrication. For pipes that will be threaded, hav ing straightness deviations that are ouside ofthe prescribed tolerances can lead to threaded pipe ends that are aut of spec, which can result in discharge of at least portions of these Pipes. Mill operators ean condict visual inspections oF ‘man! measurements or both to determine whether staight- ress of portions of the lincar stack material being fabricated by a pipe mil falls within the prescribed tolerances. SUMMARY, [0003] |The technologies disclosed in this specification can Sisedto measure stighines of linar tock materia sng non-contact ove trangation, For example, the syste ttenigucsdeusbed inthis speviicaton canbe used ome sure straightness of pipe ends. For simpli examples of Hisar tock mater tue this pectin eer opp, however the disclosed systems andtechniquscan be neo tmeasrestightnss of other bjt nthe category of incr Stock material, sch sibs, ound ars, wie, and the ike [0004] Ingeneral. one innovative aspect ofthe subject t= terdeserbo inthis spesificaioncanbeenbodiedinmetods for datemining information about an abc. The methods inctndeilominaingan obec witha ora of ines of ght, the lines Beng space-pent along a axa, and seqirng & Seqence of images ofthe nes of light while rotating te ‘objet abot the ani. The methods ther ince, foreach imoge determining slsaton ofan exten foreach oft Ties of light Furthomore the meio inclode establishing ‘reference line based on the locaton ofthe extrema fora int ply of the fins, caleulsting deviation betwen the Exton ofa second pity’ of the fines andthe refrence Fine, and determining information about the shape of te object ved on the alte devistions 10005] "These and other embodiments may each optionally Snelude noe, one or mote ofthe following etre. I some implementations th objet ean bea pie. For example, te pinehasanowterdiameterot1Ommormere.Forinstance te fur diameter oth pipe can ein arangeof 10-500 mm. As Snoter example the pipe hss length of 108 mn oF moe Forinstanes the lngtho the pipe can be ns range 1-50 im. Avoter example, the pipe os tempers of 0p © Gti oe 700 depres Celsius we tenga seid [0006] In some implementations, the object can be illumi- hte by dractng Benn of Hight for he ines of Tight the fines of ightean be indent the objet slong dieeons tht ace non-normal fo sx. In some implementations, the mages ate suid every 20 ogres orlssofrmatcnofheabjctabout nea Insomme Implementations, The images re sequin fora complete totaton ofthe abject abot the ax In some implementa tons, when the objets pie, he infomation cin ince & tnessreafahoecendo he pie n some implementations then the objet is a cyindsical pipe, the information cu Jun. 19, 2014 include a measure ofa deformation in the shape ofthe pipe. In some implementations, the information can inlude informa- ‘ion abour a defect inthe object. [0007] In some implementations, locating the extrema ‘comprises mathematically fiting @ curve to each of the lines ‘and determining the location ofan extema ofthe fited curve, For example, the curve includes one of a parabola or an ellipse. In some implementations, determining the informa- tion ean include comparing, for different images, a deviation {orat least one ofthe lines of light. In some implementations, sdtermining the information ean include calculating a maxi- im difference between the deviations of diferent images orat least one ofthe lines of ight. In some implementations, elerminiag the information can include establishing the sdviation as a function of angular position of the objest and ‘determining contribution othe deviation for differen angu- Jar frequencies, [0008] In some implementations, the methods ean include, rior to woguiring the images, adjusting a position of te ines fn the object and adjusting a field of view over which the ‘mages are acquired. For example, adjusting the positon of the lines and adjusting the field of view inchudes varying 2 position ofthe object relative to alight source that provides the lines of Hight and a camera that aequires the images. Ia some implementations, tbe methods ean include further pro- cessing the object based on the information. For example, ‘when the object is pipe, the information ean include infor ‘mation abouta defect the pipe a or near an end of the pipe, eg, bending of the pipe. In some implementation, the fur thet processing can incinde removing the defect, eg. by cating the beat end of the pipe or correcting the bending. In ‘other implementations, the further processing can inelude threading the end ofthe pip. [0009] Another innovative aspect of the subject matter \escribed in this specification ean be embodied a system for {elermining information about the shape of aa object. The system includes a light source module comprising Tight source; a camera module comprising a camera; support fixture configured to postion the object relative tothe light source and the eameny; and an elect processing module in communication withthe camera, During operation ofthe system the sippor fixture rotates the object about an axis and the light source module illuminates the abject with a plurality of ines of light, such thatthe lines are spaced-apart along the axis, and the camera aequires a sequence of images of the lines of light while the suppor fixture rotates the objet about the axis. Further during the operation ofthe system the elee- ‘eonie processing module determines, for each image, aloea- sion oF an extremum for each ofthe lines of ight, and estab- Tishes a reference line based on the locaton i the ines oF the extrema for a frst plurality of the lines. Furthermore daring the operation ofthe system the electronic processing ‘edie calculates a deviation between the extra of a See= ‘ond plurality ofthe lies and the reference line, aad deter ‘mines information about the shape of the object based on the calculated deviations [0010] ‘These and other embodiments may each optionally include none, one or mote of the following Features In some ‘implementations, the ight source module ean inelude a dif fraction grating positioned between the light source and the suppor fixture Thediffetion grating isstractuted to diffact light from the ight source to provide the plurality of ines of Jight-In some implementations, the ight source can bea laser Tight source. In Some implementations, the camera moduleUS 2014/0168414 AI ‘can include a filter positioned between the camera and the support fixture. The filter is structured to transit light from the light source reflected from the object to the camer 10011] Another innovative aspect of the subject matter “desribed inthis speciticaon can be embodied a method for ‘manufacturing a pipe. The melliod includes providing pre~ processed pipe extending along a pipe axis, and illuminating the pre-processed pipe with « plurality of lines of light, dhe Tines being spaced-apart along the pipe axis. The method urther includes acquiring a sequence of images of thelines of light while rotating the pre-processed pipe about the pipe axis, and, for each image, determining a location of an extre- ‘mum for each of the lines of fight. Furthermore, the method jnchides determining information about the shape ofthe pre- processed pipe based on the extrema, and processing the pre-processed pipe bated on the information 10012} Particular embodiments of the subject-matter ‘described inthis specification ean be implemented s0 as 10 realize one of more ofthe following advantages. The tech- niques described in this specification use measurement points that are acquired concurentiy with reference points to obtain ‘information about pipe straightness. In addition, components ‘of the disclosed measurement systems (ea laser and 3 ‘camera) can be arranged to prevent relative movement thereo':Inthis manner, esults ofthe disclosed measurement ‘nologies may not be affected by pipe movement mis jgnment relative to the measurement system during the sirajhiness measurement. The lattercharacterstic makes the measurement system tsefil fo measurements [0013] Further, the disclosed measurements of pipe straightness can be perfommed more accurately, quiekly and safely than conventional manual measurements. Porinstance, strajghiness of elongated pipe surfaces can be measured using the disclosed technologies in situations where the tempent- ture ofthe pipe surfice would be to high for an operator to salely perform manual inspection. For instance afer a pipe amination operation, pipes can be transported to a storage location by means of an incline. In this manner, the pipes rotate while descending over the incline and, as sue, the rotating pipes are cooled by fresh ambient ai. The surface temperature ofthe pipe ends may be upto 600-700" C. during the foregoing rotation. In certain eases, the pipe external sutface may also be subject to high leveis of humidity. The disclosed technologies can be used to measure straightness of the pipes during this cooling operation. As such, the systems ‘and techniques described in this specification can reduce the time between pipe fabrication andthe time when information needed 1 feedback the straightening process is gathered {0014} Furthermore, the disclosed measurements ean be performed without having o perform a reference scanning of the sample prior tothe sample measurement. Adionally, resulls ofthe described meastirements can be independent oF the quality of supports and guides on which the pipes to be measured are supported. In ation, the robustness of the 2] canbe calculate Ioreschof M acquired frames. The total number of acquired. image frames can he M-3, 69,30, 60,90, sich that an image frame is sequired for angular inererients of 120°, 60", 40, 12,624" «respectively. For example, an image frame's acquired for each of 72 iterement uns of 5° over a fall ‘lation ofthe pipe surface 108 As atypical ategration dine Othe camerais below S ms the pipe need not best rest when an image frame fs ooquied. In this manner, the 72 image Framescanbe quired eg, ats ateof 30 frames per secon, 3n24 seconds witout stoping ration ofthe pipe {0039} "FIGS, 610 show graphs S80 that represen devia- tions AZ (fom a body reference Tine S65 of 2 iven Tine Pieced near the pipe end 107) ar fincion of rotation gle, for mulile shapes deformations of the pipe surface 115 near ihe pipe end 107. raph S80 includes number M of deviations A2G) of the pipe end 107, where js.» «5 M Each ofthe M deviations AZ) is measured ing the system 100, as described above in connection with FIGS. 45, and corresponds oan mageofthe laser ines 140 projected onthe Pipe sire 108 near the pipe end 197 as aquired by the Camera ofthe image acquisition module 120 when the sip por fixture 130 tates the pie surface 108 by an anlar Fbcrement AO-260"7M, For example, whet M60, the ang Jnrinerement 0-6". In sion othe graph S60, cach othe FIGS. 610 shows two views ofa pipe. ft view inthe xz plang, illustrates pipe end 107. second view, inthe 2-9 Piette tera surfice 108, [0040] FIG. 6 shows a pipe with a plain end that is straight (ee. the pipe surfce 108 as no hook end) In this example, the gral 480 shows thatthe deviation 87 measured gs @ {Metin of ation angle is substantially constant and has & value of substantially zero (within measurement precision Tw this case the hook end value associated with the pipe having the pin end is 2, [0041] FIG, 7 shows a pipe witha plain end that has a hook aad. this example the graph S80 shows that the deviation ‘87 measured as fonction of rotation angle swings fom topative deviation vals to postive deviation valves and tacktothe negative deviation vals a the Tine projection theportion ofthe pipe surface 108 carte pipe ead 107 sat below the body reference line S€5, rise above ft, and drop bck below te body reference ine S6S during fil tation othe pipe, The hook end vate associated with the pipe having the plained cane cated by the cect pro- cessing module 150 as the range of measured deviations MM {0043} FG. 8showsa pipe forwhichthe portion ofthe pipe surface 108 ajaceat to the pipe en 107i plain (ex, tis processed) and hasan o¥al profile. In this example, the Fh SADshows that the deviation A? mensureda futon of rotation angle swings from positive deviation values to fegative deviation valves and back to the positive deviation ‘als twice, asthe lines projected onthe potion of he pipe Surface 105 near the pipe end 107 drop below a then se hove the body reference tne $65, couple of ims daring 3 {ull ation ofthe pipe. hook end vale cannot be defined in this cae, bowever a measur ofthe ovat ofthe pipe Slrface 108 near the pipe end 107 canbe ealclated by theUS 2014/0168414 AI ‘electronic processing module 150 as the rue of measured ‘devitions? AZ AZ yy, Aditional measures forthe ovalty ‘of the pipe surface 107 can be calculated by the electronic processing module 180 vsing a Fourier analysis ofthe graph 580, as described below in connection with FIGS, 19-20. 10043] FIG. 9 shows pipe forwhich the poriono he pipe surface 105 adjacent tothe pipe end 107 is upset (eit is heated and, therefore, diated) and stesight (et. it ss n0 hhook end.) In general, upsetting is a forging process that makes fora thicker wall on the pipe ends compared to the mid-portion of the pipe. The pipe ends are hested to a near liquid state, Each of of the heated end is then placed in an upsetter machine and held in a clamp. The machine is ‘engaged and it strikes the end ofthe tube with a force that ‘eases the metal to flow backwards a few inches. Ia this ‘example, the graph $80 shows thatthe deviation AZ measured, as a Tunetion of rotation angle is substantially constant (ithin measurement provision) and has a finite, non-zero value. Inthisease, the hook end value associated withthe pipe having the upsct end i ze, 10043] FIG. 10 shows a pipe for which the portion of the Pipe surface 108 adjacent othe pipe end 107 is upset (eit Js heated and, therefore dilated) and has a hook end. In this ‘example, the graph $80 shows that the deviation AZ measured ‘8. fintion of rotation angle swings from a frst deviation ‘value toa second deviation vale andl back to the fist dev tion value, as the lines projected on the portion of the pipe surface 108 near the pipe end 107 start ata fit distance (positive or negative) from the body reference line $68, move to a second distance from it, and return back to the fist ‘distance from the body reference line $68 during a fll roa tion ofthe pipe. The hook end value associated with the pipe having the upset end can be ealculated by the electronic processing mode 150 a the range of measured deviations: AZo AZ [0045] Kt showld be noted that when the system 100 described above in this specification in comncetion with FIGS. 1-3 undergoes after calibration, modifications of cam- ‘ra and laser heights of +/=20 mm (2 and 1.) with respect to the plane of calibration, the variations inthe measured hook ‘end remain lower than | pm. In addition, ange variations of +/=1° forte lar and camera angles, «and, or variations ‘of +/-20 mm of te distance between the laser a camera, Di. can eause variations in the measured hook end that are below 60 pum [0046] FIG. 11 is a flow chart of an example of a process 1100 used to measure straightness of on abject, eg. of linear sock materials. The messurement process 1100 can be Jmplemented, for example, using the system 100 deseribed bow in this specification in connection with FIGS. 1-3 [0047] Ac 1110, an objects illuminated with a plurality of Tines of Hight, suc that te lines are spaced-apart alonganaxis ‘of the object. In some implementations, the object can be 3 pipe, a tube, a rod, a wite, or other linear stock material la ome cases, te pipeeaa have an outer diameter of 10 mm oF ‘more, and a Tength of. mor more. For example, the length ‘ofthe pipe can be ina range from 0.1 m to about SO meters. La some implementations, the object can be illuminated by i= {acting & beam of light to form the lines of Tight. Moreover, thelinesoflightean beineident onthe objectalong directions that are son-nonmal to axis [0048] Ac 1120, asequence ofimageso the lines of ightis soquired while rotating the object about the axis. In some Implementations, the object (e:2, the pipe) can have a Jun. 19, 2014 perature of upto 600-700° while the images are acquired. The mages can be acquired every 20 degrees or less of rotation of the object about the axis. Also, the images are aoquged fora complete rotation ofthe objet about The axis a some imple- ‘mentations, a set up procedure can bo used prio to acquiring the images. Such set up procedure can include adjusting @ position ofthe Tineson the objet and adjusting afield of view ‘over which the images are acquired. Moreover, adjusting the position of the lines and adjusting the field of view can Include varying a position of the object elative © alight source that provides the lines of fight and a camera that fsoquies the images 0049] At1140, foreach imaye a location ofan extrem fs determined for cach of the lines of light. In some imple- tions, the extema eaa be located by mathematially sgacureto ich of the lines and determining the location ‘ofan extrema ofthe fited curve, For example, theft eurve fan include ane ofa parabola oran ellipse. [0050] At 1150, a reference lines established based on the locaton of the extrema fora frst plurality of the lines. For ‘example, the frst plurality of lines ean be located at 50 em rom a nearest end ofthe objet as measured slong the axis. [0051] At 1160, deviation between an extremum of each ‘of a second plurality of the lines and the reference lin is calculated, The second plunity of lines is located betwocn the location of the frst plurality of lines and the end of the ‘object nearest tothe frst plurality of lines. As the reference Tineisestablishod at 1150 foreach ofthe acquired images, the viata caleulated at 1160 fora given image corresponds to the straightness of the object for an associated rotation angle at which the given image was acquired. Accordingly the straightness measurements performed using the process 1100 canbe immune fo roll misalignment or movement ofthe pipe surface 108 relative tothe light source and thecamera because the combination of operations at 1180 and 1160 are per formed image by imoge. In this manner, the process 110 can be used to measure straightness of 100% ofthe pipe ends ia mill eyele time, [0052] \.1170, information about the shape the objectis {determined based onthe ealeated deviations. If the object is pipe theinformationcanincludea measureof a hook end of the pipe, ax described inthis specification in connection With FIGS. 4, 5, 7, 10, 17 and 18. In some implementations, the information can inclide information about a defect in th object, as described below in connection with FIG, 14, some ‘implementations, determining. the information can include comparing, for different images, a deviation for at Teastone ofthe lines of light as described inthis specification in connection with FIGS, 4 and 8. Tn other implementations, ‘determining the information ean include ealeuating a ma ‘mum difference berween the deviations of diferent images for af least one of the lines of light, as described inthis specification in connection with FIGS. 7, 1and 13. In some other implementations, determining. the information can include establishing the deviation ss a function of angular position of the object and determining a contribution to the Seviation for different angular frequencies, as doseribod in this specification in connection with FIGS. 6-10, 17 and 18, [0083] In some implementations, the object can be further racessed hased on the information determined at 1170. For ‘nstane, when the object i «pipe and the information doter- ‘mined at 1170 indicates that no defect is preset at or near an tend of the pipe, the next pipe fabrication operation can include threading the end of the pipe, However, incase theUS 2014/0168414 AI information determined st 1170 inches indication about a defet at orncaran cao te pipe, then te pipecan be routed to an addons operation of removing the dfest pice to threading the endo the pipe. [00S4) The strsightnessmcasarmens performed by using the process 1100 can be operator independent. In ation resus fhe straightness meoarorements perfrracd sng the process 1100 can provide extra process variables hat may be {soil for controling pipe fabrication process. Porastance, ie objet elindrical pipe, the information determined ‘a 1170 can include a measire ofa change in an ovat of & ‘ros-stetion ofthe pipe end with respoet fo reference ‘ront-retin, as desetied inthis specification in connection ‘with FIGS, 8 19 and 20 [0S8] FG, 12 sa fow char of an example of « process 1200 usd o detec the maxim ofthe lines projccteon the object For example te process 1200.can be plemented in ‘conjuction ith the process 1100, using the system 100 ‘described shove in tis speciation in comestion With FIGS. 1-3 For instance, the procese 1200 can be performed by the electronic processing module 180 of system 100. As scribed above inexamplesillstated in FIGS. 610,a book ‘end measurement can ince M image acquisitions 10086} 4.1220, Mof images canbe aequzed as the objext js rotated around a longitudinal axis, for example, These image aquisitions can correspond to operations performedt 1120 par of the process 1100. An example ofan aegtied image i shown in panel (a of FIG, 2 10087} 41236, first ofthe M aeqized images is used 10 determine separations between lines depicted in the fist ‘mage, and to obi shapes the Fines inthe firstimage. The ‘operations performed a 1280 ince: 10088} "AC 1232, a background of the frst image is sup- pressed to increase contrast ofthe ist image. An example of fa image for which the background hos boca suppreste is shown in pans (6) of FIG. 2. At 128, to fist imoge is binarized to separate regions ofthe image that poeatially ‘contain the curves from the image background. An example ‘of a binarized image i shown in panel (6) of FIG. 2 an in Panel) oF FIG. 14 At 1236, blobs processing x applic to the binerzed fist image to separate the ines depicted inthe frst image from oise,e-, bh pines in he image that sre not pat of the Fines. At 1288, the lines depicted ia the pro- ‘cessed fst image aro identifi. In this manner reference Separation forthe identified ines canbe determined asa lines reference speration anda shapeot a region of interest RO] forthe identified ins ean be obs sa Hines ROT shape 10089} In case the quality ofthe fist sequired image pre- ‘ens deternining the lines reference separation and wba. Inthe ins ROT shape, the operations performedat 1230 ean herepeated fora second one the M acqueedesoges, and so 10060) 1240, tc tines reference sepuraton andthe Lines ROL shape generate at 1230 ae used determine line sasima for he lines depict in cach image from among the M1 remaining ones othe M acquired images, as described above in connection with FIG. 2. Ia some inyplementations, the operations performed! at 1240 are performed oa all M cued imagen the ist mse (process at 1230) can be reprocessed at 1240. The operations performed at 1240, for cach image, inlade: {0061} 41242, abockarund ofteimage'ssuppeessedto ‘ncreateconimst ofthe image AL 1244, locations othe lines ‘depicted in the image are detected by correlating asst the Jun. 19, 2014 ines reference separation determined at 1230. At 1246, cen- tereol the lines depicted inthe image are found by correlating ‘Gaussian profile, at each ofthe deveted Tine locations, and Tllowing the lines ROT shape, for example. AU1248, maxi- ‘mumsof the ines depicted the image are found by iting an ellipse data coresponding to the line centers, [0062] FIG. 13 shows examples of messurement results ‘oblained using the process 1100 in conjunction with process 1200, Inthe example llastrated in FIG. 4, a pipe surface 10S is tated shout a longitudinal axis (ee, the axis). The outer ameter ofthe pipes 89 mm. During te rotation, Mimages ‘ofN-I5 lies 140 projected on 2450 mm long portion ofthe pipe surface 108 adjacent tothe pipe end 107 are acquired. For instance, M-60 images are acquired fora complete revo- lution of the pipe surface 108, one image being acquired per ‘angular inerement. At each angular incremental, devistion ‘AZ; of a selected line 141 adjacent to the pipe end 107 with respoe tothe ited curve S65 ofthe last eight lines 14S nthe pipe surface 105 is obtained. Graphs SBL, S42 and S83 cor respondto AZ,,4Z,and 4Z, deviations measured forthe fst three lines, respectively, projected 10m, 45 mm and 75 mm trom the pipe end 107, The deviations AZ,, AZ, and AZ, are represented on the vertical-axis ofthe graphs 881, $82 and £583. Facl AZ deviation (ew, data point of praphs S81, $82 And 583) is measured when the pipe surface 108i rotated by ‘an incremental angle of 40-6°, inthis example, The rotation fngles of the pipe comesponding the measured deviations ‘821, AZ2 and 423 are represented on the borizontalaxis of the graphs $81, $82 and 883. The hook end value is computed. by the electronic processing module 150 foreach ofthe frst three lines, as a difference between max andl min AZ. devia- sions (calelatetasexplsinedabove in connection with FIGS. 77 and 10) fora revolution of the pipe. 0063} Inaduition, measurement results obtained by using the process 1100 in conjunction with dae process 1200 can be ‘wed to generate more shape-relted information in addition to the book end value [0064] For example, as. part of upsetting sn end of pipe, ‘wo lateral fins (calle press fins) can be generated near the pipe end. These fins can beremoved using grinding process, butusually some indentations remainand have tbe excluded from the measurement ofthe shape of the pipe end. FIG. 14 shows tat the process 1100, in conjunction withthe process 1200, naturally filters out the surface deformation corre- sponding tothe press fins. In this example, the outer diameter ofthe pipe has an outer diameter of 89 mm. A curve 442 (shown in pane! (6) corresponding oan image 242 ofa laser Tine projected over press fin (shown in panel (a) is fitted using a iting curve $42 (shovn in panel (€), The portion of the laser Hine iniagd in panel (a) spans 250 pixels in the ‘ransverse direction-x ofthe pipe and hasa rise of 5 pixels in the other transverse direction, Inset panel (@) shows view of the fing curve $42 (dashed line) that is ted to fit the curve 442 corresponding to the laser ine image 242. The press fin dofommations of the pipe surface are recessed relative to the circular cross-section ofthe pipe by Approximately 25 pixels, as showin in the inset pane! (in ‘contrast wth the disclosed measurement techniques 100d 1200, an operator generally discards (based on a subjective decision) # deflection result obtained with @ mantal gage ‘measurement near the fins. [0065] As another example, a Fourier analysis of measure- ‘cnt results obtained using the process 1100 in conjunction ‘ith process 1200 can generate ditional information oftheUS 2014/0168414 AI pipe fabrication process. The results ofthe Fourier analysis ‘can be used to contol the pipe fabrication process, eg. 10 improve threading performance and quality of threaded pipes. The Fourier analysis is performed on displacement data measnred over a full rotation of the pipe, and results of the Fourier analysis are represented in. gruph $80, as described above in connection with FIGS. 6-10 and 13. 10066] FIGS. 15 and 16 show coefficients ofthe first six ‘modes obtsined as part of the Fourier analysis of stightnese measurements of fourteen pipes (Tube IDs from 7020.) The ‘outer diameter of the pipet i= about 89 mim, The modes ‘corresponding tothe results shown in graphs 1500 and 1600 ‘ean be atebuted to various aspects ofthe shape of an upset ‘end portion and a body portion ofthe pipe surface, respec tively. The upset end portion ofthe pipe surlace refers to 2 Jocally heated (and dilated), 200 mm-Tong first portion ofthe Pipe surface adjacent to a pipe end. The body portion of the Pipe surface refers to a 200 mm-long second portion of the pipe surface located 250 mm away from te first portion, such thatthe body portion is cooler than the upset end portion. For ‘example, a fist mode $90 corresponds to a deviation ofthe ‘central axis in the upset end pipe with respect to the body reference line, As another example, a second mode 895 cua ‘correspond to. difference between max and min diameter of the upset pipe end with respect tothe body reference line. The fact thatthe first and second modes 890, 898 are lamer on the upset end portion ofthe pipe (as shown in graph 1500) than the body portion ofthe pipe (a shown in graph 1600) can be attbuted to charaeteristies of the upseting process. Higher modes can refer to other characteristis ofthe pipe fabrication process [0067] | FIGS.17and 18 show results ofthe Fourier analysis Performed ona pipe surface that hasa hook end. The first six Fonrier modes of the 47 deviation S80 are represented in ‘araph 1800. FIGS. 19 and 20 show results of the Fourie analysis performedon another pipe surface that hasa pipeend witha transverse cross-section (inthe x plane) with an oval ‘shape. The first six Fourier modes of the AZ deviation 580 are represented in graph 2000, The outer diameter of the pipes is about 89 mm. These Fourier analysis results show thatthe First mode $90 isdominant fora pipe surface witha hook en, ‘a shown in the graph 1800, and that the second mode 595 is the largest mode fora pipe surfce with oval transverse eross- section, as shown in the graph 2000, 10068] | Moreover, thesystem 100 ean be used timplement the process 1100 ia conjunction with the process 1200 to manufacture a pipe (or & tube, a rod or ether Finest stock material.) The manufacturing of the pipeincludes providing a pre-processed pipe extending along. pipe axis, ad measure ing straightness of the pre-processed pipe, The siighiness measurement includes illuminating the pre-processed pipe witha plurality oflines of light, such that the lines are spaced- spar along the pipe axis, and aequiring a sequence of images ‘oF the Fines of light while rotating the pre-processed pipe about the pipe axis. Further, the straightness measurement includes, for each image, determining a location ofan extre- ‘mum for exch ofthe lines of light. Furthermore the staight- ress measurement includes determining information about the shape of the pre-processed pipe based on the extrema. Aer he straightness measurement, the manufacturing othe Pine continves by processing the pre-processed pipe based on the information. For example, ithe information determined fom the straightness meastrement indicates hat stmightness ‘ofa pipe end ofthe pre-processed pipe meets a tarpttoler- Jun. 19, 2014 ance, subsequent processing of the pipe end can inelude ‘threading the pipe cud. Axanotherexample, ifthe information ‘determined from the straightness measurement indicates hat Ssightness oF a pipe end of the pre-processed pipe fils to ‘meet the target tolerance, the presprocessed pipe can be red to repeat a lest some of the preprocessing stages of the pipe manufacturing, or the manufteturing of the pre- processed pipe can he halted t least temporary. [0069] In general, any ofthe analysis methods described above including determining information sbout the straight ‘essof linear stock mateial,ean beimplementedin computer bardware or software, or eombination of bth, For example, in someembodiments, the electronic processing module 180 «can be installed ina computer and connected to one or more suppor fixtures, light source modules 110, and image acq sition modules 120, and can becontigured to perform analysis ‘of images from the image soqusition modules 120. Analysis can be implemented in computer programs using standard prgramming techniques following the methods described Doerein. Program code is applied to input data (ew. 2y pixels of curves 240 representing images of laser lines 140 projected fon the pipe surlace 108) to perform the finetions described herein and generate output information (ez, stightness information). The output information is applied to one or ‘more output devies such asa display monitor. Pach program ‘may be implemented in a high level procedural or object ‘oriented programming language to communicate with com puter system. Howsever, the programs ean be implemented in assembly or machine language, if desired. In any case, the Janguage can be a compiled or interpreted language. More- cover, the program can run on dedicated integrated circuits preprogrammed for that purpose [0070] Fact such computer program is preferably stored on asforige medium or deviee(e,2, ROM or magnetic diskette) ‘eakable by a general or special purpose programmable com- puter, for configuring and operating the computer when the Storage media or device i read by the computer to perform the procedures deseribed herein. Thecomputer program ean aso reside in cache or main memory diring program execution ‘The analysis methods can also be implemented as 8 com- puter-readable storage medium, configured with & computer program, where the storage medium so configured causes ‘computer t operate in a specific and predefined manner 10 perfoem the functions deseribed herein [0071] While this specification contains many spevitic implementation details, these should not beconstruedas li tations on the scope of any inventions or of what may be claimed. but miter as descriptions of features specific to particular emboxtiments of particular inventions. Certain fea- tures that are deserited in this specication inthe context of separate embodiments ean aso be implemented in eombina- tion ina single embodimeat. Conversely, various features that are described in the context ofa single embodiment ean also be implemented in multiple embodiments separately orn ay suitable subcombination. Moreover, although features may bedescribedaboveas ating in certain combinations and even initially claimedas such, one or more features from a claimed ‘combination ean in some cases be exeised fom the com! ‘ation, and the claimed combination may be directed t0 8 subcombination or variation ofa subcombination, [0072] Similarly while operationsare depicted inthe draw ings ina panicular order, this should not be understood as ‘eqiring tht such opemstions be performed inthe particular coder shown or in sequential order, or that all illustratedUS 2014/0168414 AI ‘operations be performed, to achieve desirable resus. In cer- incircumstances, multitasking snd parallel processing may beadvantageous. Moreover, the separation of various system ‘componens i the embodiments described above should a0 be understood as requiring such separation in all emboxt- ments, adit shouldbe understood tat thedeseribed progam ‘components and systems ean generally be integrated together ina single software proctor packaged into multiple sole ‘ware products 10073] Thus. particular embodiments of the subject matter have been described. Othor embodiments are withinthe seope ‘of the following claims. In some cases, the actions recited in the claims ean be performed in a diferent order and stil ‘achieve desirable resus, In addition, the processes depicted Jn the aecompanying figures do not necessarily require the particular order shown, or Sequential order, to achieve desir able results, In certain implementations, moltitasking and parallel processing may be advantageous, ‘What is claimed is 1. method for determining information about an abject, the metho comprising illuminating an object with a plurality ofines of Hight, the Tines being spaced-apart along an axis quiring a sequence of images ofthe lines of light while ‘ating the object about the axis foreach image, determining s location ofan extremum for ‘ach of the lines of light establishing a reference Fine based on the location of the extrema for a first plurality ofthe ines; calculating a deviation between the extrema of a second plurality ofthe lines andthe reference Hine; and determining information about the shape of the object ‘aed on the ealeulated deviations 2. The method of claim 1, wherein the object is pipe. 3. The method of elim 2, wherein the pipe has an outer diameter ine range of 10-500 mm, ‘4. The method of claim 2, wherein the pipe has length in ‘a range oF 0.1-50 meters 8. The method of claim 2, wherein the pipehas a tempers ture of up to 700 degrees Celsius while the images are ‘sequired, 6. The method of claim 1, wherein the object silluminated by diffracting a heam of fight o form the lines of light. 7. The method of claim 1, wherein the lines of light are incident on the object along directions that are non-normal to ‘8. The method of claim 1, wherein the images are aequired ‘every 20 degrees of less of rotation of the object about the 9, The method of claim 1, wherein the images re aequired {ora complete ration of the object about the axis. 10. The methos of claim 1, wherein the abject isa pipe and the information comprises 8 measure of a hook end of the pipe. 11. The method of claim 1, wherein the object isa eylin- ical pipe and the information comprises a measure of & ‘deformation inthe shape of the pipe 12. The method of claim 1, wherein the information com prises information about a detec in the objec. 13. The method of claim 1, wherein locating the extrema ‘comprises mathematically fitting a curve teach ofthe Hines nd determining the location of an extrema ofthe fited curve. 14, The method of claim 13, wherein the curve comprises ‘one ofa parabola or an ellipse Jun. 19, 2014 15, The method oF claim 1, wherein deterasining the infor ‘mation comprises comparing, for dierent images, a devia- ‘ion for at Teast one of the lines of Tight 16. The method of claim 1, wherein determining the infor ‘mation comprises calculating a maximum difference between thedeviations of diferent images for ut least one ofthe lines of ight 17. The method of claim 1, wherein determining the infor ‘mation comprises establishing the deviation asa function of ‘angular postion of the object and determining» contribution to the deviation for diferent angular frequeocies. 18, The method of eluim 1, further comprising, prior vo scguiring the images, adjusting a postion of the lines on the cbjectand adjusting fed of view over which the images are acquired 19, Themethod of aim 18, wherein adjusting the position ofthe lines and adjusting the field of view comprises varying ‘aposition ofthe object eative oa light source that provides the lines of ight and a camera that acquires the images. 120, The method of claim 1, comprising further processing the object based on the information, 21. The method of claim 20, wherein the object isa pipe, the information comprises information abort a defect in the pipe at or near an end ofthe pipe, and the further processing comprises removing the defect or threading the end of the pipe 22. A system for determining information about the shape ‘ofan object, the system comprising: ‘light source module comprising li ‘a camera module comprising camera; ‘support fiture configured to position the object relative ‘to the light souree and the camera; and fn electronic processing module in communication with the camera, wherein, during operation of the sytem: the support fixture rotates the object about an axis, the light source module illuminates the object with» phi rally of Fines of igh, the lines being spaced-apart along theaxi the camera acquires @ sequence of images ofthe fines of Tight while the support fixture rotates The object about the axis, and the electronic processing module determines, for each image, a location ofan extremum foreach ofthe lines of Hight, ‘establishes a reference line based on the location in the images ofthe extrema foe first plurality ofthe Hines, calculates a deviation between the extrema of a second plurality ofthe lines and the reference line, and determines infomation about the shape of the object based on the calculated deviations 23. The system of claim 22, wherein the light source mod- ‘ule comprises a diffraction grating positioned between the light source and the support fixture, the difraction grating being strctured to dllfract fight from the light source t0 provide the plurality of lines of light 24. The system of claim 22, wherein the light source is 3 laser light source 25, The system of claim 22, wherein the camera module comprise iter positioned between the camera and the sup- port fixture, the fter being structured to transmit light from fhe light sure reflected from the object tothe camera. 126. A method for manfacturing a pipe, the method com- risingUS 2014/0168414 AI Jun. 19, 2014 srovidinga pre-rocessed pipeextending along pipeaxis: AMluainating the re-processex pipe with plurality of Hines of ight the lines being spaced-part along the pipe axis: acquiring a sequence of images of the lines of light while ‘ating the pre-processed pipe about te pipe axis; oreach image, determining location ofa extremum for ‘each of the lines o light: termining information about the shape of the pre-pro= cessed pipe base on the extrema; and processing the pre-processed pipe based om the informa tion