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This paper presents a non-contact automatic measurement system on geometry parameters in large-scale pipes based on laser displacement sensor. It resorts to the precise laser displacement technology, inside and outside dimension measurement, servocontrol technology and accurate signal procession, designs a testing system which can measure inside and outside diameter, roundness and other shape parameters. The system composing and principle are presented. The system error calibration and measurement precision are put forward. This system is validated by experiments. The system presented in this paper is adaptive to multi-parameter test for large-scale pipes and any other kinds of pipes.